WO2023141984A1 - 定位系统及方法 - Google Patents

定位系统及方法 Download PDF

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Publication number
WO2023141984A1
WO2023141984A1 PCT/CN2022/074777 CN2022074777W WO2023141984A1 WO 2023141984 A1 WO2023141984 A1 WO 2023141984A1 CN 2022074777 W CN2022074777 W CN 2022074777W WO 2023141984 A1 WO2023141984 A1 WO 2023141984A1
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WO
WIPO (PCT)
Prior art keywords
positioning
base stations
positioning device
base station
server
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PCT/CN2022/074777
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English (en)
French (fr)
Inventor
赖怡璇
刘文婷
郭纶益
Original Assignee
群迈通讯股份有限公司
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Application filed by 群迈通讯股份有限公司 filed Critical 群迈通讯股份有限公司
Priority to PCT/CN2022/074777 priority Critical patent/WO2023141984A1/zh
Publication of WO2023141984A1 publication Critical patent/WO2023141984A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present application relates to the technical field of electronic device positioning, and in particular to a positioning system and method.
  • FIG. 1 shows a traditional positioning system, including a positioning tag 501 , multiple positioning base stations 502 and a positioning server 503 .
  • the positioning tag 501 sends a wireless signal to the positioning base station 502; multiple positioning base stations 502 calculate the received wireless signal strength value, and send the received wireless signal strength value to the positioning server 503; the positioning server 503 calculates according to the received wireless signal strength value positioning information.
  • the reception of wireless signals is unstable, and the received wireless signal strength value is prone to large changes, resulting in the loss of positioning information. The calculation is not accurate.
  • the present application provides a positioning system and method to solve the above problems.
  • the first aspect of the embodiments of the present application provides a positioning system, including: a positioning device, at least two base stations, and a server; the positioning device is used to broadcast wireless signals to the at least two base stations; the at least two The base station is used for broadcasting wireless signals to other said at least two base stations and receiving other said at least two base station wireless signals, and each of said at least two base stations transmits wireless signal information between at least two base stations and said positioning device
  • the wireless signal information is sent to the server; the server calculates the positioning information of the positioning device according to the received wireless signal information between the at least two base stations and the wireless signal information of the positioning device.
  • the server calculates the baseline value between the two base stations according to the statistics of received signal strength indicator RSSI values of the wireless signal information received by the at least two base stations between the at least two base stations, and the server calculates the baseline value between the two base stations according to The baseline value and the wireless signal information of the positioning device are used to calculate the positioning information of the positioning device.
  • the server recalculates the baseline value every first time interval.
  • the server further performs smoothing processing on the positioning information to obtain a positioning result of the positioning device.
  • the at least two base stations are arranged at a height greater than that of the positioning device.
  • Another aspect of the embodiment of the present application provides a positioning method, including: broadcasting wireless signals to at least two base stations through a positioning device; broadcasting wireless signals to the other at least two base stations through at least two base stations and receiving other base stations Wireless signals of at least two base stations; sending the wireless signal information between the at least two base stations and the wireless signal information of the positioning device to the server through each of the at least two base stations; according to the received information between the at least two base stations
  • the wireless signal information and the wireless signal information of the positioning device are used to calculate the positioning information of the positioning device.
  • the positioning method further includes: calculating the baseline value between the two base stations according to the statistic of the received signal strength indicator RSSI value of the wireless signal between at least two base stations in the at least two base station reception sets
  • the server calculates the positioning of the positioning device according to the baseline value and the wireless signal information of the positioning device.
  • the positioning method further includes: recalculating the baseline value every first time interval.
  • the positioning method further includes: smoothing the positioning information to obtain a positioning result of the positioning device.
  • the positioning method further includes: setting the heights of the at least two base stations to be greater than the height of the positioning device.
  • At least two base stations receive wireless signals from other base stations and positioning devices and send them to the server, and the server calculates the positioning according to the wireless signals received by each of the base stations from other base stations and the positioning device
  • the positioning information of the device can be used to obtain indoor and outdoor positioning results with better accuracy; using the baseline value between base stations as a positioning reference can reduce the influence of the environment on the instability caused by wireless signals, thereby improving the accuracy of positioning results.
  • the above-mentioned positioning system and method only need to combine existing indoor and outdoor base stations, without adding new equipment, and the positioning cost is low.
  • Fig. 1 is a schematic diagram of a traditional positioning system.
  • Fig. 2 is a schematic diagram of a positioning system provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of functional modules of the positioning system shown in FIG. 2 .
  • Fig. 4 is a schematic flowchart of a positioning method provided by an embodiment of the present application.
  • Fig. 5 is a schematic diagram of a scene provided by an embodiment of the present application.
  • A, B, C base stations
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • a feature defined as “first” or “second” may explicitly or implicitly include one or more of said features.
  • plural means two or more, unless otherwise specifically defined.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection.
  • Connected, or integrally connected may be mechanically connected, may be electrically connected or may communicate with each other, may be directly connected, or may be indirectly connected through an intermediary, may be the internal communication of two components or the interaction of two components relation.
  • a first feature being “on” or “under” a second feature may include the first feature being in direct contact with the second feature, and may also include the first feature and the second feature. Two features are not in direct contact but through another feature between them. Moreover, “above”, “above” and “above” the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below”, “beneath” and “under” the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.
  • an embodiment of the present application provides a positioning system 100 , including a positioning device 10 , a plurality of base stations 20 and a server 30 for positioning the positioning device 10 through the plurality of base stations 20 .
  • a plurality of base stations 20 are arranged indoors/outside the building, for example, on high positions such as ceilings or/and walls of indoor/outdoor spaces, so that the base stations 20 have an open space for signal propagation and are not blocked by indoor or outdoor objects or people, thereby The transmission and reception of wireless signals between the base stations 20 and the transmission and reception of wireless signals with the positioning device 10 are not affected.
