CN110297210B - A method, device and base station for determining the position of a located device - Google Patents
A method, device and base station for determining the position of a located device Download PDFInfo
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- CN110297210B CN110297210B CN201810246898.9A CN201810246898A CN110297210B CN 110297210 B CN110297210 B CN 110297210B CN 201810246898 A CN201810246898 A CN 201810246898A CN 110297210 B CN110297210 B CN 110297210B
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- 238000005259 measurement Methods 0.000 claims description 58
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- 238000004590 computer program Methods 0.000 description 7
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- 238000012935 Averaging Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
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Abstract
本发明公开了一种被定位设备的位置的确定方法、装置及基站，可以仅依赖单一基站即可实现被定位设备的位置的确定，从而大大减少了基站的布设数量，进而在基站密度较低的环境中，依然能够确定出被定位设备的位置；此外，该位置确定方法只需要确定出每次被移动前后与基站之间的距离，以及每次被移动时的移动距离和移动角度即可，操作简便，并且在被定位设备发生移动时，移动的次数越多，方向变化越多，最终得到的被定位设备的位置则越准确，因此，确定的位置的准确度也得到了较大地提升。
The present invention discloses a method, device and base station for determining the position of a located device, which can realize the determination of the position of the located device by relying on only a single base station, thereby greatly reducing the number of base stations to be deployed, and furthermore, in an environment with a low base station density, the position of the located device can still be determined; in addition, the position determination method only needs to determine the distance between the device and the base station before and after each movement, as well as the moving distance and moving angle each time the device is moved, and the operation is simple, and when the located device moves, the more times the device moves and the more direction changes, the more accurate the position of the located device is finally obtained, and therefore, the accuracy of the determined position is also greatly improved.
Description
Technical Field
The present invention relates to the field of signal processing technologies, and in particular, to a method and an apparatus for determining a location of a located device, and a base station.
Background
In determining the position of the located device, the most commonly used method is to perform triangulation by means of a plurality of base stations, for example, as shown in fig. 1, measuring distances between the located device p and three base stations (such as a1, a2 and a 3), respectively, to obtain three distance values, namely L1, L2 and L3; and then respectively drawing three circles by taking three base stations (such as a1, a2 and a 3) as circle centers and three distance values (such as L1, L2 and L3) as radiuses, wherein the crossing position of the three circles is the position of the positioned equipment p.
However, although the method for determining the position is simpler and more convenient, a plurality of base stations are required to be laid in advance to determine the position of the positioned equipment, so that the construction difficulty and the construction cost are both larger; in addition, when some base stations are required to be temporarily set up, construction time caused by placing three base stations is large, and whether the acceptable ranges of signals of the three base stations are crossed or not is difficult to determine after the setting up is finished, so that the determination of the position of the positioned equipment cannot be realized.
Based on the above, how to determine the position of the positioned equipment by a simple method, and greatly reduce the construction difficulty and the construction cost is a technical problem to be solved by the technicians in the field.
Disclosure of Invention
The embodiment of the invention provides a method, a device and a base station for determining the position of positioned equipment, which are used for solving the problems in the prior art that how to determine the position of the positioned equipment by a simple method and greatly reducing the construction difficulty and the construction cost.
The embodiment of the invention provides a method for determining the position of positioned equipment, which comprises the following steps:
Determining the distance between the positioned equipment and a base station with a known position before and after the positioned equipment is moved, and the moving distance and the moving angle generated when the positioned equipment is moved;
And when the equipment to be positioned is moved at least twice and the movement angle of each time is different, determining the position of the equipment to be positioned according to the determined distance between the equipment to be positioned and the base station with the known position before and after each time of being moved and the movement distance and the movement angle generated when the equipment to be positioned is moved each time.
In a possible implementation manner, in the above determining method provided by the embodiment of the present invention, the determining a movement distance and a movement angle generated when the device to be positioned is moved specifically includes:
And measuring the moving distance and the moving angle generated when the positioned equipment is moved by using an acceleration sensor.
