CN112578336B - Positioning result calibration method, device and equipment - Google Patents
Positioning result calibration method, device and equipment Download PDFInfo
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- CN112578336B CN112578336B CN202011398608.6A CN202011398608A CN112578336B CN 112578336 B CN112578336 B CN 112578336B CN 202011398608 A CN202011398608 A CN 202011398608A CN 112578336 B CN112578336 B CN 112578336B
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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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
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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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The invention discloses a positioning result calibration method, a device and equipment, which relate to a plurality of positioning cells in a wireless synchronous TDOA positioning system, wherein the method comprises the following steps: receiving positioning information and positioning results generated by each positioning cell in response to a positioning request broadcast by equipment to be positioned; selecting a reference cell from the plurality of positioning cells according to the generation moments of the plurality of positioning results, taking the positioning information of the reference cell as reference positioning information, and taking the positioning result of the reference cell as reference positioning result; performing a cross verification process on the plurality of positioning results and the reference positioning result according to the plurality of positioning information and the reference positioning information, and determining a target positioning cell; and taking the positioning result of the target positioning cell as a target positioning result. The method can more quickly and accurately position the equipment.
Description
Technical Field
The present invention relates to the field of positioning calibration technologies, and in particular, to a positioning result calibration method, device and equipment.
Background
With the increasing abundance of activity types in modern life, people can not only perform activities outdoors, but also have a low indoor activity time ratio. However, the positioning technology of the global navigation satellite system (Global Navigation SATELLITE SYSTEM, GNSS) which is well-established today cannot be applied indoors, so that a plurality of indoor wireless positioning technologies, such as a wireless signal strength method (RECEIVED SIGNAL STRENGTH Indication, RSSI), a Time of flight (TOF), a Time difference of Arrival (TIME DIFFERENCE of Arrival, TDOA), a phase difference of Arrival method (PHASE DIFFERENCE of Arrival, PDOA) and the like, are emerging, wherein the TDOA is relatively suitable for being applied to a large complex environment due to the characteristics of large system capacity, simple system and the like, and is in great interest for the market.
In a conventional wireless synchronous TDOA location system, a synchronous base station and more than 3 slave base stations generally form a unit (hereinafter referred to as a location cell) that provides basic location services. Because the signal coverage of the synchronous base station is limited, the mode of single positioning cell can only be applied to a simple scene, and is not suitable for a large or complex application scene.
For this reason, in complex or large application scenarios, a mesh method is generally used to cover as many areas as possible by using a plurality of positioning cells, so as to ensure locatable coverage of the entire application scenario. However, in this method, a device to be positioned may appear at the junction of the positioning cells or at a place where multiple positioning cells are covered simultaneously, at this time, the base stations of the multiple positioning cells receive the positioning signals of the device, and when the positioning cells perform positioning resolving, the situation that multiple positioning results appear on the device may be possibly caused, and meanwhile, larger deviation may appear between different positioning results, so that the positioning accuracy of the positioning system is reduced, the positioning results need to be further screened, and the specific position of the device to be positioned cannot be accurately and rapidly determined.
Disclosure of Invention
The invention provides a positioning result calibration method, a positioning result calibration device and positioning result calibration equipment, which solve the technical problem that the positioning accuracy is reduced and the specific position of equipment cannot be quickly and accurately determined due to the fact that multiple positioning cells simultaneously position the same equipment in the prior art.
The invention provides a positioning result calibration method, which relates to a plurality of positioning cells in a wireless synchronous TDOA positioning system, and comprises the following steps:
Receiving positioning information and positioning results generated by each positioning cell in response to a positioning request broadcast by equipment to be positioned;
Selecting a reference cell from a plurality of positioning cells according to the generation moments of the positioning results, taking the positioning information of the reference cell as reference positioning information, and taking the positioning result of the reference cell as reference positioning result;
performing a cross-validation process on a plurality of positioning results and the reference positioning results according to a plurality of positioning information and the reference positioning information, and determining a target positioning cell;
and taking the positioning result of the target positioning cell as a target positioning result.