  • the positioning device 10 may be carried by a user and used to trigger a positioning request.
  • the positioning device 10 can be, but not limited to, a positioning tag, which can be fixed to a certain position indoors or outdoors, or fixed to some mobile devices or objects carried by users, such as mobile robots , a trolley, a personal portable device, a wearable device, a tag card, etc., can be used to locate a movable device equipped with the positioning tag.
  • the positioning device 10 can also be, but not limited to, a mobile phone, a personal computer (personal computer, PC), a tablet computer, a personal digital assistant (personal digital assistant, PDA), a game machine, a display device, a smart phone Wearable devices and other electronic devices with wireless communication functions, etc.
  • the height of the base station 20 is greater than the height of the positioning device 10 .
  • the positioning device 10 is held by a user, and the base station 20 is set on the ceiling or/and wall of the indoor and outdoor spaces of the building at a high position close to the ceiling.
  • the positioning device 10, the base station 20 and the server 30 can establish a wireless communication connection through a wireless network.
  • the wireless network may be, but not limited to, one or a combination of data transmission methods of WI-FI or cellular communication (such as 5G cellular network).
  • the base station 20 and the server 30 can establish a communication connection through a wired/wireless connection.
  • the manner of the wired connection includes but not limited to communication cable connection.
  • the positioning device 10 includes a first memory 12 , a first processor 14 and a first communication module 16 .
  • the positioning device 10 includes a terminal that can automatically perform numerical calculation and/or information processing according to preset or stored instructions, and its hardware includes but not limited to microprocessors, application-specific integrated circuits ( Specific Integrated Circuit, ASIC), programmable gate array (Field-Programmable Gate Array, FPGA), digital processor (Digital Signal Processor, DSP), embedded devices, etc.
  • ASIC Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • DSP Digital Signal Processor
  • the first memory 12 is used to store program codes and various data.
  • the first memory 12 can include a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a programmable read-only memory (Programmable Read-Only Memory, PROM), an erasable Program Design Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), Electronically Erasable Programmable Read-Only Memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other optical disk storage, magnetic disk storage, tape storage, or any other computer-readable medium that can be used to carry or store data .
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • PROM programmable Read-Only Memory
  • PROM erasable Program Design Read-Only Memory
  • EPROM Erasable Programmable Read
  • the at least one first processor 14 may be composed of an integrated circuit, for example, may be composed of a single packaged integrated circuit, or may be composed of multiple integrated circuits with the same function or different function packages, Including one or more central processing units (Central Processing unit, CPU), microprocessors, digital processing chips, graphics processors and combinations of various control chips.
  • the at least one first processor 14 is the control core (Control Unit) of the first electronic device, by running or executing the programs or modules stored in the first memory 12, and calling the programs stored in the first memory 12
  • the data in the memory 12 is used to perform various functions of the positioning device 10 and process data, for example, to perform data processing functions.
  • the above-mentioned integrated units implemented in the form of software function modules can be stored in a computer-readable storage medium.
  • the above-mentioned software function modules are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, a terminal, or a network device, etc.) or a processor (processor) to execute the methods described in the various embodiments of the present application. part.
  • Computer programs, such as program codes, are stored in the first memory 12 , and the at least one first processor 14 can invoke the program codes stored in the first memory 12 to perform related functions.
  • the first memory 12 stores a plurality of instructions, and the plurality of instructions are executed by the at least one first processor 14 to implement the positioning method.
  • the first communication module 16 can broadcast wireless signals, which can be received by the base station 20 within the communication range, that is, within the reachable range of the wireless signals.
  • the first memory 12 stores a default positioning command, and when the default positioning command is executed by the first processor 14, a positioning request of the positioning device 10 is triggered and transmitted to the base station through the first communication module 16 20 and/or server 30. It can be understood that, in some embodiments, the positioning device 10 may display a user interface for receiving user input operations to trigger the positioning request.
  • the positioning device 10 when the positioning device 10 is a positioning tag, it may only include the first communication module 16 and have the function of broadcasting wireless signals, while omitting the first memory 12 and the first processor 14 .
  • the base station 20 is used for broadcasting wireless signals, and receives wireless signals broadcast by the positioning device 10 and other base stations 20 , and forwards them to the server 30 .
  • the base station 20 may analyze the received wireless signal for a Received Signal Strength Indication (RSSI).
  • RSSI Received Signal Strength Indication
  • multiple other base stations 20 are set at different distances from the base station 20 , and the base station 20 receives different radio signal strengths broadcast by these base stations 20 , and may obtain different RSSI values corresponding to these base stations 20 .
  • the positioning device 10 moves, for example, when it is carried by the user and moves, the distance between the base station 20 and the positioning device 10 changes, and the strength of the wireless signal broadcast by the base station 20 received by the positioning device 10 may also change accordingly. , so as to obtain different RSSI values corresponding to different positions/times of the positioning device 10 .
  • Each base station 20 includes a second memory 22 , a second processor 24 and a second communication module 26 .
  • the second memory 22 is used to store computer programs.
  • the second processor 24 is configured to call the computer program stored in the second memory 22, so that the base station 20 executes the steps performed by the base station in the method provided by the embodiment of the present application.
  • the specific structures and related functions of the second memory 22, the second processor 24, and the second communication module 26 can refer to the description of the first memory 12, the first processor 14, and the first communication module 16 above, and will not be repeated here. repeat.
  • the server 30 is used to receive the wireless signals received by each base station 20 from other base stations 20 and the positioning device 10, and calculate the baseline value between the base stations 20 according to the standard deviation of the RSSI values of the wireless signals collected by the base stations 20, and according to the The baseline value between the base stations 20 and the wireless signals of the positioning device 10 are used to calculate the positioning information of the positioning device 10 , and the positioning information is smoothed to obtain the positioning result of the positioning device 10 .