In a possible implementation manner, in the above determining method provided by the embodiment of the present invention, the determining, according to the determined distance between the located device and the base station with a known position before and after each time of being moved, and the moving distance and moving angle generated when the located device is moved each time, the location of the located device specifically includes:
And determining the position of the positioned equipment according to the determined distance between the positioned equipment and the base station with the known position before and after each movement and the movement distance and the movement angle generated when the positioned equipment is moved each time by using the mathematical rule which is satisfied by the position of the positioned equipment before and after the movement.
In a possible implementation manner, in the above determining method provided by the embodiment of the present invention, after the located device is moved, the method further includes:
judging whether the moving distance generated when the equipment to be positioned is moved is smaller than a preset threshold value or not;
And when the movement distance generated when the equipment to be positioned is moved is judged to be not smaller than a preset threshold value, determining the distance between the equipment to be positioned and a base station with a known position before and after the equipment to be positioned is moved, and the movement distance and the movement angle generated when the equipment to be positioned is moved.
In a possible implementation manner, in the above determining method provided by the embodiment of the present invention, the determining a distance between the located device and a base station at a known position before and after being moved, and a moving distance and a moving angle generated when the located device is moved specifically includes:
according to a preset measurement period, determining the distance between the current position of the positioned equipment in the current measurement period and the base station; determining the current position of the positioned equipment in the current measurement period as the final position in the current measurement period;
When the positions of the positioned equipment in the two adjacent measurement periods change, determining the distance between the final positions of the positioned equipment in the two adjacent measurement periods and the base station as the distance between the positioned equipment and the base station before and after being moved; and determining the moving distance and the moving angle of the equipment to be positioned between the final positions in two adjacent measuring periods as the moving distance and the moving angle generated when the equipment to be positioned is moved.
On the other hand, the embodiment of the invention also provides a device for determining the position of the positioned equipment, which comprises: a first determination module and a second determination module;
The first determining module is used for determining the distance between the positioned equipment and a base station with a known position before and after the positioned equipment is moved, and the moving distance and the moving angle generated when the positioned equipment is moved;
And the second determining module is used for determining the position of the positioned equipment according to the determined distance between the positioned equipment and the base station with the known position before and after each movement and the movement distance and the movement angle generated when the positioned equipment is moved each time when the positioned equipment is moved at least twice and the movement angles of the positioned equipment are different each time.
In a possible implementation manner, in the above determining device provided by the embodiment of the present invention, the first determining module is specifically configured to measure, using an acceleration sensor, a movement distance and a movement angle generated when the located device is moved.
In a possible implementation manner, in the above determining device provided by the embodiment of the present invention, the second determining module is specifically configured to determine, according to a mathematical rule satisfied by a position of the located device before and after being moved, a determined distance between the located device before and after being moved and a base station with a known position each time, and a moving distance and a moving angle generated when the located device is moved each time, a position of the located device.
In a possible implementation manner, in the above determining apparatus provided by the embodiment of the present invention, after the located device is moved, the determining apparatus further includes: a judging module;
The judging module is used for judging whether the moving distance generated when the equipment to be positioned is moved is smaller than a preset threshold value or not;
The first determining module is specifically configured to determine, when it is determined that a movement distance generated when the device to be positioned is moved is not less than a preset threshold, a distance between the device to be positioned and a base station at a known position before and after being moved, and a movement distance and a movement angle generated when the device to be positioned is moved.
In a possible implementation manner, in the above determining device provided by the embodiment of the present invention, the first determining module is specifically configured to determine, according to a preset measurement period, a distance between a current position of the located device in the current measurement period and the base station; determining the current position of the positioned equipment in the current measurement period as the final position in the current measurement period; when the positions of the positioned equipment in the two adjacent measurement periods change, determining the distance between the final positions of the positioned equipment in the two adjacent measurement periods and the base station as the distance between the positioned equipment and the base station before and after being moved; and determining the moving distance and the moving angle of the equipment to be positioned between the final positions in two adjacent measuring periods as the moving distance and the moving angle generated when the equipment to be positioned is moved.