Optionally, the step of selecting a reference cell from the plurality of positioning cells according to the generation moments of the plurality of positioning results, using positioning information of the reference cell as reference positioning information, and using the positioning result of the reference cell as reference positioning result includes:
comparing the generation moments of a plurality of positioning results;
Taking a positioning cell corresponding to the positioning result with the minimum generation moment as a reference cell;
Taking the positioning information of the reference cell as reference positioning information;
And taking the positioning result of the reference cell as a reference positioning result.
Optionally, the positioning cell includes a plurality of slave base stations, the positioning information includes base station coordinates of the plurality of slave base stations and arrival time differences of the plurality of slave base stations, the reference positioning information includes reference base station coordinates and reference arrival time differences, and the step of determining the target positioning cell includes:
selecting an unverified positioning cell from a plurality of positioning cells, and acquiring an unverified positioning result of the unverified positioning cell;
acquiring the coordinates of an unverified base station and the unverified arrival time difference from the positioning information of the unverified positioning cell;
Calculating a first residual error according to the positioning result of the unverified positioning cell, the coordinate of the reference base station and the reference arrival time difference;
calculating a second residual error according to the reference positioning result, the unverified base station coordinates and the unverified arrival time difference;
Judging whether to update the reference cell according to the comparison result of the first residual error and the second residual error, and returning to the step of selecting an unverified positioning cell from a plurality of positioning cells until all the positioning cells are verified;
And taking the reference cell at the current moment as a target positioning cell.
Optionally, the step of determining whether to update the reference cell according to the comparison result of the first residual error and the second residual error includes:
Comparing the first residual with the second residual;
if the first residual error is smaller than the second residual error, updating the reference cell into the unverified positioning cell;
and if the first residual is greater than or equal to the second residual, not updating the reference cell.
Optionally, the step of calculating a first residual error according to the unverified positioning result, the reference base station coordinates and the reference arrival time difference includes:
calculating a first cross arrival time difference according to the unverified positioning result and the reference base station coordinates;
A first residual of the first cross arrival time difference and the reference arrival time difference is calculated.
Optionally, the step of calculating a first cross arrival time difference according to the unverified positioning result and the reference base station coordinates includes:
Calculating a first Euclidean distance by adopting the unverified positioning result and the reference base station coordinates; the first Euclidean distance comprises a first reference base station Euclidean distance and a plurality of second reference base station Euclidean distances;
Respectively calculating a first difference value of the Euclidean distance of each second reference base station and the Euclidean distance of each first reference base station;
Respectively calculating a first quotient value of each first difference value and a preset speed value;
And combining a plurality of the first quotient values to obtain a first cross arrival time difference.
Optionally, the step of calculating a second residual according to the reference positioning result, the unverified base station coordinates and the unverified arrival time difference includes:
calculating a second cross arrival time difference according to the reference positioning result and the unverified base station coordinates;
A second residual of the second cross arrival time difference and the unverified arrival time difference is calculated.
Optionally, the step of calculating a second cross arrival time difference according to the reference positioning result and the unverified base station coordinates includes:
Calculating a second Euclidean distance by adopting the reference positioning result and the unverified base station coordinates; the second Euclidean distance comprises a first unverified base station Euclidean distance and a plurality of second unverified base stations Euclidean distances;
Respectively calculating a second difference value of the Euclidean distance of each second unverified base station and the Euclidean distance of the first unverified base station;
respectively calculating a second quotient of each second difference value and a preset speed value;
And combining a plurality of the second quotient values to obtain a second cross arrival time difference.
The invention also provides a positioning result calibration device, which relates to a plurality of positioning cells in a wireless synchronous TDOA positioning system, and comprises:
the positioning information receiving module is used for respectively receiving positioning information and positioning results generated by each positioning cell in response to a positioning request broadcast by equipment to be positioned;
The reference cell system information determining module is used for selecting a reference cell from a plurality of positioning cells according to the generation moments of a plurality of positioning results, taking the positioning information of the reference cell as reference positioning information and taking the positioning result of the reference cell as reference positioning result;
The positioning result verification module is used for executing a cross verification process on a plurality of positioning results and the reference positioning results according to a plurality of positioning information and the reference positioning information to determine a target positioning cell;
And the target positioning result determining module is used for taking the positioning result of the target positioning cell as a target positioning result.