  • the server 30 is also used to recalculate the baseline value every first time interval.
  • the server 30 includes a third memory 32 , a third processor 34 and a third communication module 36 .
  • the third memory 32 is used to store computer programs or functional modules, such as the setting module 322 , the baseline module 324 , the positioning module 326 and the smoothing module 328 for positioning services in this embodiment.
  • the third processor 34 is configured to call the computer program stored in the third memory 32, so that the server 30 executes the steps performed by the server in the method provided by the embodiment of the present application.
  • the specific structures and related functions of the third memory 32, the third processor 34, and the third communication module 36 can refer to the description of the first memory 12, the first processor 14, and the first communication module 16 above, and will not be repeated here. repeat.
  • the baseline module 324 is configured to calculate the baseline value among the base stations 20 according to the standard deviation of the RSSI values of the wireless signals collected by the base stations 20 . In some other embodiments, the baseline module 324 is configured to calculate the baseline value among the base stations 20 according to the average of the RSSI values of the wireless signals collected by the base stations 20 .
  • the positioning module 326 is used for calculating the positioning information of the positioning device 10 according to the baseline value between the base stations 20 and the wireless signal of the positioning device 10 .
  • the smoothing module 328 is used for smoothing the positioning information to obtain a positioning result of the positioning device 10 .
  • the setting module 322 is used for setting related parameters used in positioning services, such as the first time interval.
  • the server 30 may be, but not limited to, a cloud processing platform and database with computing capabilities, providing computing, processing, querying and obtaining of resources or data.
  • Fig. 4 is a schematic flowchart of a positioning method according to some exemplary embodiments.
  • the above positioning method can be applied to a positioning system as shown in FIG. 3 .
  • the positioning method provided by the embodiment of the present invention may include the following steps.
  • step S311 the positioning device 10 triggers a positioning request and broadcasts a wireless signal.
  • the positioning device 10 broadcasts wireless signals during operation, and within the communication range of the positioning device 10, that is, within the reachable range of the wireless signals, the wireless signals broadcast by the positioning device 10 can be received by the base station 20 .
  • the positioning device 10 when the positioning device 10 needs a positioning service, the positioning device 10 may display a user interface for receiving a user's input operation to trigger the positioning request. The positioning device 10 may send a positioning request to the base station 20 to further request a positioning service from the server 30 .
  • step S312 multiple base stations 20 broadcast wireless signals.
  • multiple base stations 20 installed in indoor and outdoor spaces of a building broadcast wireless signals to other multiple base stations 20 . It can be understood that multiple or more base stations 20 may be arranged in indoor and outdoor spaces of a building to provide data for positioning services.
  • step S311 and step S312 can be performed simultaneously, that is, the broadcasting of the wireless signal by the positioning device 10 and the broadcasting of the wireless signal by the base station 20 can be performed simultaneously.
  • step S312 is performed after step S311, that is, the base station 20 starts broadcasting wireless signals after the positioning device 10 triggers a positioning request.
  • each base station 20 receives the wireless signals broadcast by other base stations 20 and the positioning device 10, analyzes the Received Signal Strength Indication (RSSI) value of the received wireless signals, and sends it to the server 30.
  • RSSI Received Signal Strength Indication
  • each base station 20 can receive wireless signals broadcast by other base stations 20, and analyze the RSSI value of the received wireless signals.
  • three base stations 20 are arranged in indoor and outdoor spaces of the building, namely base station A, base station B and base station C.
  • Base station A receives wireless signals broadcast by base station B and base station C. Since the three base stations are arranged in different positions, such as The distance between them is different, and the RSSI values of the wireless signals broadcast by base station B and base station C received by base station A may be different.
  • base station B may receive different RSSI values of wireless signals broadcast by base station A and base station C; base station C may receive different RSSI values of wireless signals broadcast by base station A and base station B.
  • each base station 20 can receive the wireless signal broadcast by the positioning device 10 and analyze the RSSI value of the received wireless signal.
  • the RSSI value of the wireless signal broadcast by each base station 20 received by the positioning device 10 may be different.
  • each base station 20 transmits the RSSI value received from the wireless signals broadcast by other base stations 20 and the positioning device 10 to the server 30 every first time interval.
  • the first time interval may be 5 seconds, 10 seconds, 20 seconds, etc., and the present application does not limit the specific value of the first time interval.
  • step S314 the server 30 calculates the baseline value among the base stations 20 according to the RSSI values of the wireless signals broadcast by each base station 20 received by other base stations 20 .
  • the server 30 receives each base station 20 and receives the RSSI value of the wireless signal broadcast by other base stations 20 and the positioning device 10, and the server 30 receives the RSSI value of the wireless signal broadcast by other base stations 20 according to each base station 20
  • the standard deviation of the values was used to calculate the baseline value among the base stations 20 .
  • the server 30 calculates the first baseline value between base station A and base station B according to the RSSI value of the wireless signal broadcast by base station A received by base station B and the standard deviation of the RSSI value of the wireless signal broadcast by base station B received by base station A .
  • the server 30 may calculate the second baseline value between base station A and base station C, and the third baseline value between base station B and base station C.
  • the server 30 calculates the baseline value (such as standard deviation, average value, but not limited to standard deviation, average value).
  • the base stations 20 are arranged on high positions such as ceilings and/or walls in the indoor and outdoor spaces of buildings, the base stations 20 have an open space for signal propagation and are not blocked by indoor and outdoor objects or people, thereby less affecting the base stations.
  • the wireless signal transmission and reception between the 20 base stations and the stable transmission and reception of the wireless signals between the 20 base stations make the calculated baseline value between the 20 base stations serve as a better positioning reference.
  • the server 30 recalculates the baseline value between the base stations 20 every first time interval according to the RSSI value updated by each base station 20 receiving the wireless signals broadcast by other base stations 20, so as to regularly update the baseline value between the base stations 20. the baseline value of .