In another aspect, an embodiment of the present invention further provides a base station, including: the determining device provided by the embodiment of the invention.
The invention has the following beneficial effects:
The embodiment of the invention provides a method, a device and a base station for determining the position of a positioned device, wherein after the positioned device moves, the distance between the positioned device and the base station with a known position before and after the positioned device moves, and the moving distance and the moving angle generated when the positioned device moves are determined; then when the equipment to be positioned is moved at least twice and the movement angle of each time is different, determining the position of the equipment to be positioned according to the determined distance between the equipment to be positioned and the base station with a known position before and after each time and the movement distance and the movement angle generated when the equipment to be positioned is moved each time; therefore, the position of the positioned equipment can be determined by only relying on a single base station, so that the number of the base stations is greatly reduced, and the position of the positioned equipment can still be determined in an environment with lower base station density; in addition, the position determining method only needs to determine the distance between the base station and the base station before and after each movement, and the moving distance and the moving angle when each movement is performed, so that the operation is simple and convenient, and when the positioned equipment moves, the more the number of times of movement is, the more the direction change is, the more the position of the finally obtained positioned equipment is accurate, and therefore, the accuracy of the determined position is also greatly improved.
Drawings
FIG. 1 is a schematic illustration of a prior art location determination of a located device;
FIG. 2 is a flowchart of a method for determining a location of a located device according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a movement track of a device to be positioned according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the position of a device to be positioned in a two-dimensional plane provided in an embodiment of the present invention;
FIG. 5 is a flow chart of a method of embodiment one provided in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a device for determining a position of a device to be positioned according to an embodiment of the present invention.
Detailed Description
The following will describe in detail a method and an apparatus for determining a location of a device to be located and a specific implementation manner of a base station according to embodiments of the present invention with reference to the accompanying drawings. It should be noted that the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An embodiment of the present invention provides a method for determining a location of a located device, as shown in fig. 2, may include:
S201, when the positioned equipment is moved, determining the distance between the positioned equipment and a base station with a known position before and after the positioned equipment is moved, and the moving distance and the moving angle generated when the positioned equipment is moved;
The known position may be absolute or relative to the base station with a known position, so long as the distance between the located device and the base station can be determined, and the method is not limited herein; in addition, when determining the distance between the located device and the base station, and the moving distance and the moving angle, the distance and the moving angle may be measured once each time the located device moves, and of course, the distance and the moving angle may also be measured periodically, that is, according to the measuring period, which will be described in detail below.
S202, when the equipment to be positioned is moved at least twice and the movement angle of each time is different, determining the position of the equipment to be positioned according to the determined distance between the equipment to be positioned and the base station with the known position before and after each time and the movement distance and the movement angle generated when the equipment to be positioned is moved each time.
The method for determining the position of the equipment to be positioned can be realized by only relying on a single base station, so that the number of the base stations is greatly reduced, and the position of the equipment to be positioned can still be determined in an environment with lower base station density; in addition, the position determining method only needs to determine the distance between the base station and the base station before and after each movement, and the moving distance and the moving angle when each movement is performed, so that the operation is simple and convenient, and when the positioned equipment moves, the more the number of times of movement is, the more the direction change is, the more the position of the finally obtained positioned equipment is accurate, and therefore, the accuracy of the determined position is also greatly improved.