The invention also provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program which, when executed by the processor, causes the processor to execute the steps of the positioning result calibration method as described in any one of the above.
From the above technical scheme, the invention has the following advantages:
The method comprises the steps of respectively receiving positioning information generated by each positioning cell in response to a positioning request broadcast by equipment to be positioned, selecting a reference cell from a plurality of positioning cells based on the generation moment of a positioning result, and taking the positioning information of the reference cell as reference positioning information; and performing a cross verification process on the positioning result of each positioning cell by adopting a plurality of positioning information and reference positioning information to determine a target positioning cell. The technical problem that in the prior art, the positioning accuracy is reduced due to the fact that multiple positioning cells simultaneously position the same equipment, and the specific position of the equipment cannot be quickly and accurately determined is solved, and the equipment is more quickly and accurately positioned.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a flowchart illustrating steps of a positioning result calibration method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for calibrating positioning results according to an alternative embodiment of the present invention;
fig. 3 is a diagram illustrating positioning of multiple positioning cells according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a positioning result calibration method according to another embodiment of the present invention;
fig. 5 is a block diagram of a positioning result calibration device according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a positioning result calibration method, a positioning result calibration device and positioning result calibration equipment, which are used for solving the technical problem that the positioning accuracy is reduced and the specific position of equipment cannot be quickly and accurately determined due to the fact that multiple positioning cells simultaneously position the same equipment in the prior art.
The wireless synchronous TDOA location system may determine the distance of the signal source by measuring the time the signal arrives at the monitoring station. The position of the signal can be determined by using the distance from the signal source to each monitoring station (the distance is rounded with the monitoring station as the center and the distance as the radius). However, the absolute time is generally difficult to measure, and by comparing the absolute time differences of the signals reaching each monitoring station, a hyperbola with the monitoring station as a focus and the distance difference as a long axis can be made, and the intersection point of the hyperbolas is the position of the signals.
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. 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.
Referring to fig. 1, fig. 1 is a flowchart illustrating steps of a positioning result calibration method according to an embodiment of the present invention.
The invention provides a positioning result calibration method, which relates to a plurality of positioning cells in a wireless synchronous TDOA positioning system, and comprises the following steps:
Step 101, positioning information and positioning results generated by each positioning cell in response to a positioning request broadcast by equipment to be positioned are received respectively;
In the embodiment of the invention, a plurality of positioning cells exist in the wireless synchronous TDOA positioning system, each positioning cell comprises a synchronous base station and a plurality of slave base stations, and in the wireless synchronous TDOA positioning system, synchronous time can be provided for other slave base stations through the synchronous base stations, so that absolute time is provided for each slave base station to measure the arrival time difference of each slave base station.
The arrival time difference is the absolute value of the time difference between the reception of the positioning results by two adjacent base stations.
In a specific implementation, in a large or complex application scenario, only a single positioning cell is adopted to position the equipment to be positioned, so that a plurality of positioning cells are needed to position the equipment to be positioned, and in order to obtain the most accurate positioning result, the positioning request of each positioning cell in response to the equipment to be positioned can be received respectively, and corresponding positioning information is generated respectively. Wherein the positioning information includes, but is not limited to, positioning results.
102, Selecting a reference cell from a plurality of positioning cells according to the generation moments of a plurality of positioning results, taking positioning information of the reference cell as reference positioning information, and taking the positioning result of the reference cell as a reference positioning result;
In the embodiment of the invention, before comparing the positioning results of each positioning cell, the compared reference information needs to be determined, but in order to ensure the execution efficiency of the subsequent steps, the selection can be performed based on the generation time of the positioning results as a standard, because the generation time of the positioning results is more advanced, the higher the resolving speed of the reference cell corresponding to the positioning results is, and the subsequent steps can be executed more rapidly. Therefore, the reference cell can be selected from the plurality of positioning cells according to the generation time of the received positioning result, and the positioning information corresponding to the reference cell is used as the reference positioning information.