  • Step S315 the server 30 calculates the positioning information of the positioning device 10 according to the calculated baseline value between the base stations 20 and the RSSI value of each base station 20 receiving the wireless signal broadcast by the positioning device 10 .
  • the server 30 uses the calculated baseline value between the base stations 20 as a reference, and calculates the positioning information of the positioning device 10 in combination with the RSSI value of the wireless signal broadcast by each base station 20 received by the positioning device 10 .
  • the server 30 uses a positioning algorithm to calculate the positioning information of the positioning device 10 according to the baseline value between the base stations 20 and the RSSI value of each base station 20 receiving the wireless signal broadcast by the positioning device 10 .
  • the positioning device 10 is located in the area between the base station A and the base station B (or called the first base station and the second base station), and the distance between the positioning device 10 and the base station A is smaller than that of the positioning device 10
  • the distance from the base station B means that the RSSI value of the wireless signal broadcast by the positioning device 10 received by the base station A is greater than the RSSI value of the wireless signal broadcast by the positioning device 10 received by the base station B under the condition of no obstruction or interference.
  • the preset time period is a short time, such as 1 second, 2 seconds, 5 seconds, etc.
  • base station A and base station B can receive multiple RSSI values of the positioning device 10 , such as 10, 15, 20, etc., i and j can be equal or not.
  • the base station A receives the signal from the positioning device 10.
  • the server 30 When the drop value is less than or equal to the baseline value, for example, Delta ⁇ F( RAB , RBA ), the server 30 will not locate the positioning device 10 near the base station B. In this way, it is avoided that inaccurate positioning information is calculated due to short-term signal blockage or unstable signal conditions. That is, the server 30 uses the RSSI drop value greater than the baseline value between the base stations to determine the switching of the positioning result of the positioning device 10 to ensure the accuracy of the positioning information. When the drop value is greater than the baseline value, for example, Delta>F( RAB , RBA ), the server 30 positions the positioning device 10 near the base station B, and updates the positioning information.
  • the baseline value for example, Delta ⁇ F( RAB , RBA
  • base station A may be the base station that can receive the maximum RSSI value at time T0
  • base station B may be the base station that may receive the maximum RSSI value at time T1, where time T1 is the time elapsed at time T0 A time after the preset time period.
  • the server 30 may update the positioning information of the positioning device 10 at the time T1 based on the positioning information of the positioning device 10 at the time T0.
  • step S316 the server 30 performs smoothing processing on the positioning information.
  • the server 30 obtains more accurate information by smoothing the positioning information, such as performing noise reduction and fitting processing on the positioning information.
  • step S317 the server 30 obtains the positioning result of the positioning device 10 .
  • the server 30 obtains the positioning result of the positioning device 10 according to the smoothed positioning information.
  • the positioning method may be based on the real-time update of existing positioning results, for example, after a preset period of time for the positioning results at T0, update the positioning results of the positioning device 10 at T1, and reduce environmental impact.
  • the unstable influence caused by the wireless signal optimizes the positioning results.
  • the wireless signals of other base stations 20 and the positioning device 10 are received by multiple base stations 20 and sent to the server 30, and the server 30 receives the other base stations and the wireless signals of the positioning device 10 according to each of the base stations.
  • the wireless signal of the positioning device calculates the positioning information of the positioning device, so as to obtain indoor and outdoor positioning results with better accuracy; the baseline value between the base stations 20 is used as a positioning reference, which can reduce the instability of the environment caused by the wireless signal. Influence, thereby improving the accuracy of positioning results.
  • the embodiment of the present application only needs to combine the existing indoor and outdoor base stations, no new equipment is needed, and the positioning cost is low.
  • the positioning device 10, the base station 20 and the server 30 include hardware structures and/or software modules corresponding to each function.
  • the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software in combination with the example units and algorithm steps described in the embodiments disclosed herein. Whether a certain function is executed by hardware or computer software drives hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the embodiments of the present application.
  • the functional modules of the positioning device 10, the base station 20, and the server 30 can be divided according to the above-mentioned method examples.
  • each functional module can be divided corresponding to each function, or two or more functions can be integrated. in a processing module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. It should be noted that the division of modules in the embodiment of the present application is schematic, and is only a logical function division, and there may be other division methods in actual implementation.