In specific implementation, when determining the movement distance and movement angle of the positioned device, the method can be implemented by using an acceleration inertial navigation displacement measurement technology, namely, the acceleration sensor in the positioned device is used for measuring the movement distance and movement angle generated when the positioned device is moved, and the specific measurement principle is as follows:
Referring to the schematic diagram shown in fig. 3, if the device to be positioned moves from the position 1 to the position 2 according to the track shown in the figure, when the device to be positioned is at the position 1, the acceleration sensor can obtain the current speed V (including components of the X axis, the Y axis and the Z axis) of the device to be positioned, the current specific direction F (the direction angle relative to the three axes of the X axis, the Y axis and the Z axis), and the direction change rate of the device to be positioned changing direction, that is, the angular speed (the angle change rate relative to the three axes of the X axis, the Y axis and the Z axis), and the continuous measurement value of the device to be positioned from the position 1 to the position 2 is integrated, so that the distance between the position 2 and the position 1 can be obtained, and the displacement vector including the moving distance and the moving angle can be obtained.
Therefore, determining the movement distance and the movement angle generated when the located device is moved in step S201 in the above-mentioned determination method provided by the embodiment of the present invention may specifically include:
the movement distance and movement angle generated when the positioned device is moved are measured using an acceleration sensor.
In the implementation, when determining the distance between the located device and the base station before and after being moved, the distance measurement can be implemented by using the existing distance measurement technology, that is, the distance measurement sensor can be arranged in the base station or the located device, and the distance measurement sensor is not limited herein. And, ranging techniques may generally include: synchronous ranging technique, asynchronous ranging technique, different rate signal transmission ranging technique, etc.; of course, the ranging technique is not limited to the above three methods, and may include other methods for determining the distance between the located device and the base station, which are not limited herein; moreover, the ranging techniques described above are well known to those skilled in the art, and therefore, a detailed description of how to determine the distance between the located device and the base station by using the ranging techniques is omitted herein.
In a specific implementation, step S202 in the above determination method provided in the embodiment of the present invention may specifically include determining, according to the determined distance between the located device and the base station with a known position before and after each time the located device is moved, and the moving distance and moving angle generated when each time the located device is moved, the location of the located device:
And determining the position of the positioned equipment according to the determined distance between the positioned equipment and the base station with the known position before and after each movement and the movement distance and the movement angle generated when the positioned equipment is moved each time by using the mathematical rule which is satisfied by the position of the positioned equipment before and after the movement.
Specifically, referring to the two-dimensional plan view shown in fig. 4, the determination process of the position of the located device is described herein for clarity only, so that the two-dimensional plane is taken as an example, but is not limited thereto, and can be applied to a three-dimensional space; in fig. 4, the base station is represented by black filled dots, and the positioning device is represented by black filled squares; the specific process of determining the location of the located device is as follows:
first, assuming that the coordinates of the base station are (0, 0) and that the corresponding coordinates are (x 1, y 1) when the located device is at the position 1, the distance between the located device and the base station at the position 1 is D1 by the ranging technique, and the specific position of the position 1 cannot be determined at this time, it can be determined that the position 1 may be located above any point (such as the position 4) on the inner circle (such as the virtual circle m 1) of the first layer in fig. 4, and x1 2+y12＝D12 (defined as formula 1) according to the pythagorean theorem.
If the located device is moved along the direction 1 (as in fig. 4, when the base station is used as the center, the direction 1 is a straight line passing through the center, and the included angle between the direction 1 and the X axis is α1), that is, when the located device moves from the position 1 to the position 2, the corresponding coordinate of the position 2 is (X2, y 2), the distance between the located device and the base station at the position 2 can be known to be D2 through the ranging technology, so that the position 2 can be determined to be above any point (as in the position 5) on the inner circle (i.e. the virtual coil m 2) of the second layer in fig. 4, and X2 2+y22＝D22 (defined as formula 2) according to the pythagorean theorem; furthermore, the movement distance Δd1 and the movement angle α1 generated when the positioned device moves from position 1 to position 2 are known by the acceleration sensor, and x2=x1+ [ Δd1 ] cos (α1) (defined as formula 3), and y2=y1+ [ Δd1 ] sin (α1) (defined as formula 4) are obtained from the trigonometric function formula; at this time, in the formulas 1 to 4, there are only four unknowns, such as x1, x2, y1 and y2, so the formulas 1 to 4 constitute a quaternary quadratic equation, and according to mathematical characteristics, two sets of solutions of x1, x2, y1 and y2 can be obtained; and according to the symmetry characteristics of the circles, as long as a straight line passing through the base station is drawn in the direction 1, two sets of positions satisfying the conditions defined by the above formulas 1 to 4, namely, positions 1 and 4, and positions 2 and 5, which are completely symmetrical with respect to the axis of the direction 1 shown in fig. 4, can be obtained as well, and therefore, the four positions, namely, the two sets of solutions of the above formulas 1 to 4; at this time, the position 1, the position 2, the position 4, and the position 5 may be defined as possible positions of the positioned device.
If the located device is moved along the direction 2 (as in fig. 4, when the base station is the center, the direction 2 is a straight line passing through the center, and the angle between the direction 2 and the X axis is α2), that is, when the located device moves from the position 2 to the position 3, the coordinate corresponding to the position 3 is (X3, y 3), and similarly, the distance between the located device and the base station at the position 3 is known to be D3 by the ranging technique, and X3 2+y32＝D32 (defined as formula 5), the moving distance Δd2 and the moving angle α2 generated when the located device moves from the position 2 to the position 3 are known by the acceleration sensor, and x3=x2+ Δd2×cos (α2) (defined as formula 6), and y3=y2+ Δsind2×α2 (defined as formula 7) are obtained by the trigonometric function formula; according to mathematical characteristics, and the circular symmetry characteristic shown in fig. 4, when α2 is not equal to α1, after x2 and y2 in the two sets of solutions are substituted into formulas 5-7, only one set of solutions satisfies the requirement, namely, position 2 in fig. 4, and when moving from position 5 to position 6, the solutions corresponding to position 5 are not moved according to direction 2, so x2 and y2 in the solutions corresponding to position 5 cannot satisfy formulas 5 to 7; thus, position 1, position 2, and position 3 can be determined as the exact positions of the located devices by the above calculations.
It should be noted that, the method for determining the position of the located device is to perform movement, measurement and calculation after calculating the position of the located device once each time the located device is moved, so as to determine the accurate position of the located device at last; of course, after the device to be positioned moves for a plurality of times, the position of the device to be positioned can be finally calculated according to the parameters (including the moving distance, the moving angle and the distance between the base station and the device to be positioned before and after moving) determined after each movement, and the position is the accurate position of the device to be positioned.
In the following, a description will be given of assumed parameters, in which, in this embodiment, a uniform unit is used except for a movement angle, so no unit is given in this embodiment, and after the device to be positioned is moved twice, it is known that distances between the device to be positioned and the base station are d1=10, d2=20, d3=33, respectively, through a ranging technique, and when the movement distances generated when the device to be positioned is moved twice are Δd1=16, Δd2=18, and the movement angles are α1=60°, α2=30 °, respectively, it is possible to obtain, according to the above formulas 1 to 4, x1 2+y12＝100,x22+y22 =400, x2=x1+16×cos (60 °), y2=y1+16×sin (60 °), and after solving, x1= -8, y1=6, x2=0, y2=20, or x1=9.2, y1= -3.8, x2=17.2, y2=10.2,; then substituting the two sets of solutions into equations 5 to 7, x3 = x2+18 x cos (30 °) =15.6 or 32.8, y3 = y2+18 x sin (30 °) =29 or 19.2, and the coordinates of position 3 are (15.6,29) since 15.6 2+292＝1084≈332 = 1089 and 32.8 2+19.22≠332 = 1089; thus, it is finally determined that the device to be positioned has a coordinate (-8, 6) at position 1, a coordinate (0, 20) at position 2, and a coordinate (15.6,29) at position 3.