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Abstract

本申请实施例提供了一种定位系统及方法，用于对定位装置进行定位。系统包括定位装置、至少两个基站及服务器；定位装置及至少两个基站用于广播无线信号；每一所述基站将至少两个基站间的无线信号信息及所述定位装置的无线信号信息，发送至所述服务器；所述服务器根据接收的所述至少两个基站间的无线信号信息及所述定位装置的无线信号信息计算所述定位装置的定位信息。

Description

定位系统及方法 技术领域
本申请涉及电子装置定位技术领域，具体涉及一种定位系统及方法。
背景技术
传统的定位装置在室内定位时通常采用无线广播信号强弱做距离的估算，并采用多笔距离数据做目标件的位置估计。然而，由于无线广播信号的稳定性受到硬件设计、发报强度、发报频率、环境设置、人体遮蔽、其他无线设备信号等因素干扰甚巨，容易造成信号变弱，或是接收不良而导致信号遗失。不稳定的信号及不正确的信号落差，容易直接影响距离的估算及定位精准度。
图1所示为传统的定位系统，包括定位卷标501、多个定位基站502及定位服务器503。定位卷标501发送无线信号至定位基站502；多个定位基站502计算接收的无线信号强度值，并将接收的无线信号强度值发送至定位服务器503；定位服务器503根据接收的无线信号强度值计算定位信息。然而，由于定位标签501与定位基站502之间由于环境设置和人体遮蔽等因素的影响，导致无线信号的接收不稳定，容易出现接收的无线信号强度值的变化较大的情况，导致定位信息的计算不准确。
发明内容
鉴于此，本申请提供一种定位系统及方法，以解决上述问题。
本申请实施例的第一方面提供了提供一种定位系统，包括：定位装置、至少两个基站及服务器；所述定位装置用于向所述至少两个基站广播无线信号；所述至少两个基站用于向其他所述至少两个基站广播无线信号及接收其他所述至少两个基站无线信号，每一所述至少两个基站将至少两个基站间的无线信号信息及所述定位装置的无线信号信息，发送至所述服务器；所述服务器根据接收的所述至少两个基站间的无线信号信息及所述定位装置的无线信号信息计算所述定位装置的定位信息。
在一种实施方式中，所述服务器根据所述至少两个基站接收的至少两基站间的无线信号信息的接收信号强度指示RSSI值的统计量计算两个基站间的基线值，所述服务器根据所述基线值及所述定位装置的无线信号信息计算所述定位装置的所述定位信息。
在一种实施方式中，所述服务器每隔一第一时间间隔重新计算一次所述基线值。
在一种实施方式中，所述服务器还对所述定位信息进行平滑处理，以获得所述定位装置的定位结果。
在一种实施方式中，所述至少两个基站设置的高度大于所述定位装置的高度。
本申请实施例的另一方面提供了一种定位方法，包括：通过定位装置向至少两个基站广播无线信号；通过至少两个基站向其他所述至少两个基站广播无线信号及接收其他所述至少两个基站无线信号；通过每一所述至少两个基站将至少两个基站间的无线信号信息及所述定位装置的无线信号信息发送至服务器；根据接收的所述至少两个基站间的无线信号信息及所述定位装置的无线信号信息计算所述定位装置的定位信息。
在一种实施方式中，所述定位方法还包括：根据所述至少两个基站接收集的至少两个基站间的无线信号的接收信号强度指示RSSI值的统计量计算两个基站间的基线值，所述服务器根据所述基线值及所述定位装置的无线信号信息计算所述定位装置的所述定位。
在一种实施方式中，所述定位方法还包括：每隔一第一时间间隔重新计算一次所述基线值。
在一种实施方式中，所述定位方法还包括：对所述定位信息进行平滑处理，以获得所述定位装置的定位结果。
在一种实施方式中，所述定位方法还包括：设置所述至少两个基站的高度大于所述定位装置的高度。
上述定位系统及方法中，透过至少两个基站接收其他基站及定位装置的无线信号并发送至服务器，服务器根据每一所述基站接收到其他基站及所述定位装置的无线信号计算所述定位装置的定位信息，以此获得准确度较佳的室内外定位结果；以基站间的基线值作为定位参考，可降低环境对无线信号所引起的不稳定的影响，从而提供定位结果的准确性。此外，上述定位系统及方法只需要结合室内外现有的基站，无需新增设备，定位成本较低。
附图说明
图1是一种传统的定位系统的示意图。
图2是本申请一实施例提供的定位系统的示意图。
图3是图2所示的定位系统的功能模块示意图。
图4是本申请实施例提供的定位方法的流程示意图。
图5是本申请一实施例提供的场景示意图。
主要元件符号说明
501                     定位标签
502                     定位基站
503                     定位服务器
100                     定位系统
10                      定位装置
12                      第一存储器
14                      第一处理器
16                      第一通信模块
20、A、B、C             基站
22                      第二存储器
24                      第二处理器
26                      第二通信模块
30                      服务器
32                      第三存储器
34                      第三处理器
36                      第三通信模块
322                     设定模块
324                     基线模块
326                     定位模块
328                     平滑模块
具体实施方式
为了能够更清楚地理解本申请的上述目的、特征和优点，下面结合附图和具体实施例对本申请进行详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。在下面的描述中阐述了很多具体细节以便于充分理解本申请，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的组件或具有相同或类似功能的组件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或组件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中，需要说明的是，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通信，可以是直接相连，也可以通过中间媒介间接相连，可以是两个组件内部的连通或两个组件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一特征和第二特征直接接触，也可以包括第一特征和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施例或例子用来实现本申请的不同结构。为了简化本申请的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施例和/或设置之间的关系。
请参见图2，本申请一实施例提供了一种定位系统100，包括定位装置10、多个基站20及服务器30，用于透过多个基站20对定位装置10进行定位。
多个基站20设置于建筑物室内/外，例如，室内/外空间的天花板或/和墙壁等高位上，使得基站20具有开阔的信号传播空间，而不被室内外的物品或人流阻挡，从而不影响基站20间的无线信号收发以及与定位装置10的无线信号收发。定位装置10可由用户携带，用于触发定位请求。在一些实施例中，定位装置10可以为但不限于为定位卷标，定位卷标可以固定至在室内外某一位置，或者固定于一些可移动装置或用户随身携带的对象上，例如移动机器人、小车、个人可携带装置、可穿戴设备、标签卡等，可用于定位搭载所述定位卷标的可移 动装置。在另一些实施例中，定位装置10还可以为但不限于为移动电话、个人计算机(personal computer，PC)、平板计算机、个人数字助理(personal digital assistant，PDA)、游戏机、显示设备、智能穿戴设备以及其他具有无线通信功能的电子设备等。
在一些实施例中，基站20的高度大于定位装置10的高度。例如，定位装置10由用户手持，基站20设置于建筑物室内外空间的天花板或/和墙壁靠近天花板的高位上。
定位装置10、基站20及服务器30可透过无线网络建立无线通信连接。在一些实施例中，所述无线网络可以为但不限于为WI-FI或者蜂窝通信(比如5G蜂窝网络)的数据传输方式中的一种或多种的组合。基站20与服务器30可透过有线/无线连接的方式建立通信连接。在一些实施例中，所述有线连接的方式包括但不限于通信线缆连接。
请一并参阅图3，定位装置10包括第一存储器12、第一处理器14及第一通信模块16。
在一些实施例中，所述定位装置10包括一种能够按照事先设定或存储的指令，自动进行数值计算和/或信息处理的终端，其硬件包括但不限于微处理器、专用集成电路(Specific Integrated Circuit，ASIC)、可程序设计门阵列(Field－Programmable Gate Array，FPGA)、数字处理器(Digital Signal Processor，DSP)、嵌入式设备等。
在一些实施例中，所述第一存储器12用于存储程序代码和各种数据。所述第一存储器12可以包括只读存储器(Read-Only Memory，ROM)、随机存储器(Random Access Memory，RAM)、可程序设计只读存储器(Programmable Read-Only Memory，PROM)、可擦除可程序设计只读存储器(Erasable Programmable Read-Only Memory，EPROM)、一次可程序设计只读存储器(One-time Programmable Read-Only Memory，OTPROM)、电子擦除式可复写只读存储器(Electrically-Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储器、磁盘存储器、磁带存储器、或者能够用于携带或存储数据的计算机可读的任何其他介质。
在一些实施例中，所述至少一个第一处理器14可以由集成电路组成，例如可以由单个封装的集成电路所组成，也可以是由多个相同功能或不同功能封装的集成电路所组成，包括一个或者多个中央处理器(Central Processing unit，CPU)、微处理器、数字处理芯片、图形处理器及各种控制芯片的组合等。所述至少一个第一处理器14是所述第一电子设备的控制核心(Control Unit)，通过运行或执行存储在所述第一存储器12内的程序或者模块，以及调用存储在所述第一存储器12内的数据，以执行定位装置10的各种功能和处理数据，例如执行数据处理的功能。
上述以软件功能模块的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能模块存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，终端，或者网络设备等)或处理器(processor)执行本申请各个实施例所述方法的部分。
所述第一存储器12中存储有计算机程序，例如程序代码，且所述至少一个第一处理器14可调用所述第一存储器12中存储的程序代码以执行相关的功能。在本申请的一个实施例中，所述第一存储器12存储多个指令，所述多个指令被所述至少一个第一处理器14所执行以实现定位方法。
在一些实施例中，第一通信模块16可以广播无线信号，在通信范围内，即所述无线信号可到达的范围内，可被基站20接收。
在一些实施例中，第一存储器12存储有默认定位指令，当所述默认定位指令被第一处理器14执行时，触发定位装置10的定位请求，并透过第一通信模块16传送至基站20和/或服务器30。可以理解，在一些实施例中，定位装置10可以显示一用户接口，用于接收用户的输 入操作，以触发所述定位请求。
在另一些实施例中，当定位装置10为定位卷标时，可仅包括第一通信模块16，具有广播无线信号的功能，而省略第一存储器12和第一处理器14。
基站20用于广播无线信号，并接收定位装置10及其他基站20所广播的无线信号，并可转发至服务器30。在一些实施例中，基站20可分析接收到的无线信号的接收信号强度指示(Received Signal Strength Indication，RSSI)。例如，多个其他基站20的设置与所述基站20的距离不同，所述基站20接收到这些基站20广播的无线信号强度不同，可获得对应于这些基站20的不同的RSSI值。定位装置10在移动时，例如被用户所携带而发生移动时，所述基站20与定位装置10的距离发生变化，所述基站20接收到定位装置10广播的无线信号强度也可随之发生变化，从而获得对应于定位装置10在不同位置/时刻的不同的RSSI值。
每一基站20包括第二存储器22、第二处理器24及第二通信模块26。第二存储器22用于存储计算机程序。第二处理器24用于调用第二存储器22中存储的计算机程序，使得基站20执行本申请实施例提供的方法中由基站所执行的步骤。第二存储器22、第二处理器24及第二通信模块26的具体结构及相关功能可以参照上文对第一存储器12、第一处理器14及第一通信模块16的描述，此处不再赘述。
服务器30用于接收每一基站20接收到其他基站20及所述定位装置10的无线信号，根据基站20收集到的无线信号的RSSI值的标准偏差计算基站20间的基线值，并根据所述基站20间的基线值及定位装置10的无线信号计算定位装置10的定位信息，对所述定位信息进行平滑处理以得到定位装置10的定位结果。
服务器30还用于每隔一第一时间间隔重新计算一次所述基线值。