It should be noted that, in the above calculation process, an approximation process is adopted, and because there is a certain error in the measurement result, the most similar matching result can be adopted to perform an approximation calculation during mathematical analysis; of course, the possible coordinate ranges may be directly obtained directly from the known error ranges of the measured distance, the moving distance and the moving angle, and then the position coordinates within the coordinate ranges may be determined as the position coordinates of the positioned device, which is not limited herein.
Of course, the above method for determining the position of the located device is only exemplified, and the number of times the located device is moved is not limited to two, but may be three, four, etc., but the direction of movement is required to be different when each time the located device is moved, so that the position of the located device determined last can be more accurate, which is not limited herein.
Further, in order to improve the accuracy of determining the position of the located device, the method of averaging the solution results can be analyzed according to the combination of the determined multiple groups of displacement (including the moving distance and the moving direction) and ranging (the distance between the located device and the base station), namely, taking the intermediate value between the moving distances, if the moving distance is 10m, taking the intermediate value as 7m, taking the average value of the intermediate values (all taking 7 m) in the multiple moving processes, and then calculating the position of the located device by using the average value; of course, other methods that can use the determined multiple sets of displacement (including moving distance and moving direction) and ranging (distance between the located device and the base station) results to improve the accuracy of the determined location of the located device may also be used, which is not limited herein.
In the implementation, when the equipment to be positioned is moved, the moving distance can be larger or smaller, when the moving distance is larger, the position of the equipment to be positioned is indicated to have larger change, and when the moving distance is smaller, the position of the equipment to be positioned is indicated to have no larger change, and the positions before and after the equipment to be positioned are likely to be close, at this time, due to certain errors in the measurement process, the determined position of the equipment to be positioned can be inaccurate or the position of the equipment to be positioned can not be calculated; therefore, in the above determination method provided by the embodiment of the present invention, after the located device is moved, the method may further include:
judging whether the moving distance generated when the positioned equipment is moved is smaller than a preset threshold value or not;
and when the moving distance generated when the positioned equipment is moved is judged to be not smaller than a preset threshold value, determining the distance between the positioned equipment and the base station with a known position before and after being moved, and the moving distance and the moving angle generated when the positioned equipment is moved.
By judging whether the moving distance is smaller than the preset threshold value, the secondary measurement (namely, the distance between the moved equipment and the base station and the moving angle are measured) can be not performed when the moving distance is smaller than the preset threshold value, and the secondary measurement is performed only when the moving distance is not smaller than the preset threshold value, namely, the moving distance is larger than or equal to the preset threshold value, so that the distance between the moved equipment and the base station and the moving angle generated when the moved equipment are determined, the measuring times can be effectively reduced, the position determining efficiency is improved, and the power consumption of the base station is reduced.
In addition, since the located device may be moved multiple times, and whether the moving distance is smaller than the preset threshold value is judged after each movement, when the preset threshold value is set, the corresponding preset threshold value when the located device is moved multiple times may be set to be the same, for example, when the located device is moved for the first time, whether the moving distance is smaller than the first preset threshold value is judged, when the located device is moved for the second time, whether the moving distance is smaller than the second preset threshold value is judged, and the first preset threshold value is equal to the second preset threshold value, so that the complexity of the operation is simplified; or the first preset threshold value and the second preset threshold value can be set to be different, namely, the first preset threshold value and the second preset threshold value are required to be compared with different preset threshold values after each time of movement, so that different settings can be carried out according to specific actual conditions, and the flexibility of position determination is improved.