服务器30包括第三存储器32、第三处理器34及第三通信模块36。第三存储器32用于存储计算机程序或功能模块，例如本实施例中用于定位服务的设定模块322、基线模块324、定位模块326和平滑模块328。第三处理器34用于调用第三存储器32中存储的计算机程序，使得服务器30执行本申请实施例提供的方法中由服务器所执行的步骤。第三存储器32、第三处理器34及第三通信模块36的具体结构及相关功能可以参照上文对第一存储器12、第一处理器14及第一通信模块16的描述，此处不再赘述。
在一些实施例中，基线模块324用于根据基站20收集到的无线信号的RSSI值的标准偏差计算基站20间的基线值。在另一些实施例中，基线模块324用于根据基站20收集到的无线信号的RSSI值的平均数计算基站20间的基线值。
定位模块326用于根据所述基站20间的基线值及定位装置10的无线信号计算定位装置10的定位信息。
平滑模块328用于根据对所述定位信息进行平滑处理以得到定位装置10的定位结果。
设定模块322用于设置定位服务中所使用的相关参数，例如所述第一时间间隔。
在一些实施例中，服务器30可以为但不限于为具有计算能力的云端处理平台及数据库，提供资源或数据的计算、处理、查询及获取。
图4为根据一些示例性实施例示出的一种定位方法的流程示意图。在一些实施例中，上述定位方法可以应用到如图3所示的定位系统中。如图4所示，示例性地，本发明实施例提供的定位方法可以包括下述步骤。
步骤S311，定位装置10触发定位请求，并广播无线信号。
可以理解，在一些实施例中，定位装置10工作时广播无线信号，在定位装置10的通信 范围内，即所述无线信号可到达的范围内，定位装置10广播的无线信号可被基站20接收。
可以理解，在另一些实施例中，当定位装置10需要定位服务时，定位装置10可以显示一用户接口，用于接收用户的输入操作，以触发所述定位请求。定位装置10可以将定位请求发送至基站20，以进一步向服务器30请求定位服务。
步骤S312，多个基站20广播无线信号。
在一些实施例中，设置在建筑物室内外空间的多个基站20向其他多个基站20广播无线信号。可以理解，在建筑物室内外空间可以布置有多个或更多数量的基站20，以提供定位服务的数据。
在一些实施例中，步骤S311和步骤S312可以同时执行，暨定位装置10广播无线信号和基站20广播无线信号可以同时执行。或者，步骤S312在步骤S311之后执行，暨基站20在定位装置10触发定位请求后开始广播无线信号。
步骤S313，每一基站20接收其他基站20和定位装置10所广播的无线信号，分析接收到的无线信号的接收信号强度指示(Received Signal Strength Indication，RSSI)值，并发送至服务器30。
在一些实施例中，每一基站20均可接收其他基站20所广播的无线信号，并分析接收到的无线信号的RSSI值。示例性地，建筑物室内外空间布置有三个基站20，分别为基站A、基站B和基站C，基站A接收基站B和基站C广播的无线信号，由于三个基站布置的位置不同，例如彼此之间的距离不同，基站A接收到基站B和基站C广播的无线信号的RSSI值可不同。同理，基站B接收到基站A和基站C广播的无线信号的RSSI值可不同；基站C接收到基站A和基站B广播的无线信号的RSSI值可不同。
在一些实施例中，每一基站20均可接收定位装置10所广播的无线信号，并分析接收到的无线信号的RSSI值。示例性地，由于多个基站20布置的位置不同，例如每一基站20相对定位装置10所在位置的距离不同，每一基站20接收到定位装置10所广播的无线信号的RSSI值可不同。
在一些实施例中，每一基站20每间隔一第一时间间隔发送一次接收其他基站20和定位装置10所广播的无线信号的RSSI值至服务器30。示例性地，所述第一时间间隔可以为5秒、10秒、20秒等，本申请对第一时间间隔的具体数值不作限定。
步骤S314，服务器30根据每一基站20接收到其他基站20广播的无线信号的RSSI值计算基站20间的基线值。
在一些实施例中，服务器30接收每一基站20发送接收到其他基站20和定位装置10所广播的无线信号的RSSI值，服务器30根据每一基站20接收到其他基站20广播的无线信号的RSSI值的标准偏差计算基站20间的基线值。示例性地，服务器30根据基站A接收到基站B广播的无线信号的RSSI值和基站B接收到基站A广播的无线信号的RSSI值的标准偏差计算基站A与基站B之间的第一基线值。同理，服务器30可计算基站A与基站C之间的第二基线值，基站B与基站C之间的第三基线值。
在另一些实施例中，服务器30根据每一基站20接收到其他基站20广播的无线信号的RSSI值的统计量计算基站20间的基线值(例如标准偏差、平均值，但不限于标准偏差、平均值)。
可以理解，由于这些基站20设置于建筑物室内外空间的天花板或/和墙壁等高位上，使得基站20具有开阔的信号传播空间，而不被室内外的物品或人流阻挡，从而较不影响基站20间的无线信号收发，基站20间无线信号的收发稳定，使得计算的基站20间的基线值可作为 较佳的定位参考。
在一些实施例中，服务器30每隔所述第一时间间隔根据每一基站20更新的接收到其他基站20广播的无线信号的RSSI值重新计算基站20间的基线值，以定时更新基站20间的基线值。
步骤S315，服务器30根据计算的基站20间的基线值以及每一基站20接收定位装置10所广播的无线信号的RSSI值计算定位装置10的定位信息。
在一些实施例中，服务器30以计算的基站20间的基线值作为参考基准，结合每一基站20接收定位装置10所广播的无线信号的RSSI值计算定位装置10的定位信息。
可以理解，在一些实施例中，服务器30采用定位算法根据基站20间的基线值及每一基站20接收定位装置10所广播的无线信号的RSSI值计算定位装置10的定位信息。
在一些实施例中，请一并参阅图5，定位装置10位于基站A与基站B(或者称为第一基站与第二基站)的区域，且定位装置10与基站A的距离小于定位装置10与基站B的距离，则无阻挡或干扰的状况下基站A接收定位装置10所广播的无线信号的RSSI值大于基站B接收定位装置10所广播的无线信号的RSSI值。例如，在预设时间段内，基站A接收到定位装置10的多个RSSI值，例如j个，则其平均RSSI值为Avg_A＝(Rssi a1+...+Rssi aj)/j，基站B接收到定位装置10的多个RSSI值，例如i个，则其平均RSSI值为Avg_B＝(Rssi b1+...+Rssi bi)/i。可以理解，所述预设时间段为一较短的时间，例如1秒、2秒、5秒等，在预设时间段内，基站A和基站B可接收到定位装置10的多个RSSI值，例如10个、15个、20个等，i与j可以相等或不相等。同时，基站B接收到基站A的多个RSSI值，例如n个，为R AB＝(rssi AB,1,…,rssi AB,n)，基站A接收到基站B的多个RSSI值，例如m个，为R BA＝(rssi BA,1,…,rssi BA,m)，则基站A与基站B之间的基线值为基于R AB及R BA透过函数F所得之统计量F(R AB,R BA)。可以理解，n与m可以相等或不相等。