Of course, besides reducing the power consumption of the base station by judging whether the moving distance is smaller than the preset threshold, the method can also be realized by utilizing the characteristic of stepwise measurement; specifically, in the above-mentioned determining method provided by the embodiment of the present invention, when determining a distance between the located device and the base station at a known position before and after being moved, and a movement distance and a movement angle generated when the located device is moved, the method may specifically include:
According to a preset measurement period, determining the distance between the current position of the positioned equipment in the current measurement period and the base station; determining the current position of the positioned equipment in the current measurement period as the final position in the current measurement period;
When the positions of the positioned equipment in the two adjacent measuring periods change, determining the distance between the final positions of the positioned equipment in the two adjacent measuring periods and the base station as the distance between the positioned equipment and the base station before and after the positioned equipment is moved; the movement distance and movement angle between the final positions of the positioned device in the adjacent two measurement periods are determined as the movement distance and movement angle generated when the positioned device is moved.
Specifically, the characteristic of the stepwise measurement is to set a measurement period in advance, and each time the measurement period is reached, the distance between the equipment to be positioned and the base station is measured, and the final position of the current measurement period is compared with the final position in the previous measurement period to determine whether the position changes, and the movement distance and the movement angle are determined when the position changes; thus, during the stepwise measurement, the following situations may occur: firstly, the position of the positioned equipment does not move in two adjacent measuring periods; secondly, the position of the positioned equipment moves in two adjacent measuring periods, and only once in each measuring period; and thirdly, the position of the positioned equipment moves in two adjacent measuring periods, one of the measuring periods moves, and the other measuring period moves for a plurality of times. Therefore, the number of measurement times can be effectively reduced through the stepwise measurement, the efficiency of position determination is improved, and the power consumption of the base station is reduced. In addition, in setting the measurement period, the setting may be performed according to the moving speed of the device to be positioned, and the specific case may be, without limitation, herein.
The above determination method provided by the embodiment of the present invention will be described in detail with reference to specific embodiments.
Embodiment one: taking the case that the positioned device is moved twice, that is, from the position 1 to the position 2 to the position 3, and after the positioned device is moved, it is required to determine whether the moving distance generated when the positioned device is moved is smaller than the preset threshold, the description is given by taking the flowchart of the method shown in fig. 5 as an example; wherein the located device compares with a first preset threshold when determining the distance of movement from position 1 to position 2 and the located device compares with a second preset threshold when determining the distance of movement from position 2 to position 3.
S501, determining the distance between the positioned equipment and the base station when the equipment is at the position 1;
s502, determining the moving distance of the positioned equipment from the position 1 to the position 2;
s503, judging whether the moving distance of the positioned equipment from the position 1 to the position 2 is smaller than a first preset threshold value or not; if yes, go back to step S502; if not, executing step S504;
s504, determining the distance between the positioned equipment and the base station when in the position 2;
s505, determining a movement angle generated by the positioned device from the position 1 to the position 2;
S506, determining the possible position of the positioned equipment according to the determined distance between the positioned equipment and the base station at the position 1, the distance between the positioned equipment and the base station at the position 2 and the movement distance and the movement angle generated by the positioned equipment from the position 1 to the position 2;
S507, determining the moving distance of the positioned equipment from the position 2 to the position 3;
s508, judging whether the moving distance of the positioned equipment from the position 2 to the position 3 is smaller than a second preset threshold value or not; if yes, go back to step S507; if not, go to step S509;
s509, determining the distance between the positioned equipment and the base station when in the position 3;
S510, determining a movement angle generated by the positioned equipment from the position 2 to the position 3;
s511, determining the position of the located device according to the determined distance between the located device and the base station at the time of the position 3, the moving distance and moving angle generated by the located device at the time of the position 2 to the position 3, and the possible position of the located device.
Based on the same inventive concept, the embodiment of the present invention further provides a device for determining a position of a device to be positioned, and since the determining device is similar to the operation principle of the foregoing determining method, the specific implementation manner of the determining device may refer to the embodiment of the foregoing determining method, and the repetition is omitted.
Specifically, the determining device provided by the embodiment of the present invention, as shown in fig. 6, may include: a first determination module 601 and a second determination module 602;
a first determining module 601, configured to determine, when the located device is moved, a distance between the located device and a base station of a known position before and after the located device is moved, and a movement distance and a movement angle generated when the located device is moved;
And a second determining module 602, configured to determine, when the device to be positioned is moved at least twice and the movement angle of each time is different, the position of the device to be positioned according to the determined distance between the device to be positioned and the base station with a known position before and after each time is moved, and the movement distance and the movement angle generated when each time is moved.
In a specific implementation, in the above-mentioned determining apparatus provided in the embodiment of the present invention, the first determining module 601 is specifically configured to measure, using an acceleration sensor, a movement distance and a movement angle generated when the located device is moved.
In a specific implementation, in the above determining apparatus provided by the embodiment of the present invention, the second determining module 602 is specifically configured to determine, according to a mathematical rule satisfied by a position of the located device before and after being moved, a distance between the located device before and after being moved and a base station with a known position each time, and a movement distance and a movement angle generated when the located device is moved each time, a position of the located device.
In a specific implementation, in the above determining apparatus provided in the embodiment of the present invention, after the located device is moved, as shown in fig. 6, the determining apparatus may further include: a judging module 603;
a judging module 603, configured to judge whether a movement distance generated when the located device is moved is smaller than a preset threshold;
the first determining module 601 is specifically configured to determine, when it is determined that a movement distance generated when the located device is moved is not less than a preset threshold, a distance between the located device and a base station at a known position before and after being moved, and a movement distance and a movement angle generated when the located device is moved.
In a specific implementation, in the above determining device provided by the embodiment of the present invention, the first determining module 601 is specifically configured to determine, according to a preset measurement period, a distance between a current position of a located device in a current measurement period and a base station; determining the current position of the positioned equipment in the current measurement period as the final position in the current measurement period; when the positions of the positioned equipment in the two adjacent measuring periods change, determining the distance between the final positions of the positioned equipment in the two adjacent measuring periods and the base station as the distance between the positioned equipment and the base station before and after the positioned equipment is moved; the movement distance and movement angle between the final positions of the positioned device in the adjacent two measurement periods are determined as the movement distance and movement angle generated when the positioned device is moved.
Based on the same inventive concept, the embodiment of the present invention further provides a base station, which may include: the determining device provided by the embodiment of the invention.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
The embodiment of the invention provides a method, a device and a base station for determining the position of a positioned device, wherein after the positioned device moves, the distance between the positioned device and the base station with a known position before and after the positioned device moves, and the moving distance and the moving angle generated when the positioned device moves are determined; then when the equipment to be positioned is moved at least twice and the movement angle of each time is different, determining the position of the equipment to be positioned according to the determined distance between the equipment to be positioned and the base station with a known position before and after each time and the movement distance and the movement angle generated when the equipment to be positioned is moved each time; therefore, the position of the positioned equipment can be determined by only relying on a single base station, so that the number of the base stations is greatly reduced, and the position of the positioned equipment can still be determined in an environment with lower base station density; in addition, the position determining method only needs to determine the distance between the base station and the base station before and after each movement, and the moving distance and the moving angle when each movement is performed, so that the operation is simple and convenient, and when the positioned equipment moves, the more the number of times of movement is, the more the direction change is, the more the position of the finally obtained positioned equipment is accurate, and therefore, the accuracy of the determined position is also greatly improved.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
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| CN201810246898.9A CN110297210B (en) | 2018-03-23 | 2018-03-23 | A method, device and base station for determining the position of a located device |
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| CN116456458B (en) * | 2023-01-12 | 2024-05-03 | 广东世炬网络科技股份有限公司 | Auxiliary positioning method and device based on equipment sensor |
| CN118540660B (en) * | 2024-05-15 | 2025-06-27 | 北京建工集团有限责任公司 | Project construction monitoring method, system, electronic equipment and storage medium |
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