在一些实施例中，若定位装置10与基站A之间被阻挡或干扰，例如，用户位于定位装置10与基站A之间，或者由于信号的不稳定的情况，导致基站A接收定位装置10所广播的无线信号的RSSI值相对变小，服务器30比较基站A与基站B接收定位装置10所广播的无线信号的RSSI值的落差值，例如，落差值为Delta＝Avg_B–Avg_A，及基站A与基站B之间的基线值F(R AB,R BA)。当落差值小于或等于基线值，例如，Delta≤F(R AB,R BA)，则服务器30不会将定位装置10定位在基站B附近。从而避免因信号短时间被阻挡或信号不稳定的情况而计算出不准确的定位信息。也即，服务器30使用大于基站间的基线值的RSSI落差值来决定定位装置10的定位结果切换，以确保定位信息的准确性。当落差值大于基线值，例如，Delta＞F(R AB,R BA)，则服务器30将定位装置10定位在基站B附近，并更新定位信息。
在另一些实施例中，基站A可以是在T0时刻所能接收到最大的RSSI值的基站，基站B可以是在T1时刻所能接收到最大的RSSI值的基站，其中T1时刻为T0时刻经过所述预设时间段后的时刻。服务器30可以基于在T0时刻的定位装置10的定位信息更新在T1时刻对定位装置10的定位信息。
步骤S316，服务器30对所述定位信息进行平滑处理。
在一些实施例中，服务器30透过对所述定位信息进行平滑处理，例如对所述定位信息进行降噪及拟合等处理后得出更加准确的信息。
步骤S317，服务器30得到定位装置10的定位结果。
在一些实施例中，服务器30根据平滑处理后的定位信息得到定位装置10的定位结果。
在一些实施例中，所述定位方法可以是基于已有定位结果的实时更新，例如在T0时刻的定位结果经过一预设时间后，在T1时刻更新定位装置10的定位结果，并降低环境对无线信号所引起的不稳定的影响，优化定位结果。
由上可知，各实施例的定位方法中，透过多个基站20接收其他基站20及定位装置10的无线信号并发送至服务器30，服务器30根据每一所述基站接收到其他基站及所述定位装置的无线信号计算所述定位装置的定位信息，以此获得准确度较佳的室内外定位结果；以基站20间的基线值作为定位参考，可降低环境对无线信号所引起的不稳定的影响，从而提供定位结果的准确性。此外，本申请实施例只需要结合室内外现有的基站，无需新增设备，定位成本较低。
需要说明的是，本申请的上述各个实施例的任意步骤、任意技术特征，均可以自由地、任意地组合。组合后的技术方案，也在本申请的范围之内。
可以理解的是，上述定位装置10、基站20和服务器30为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，本申请实施例能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。本领域技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请实施例的范围。
本申请实施例可以根据上述方法示例对上述定位装置10、基站20和服务器30进行功能模块的划分，例如，可以对应各个功能划分各个功能模块，也可以将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。需要说明的是，本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。
上面结合附图对本申请实施例作了详细说明，但是本申请不限于上述实施例，在所属技术领域普通技术人员所具备的知识范围内，还可以在不脱离本申请宗旨的前提下做出各种变化。

Claims (10)

  1. 一种定位系统，其特征在于，所述定位系统包括定位装置、至少两个基站及服务器：
    所述定位装置，用于向所述至少两个基站广播无线信号；
    所述至少两个基站，用于向其他所述至少两个基站广播无线信号及接收其他所述至少两个基站无线信号，每一所述至少两个基站将至少两个基站间的无线信号信息及所述定位装置的无线信号信息，发送至所述服务器；
    所述服务器，根据接收的所述至少两个基站间的无线信号信息及所述定位装置的无线信号信息计算所述定位装置的定位信息。
  2. 如权利要求1所述的定位系统，其特征在于，所述服务器根据所述至少两个基站接收的至少两基站间的无线信号信息的接收信号强度指示RSSI值的统计量计算两个基站间的基线值，
    所述服务器根据所述基线值及所述定位装置的无线信号信息计算所述定位装置的所述定位信息。
  3. 如权利要求2所述的定位系统，其特征在于，所述服务器每隔一第一时间间隔重新计算一次所述基线值。
  4. 如权利要求1所述的定位系统，其特征在于，所述服务器还对所述定位信息进行平滑处理，以获得所述定位装置的定位结果。
  5. 如权利要求1所述的定位系统，其特征在于，所述至少两个基站设置的高度大于所述定位装置的高度。
  6. 一种定位方法，其特征在于，所述定位方法包括：
    通过定位装置向至少两个基站广播无线信号；
    通过至少两个基站向其他所述至少两个基站广播无线信号及接收其他所述至少两个基站无线信号；
    通过每一所述至少两个基站将至少两个基站间的无线信号信息及所述定位装置的无线信号信息发送至服务器；
    根据接收的所述至少两个基站间的无线信号信息及所述定位装置的无线信号信息计算所述定位装置的定位信息。
  7. 如权利要求6所述的定位方法，其特征在于，所述定位方法还包括：
    根据所述至少两个基站接收集的至少两个基站间的无线信号的接收信号强度指示RSSI值的统计量计算两个基站间的基线值，
    所述服务器根据所述基线值及所述定位装置的无线信号信息计算所述定位装置的所述定位。
  8. 如权利要求7所述的定位方法，其特征在于，所述定位方法还包括：
    每隔一第一时间间隔重新计算一次所述基线值。
  9. 如权利要求6所述的定位方法，其特征在于，所述定位方法还包括：
    对所述定位信息进行平滑处理，以获得所述定位装置的定位结果。
  10. 如权利要求6所述的定位方法，其特征在于，所述定位方法还包括：
    设置所述至少两个基站的高度大于所述定位装置的高度。
PCT/CN2022/074777 2022-01-28 2022-01-28 定位系统及方法 WO2023141984A1 (zh)

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CN108966125A (zh) * 2018-07-05 2018-12-07 苏州寻路通途智能科技有限公司 一种基于超宽带的高精度无线室内定位方法
CN109819396A (zh) * 2019-01-30 2019-05-28 北京布科思科技有限公司 一种无线定位方法及系统
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