Step 103, performing a cross verification process on a plurality of positioning results and the reference positioning results according to a plurality of positioning information and the reference positioning information, and determining a target positioning cell;
After the reference positioning information and the positioning information of each positioning cell are acquired, a cross-validation process may also be performed to determine the positioning cell with the highest accuracy as the target positioning cell.
The cross verification process not only needs to verify the positioning result of the positioning cell corresponding to the positioning information, but also needs to perform continuous iterative updating on the reference cell so as to ensure that the reference cell is always the most accurate positioning result.
And 104, taking the positioning result of the target positioning cell as a target positioning result.
In the embodiment of the invention, positioning information generated by each positioning cell in response to a positioning request broadcast by equipment to be positioned is received respectively, a reference cell is selected from a plurality of positioning cells based on the generation moment of a positioning result, and the positioning information of the reference cell is used as reference positioning information; and performing a cross verification process on the positioning result of each positioning cell by adopting a plurality of positioning information and reference positioning information to determine a target positioning cell. The technical problem that in the prior art, the positioning accuracy is reduced due to the fact that multiple positioning cells simultaneously position the same equipment, and the specific position of the equipment cannot be quickly and accurately determined is solved, and the equipment is more quickly and accurately positioned.
Referring to fig. 2, fig. 2 is a flowchart illustrating steps of a positioning result calibration method according to an alternative embodiment of the present invention.
The invention provides a positioning result calibration method, which relates to a plurality of positioning cells in a wireless synchronous TDOA positioning system, and comprises the following steps:
Step 201, positioning information and positioning results generated by each positioning cell in response to a positioning request broadcast by a device to be positioned are received respectively;
In the embodiment of the invention, when the equipment to be positioned broadcasts a positioning request, each positioning cell responds to the positioning request, and the position of the equipment to be positioned is detected to generate a positioning result and positioning information. In order to improve the positioning accuracy of the positioning result, the positioning result and the positioning information generated by each positioning cell are respectively received so as to facilitate the subsequent further processing.
In an optional embodiment of the present invention, the technical feature "according to the generation moments of the positioning results in the step 102, selecting a reference cell from the positioning cells, using positioning information of the reference cell as reference positioning information, and using the positioning result of the reference cell as reference positioning result" may be replaced by the following steps 202 to 205:
step 202, comparing the generation time of a plurality of positioning results;
In a specific implementation, because the positioning cells have time difference when the positioning solution is carried out on the equipment to be positioned, when positioning results returned by different positioning cells are received, respective generation moments can be recorded as comparison bases, and the generation moments of all the positioning results are compared so as to determine the reference cell.
Step 203, taking a positioning cell corresponding to the positioning result with the minimum generation time as a reference cell;
After comparing the generation time, the smaller the generation time, the faster the resolving speed is, and the faster the speed of obtaining the positioning result is, so that in order to reduce the updating times of the subsequent determining process of the target positioning cell, the positioning cell corresponding to the positioning result with the smallest generation time is selected as the reference cell.
Step 204, taking the positioning information of the reference cell as reference positioning information;
and step 205, taking the positioning result of the reference cell as a reference positioning result.
After the reference cell is determined, the positioning information corresponding to the reference cell can be used as reference positioning information, and the positioning result of the reference cell can be used as reference positioning result, so that the data of other positioning cells can be conveniently distinguished.
Step 206, performing a cross-validation process on the positioning results and the reference positioning results according to the positioning information and the reference positioning information, and determining a target positioning cell;
optionally, the positioning cell includes a plurality of slave base stations, the positioning information includes base station coordinates of the plurality of slave base stations and arrival time differences of the plurality of slave base stations, the reference positioning information includes reference base station coordinates and reference arrival time differences, and step 206 may include the following sub-steps S1-S6:
S1, selecting an unverified positioning cell from a plurality of positioning cells, and acquiring an unverified positioning result of the unverified positioning cell;
s2, obtaining the coordinates of the unverified base station and the unverified arrival time difference from the positioning information of the unverified positioning cell;
In the embodiment of the invention, because the cross verification process is required to be executed on each positioning cell, the positioning cells can be divided into unverified positioning cells and verified positioning cells, unverified positioning cells can be selected from a plurality of positioning cells, unverified positioning results of the unverified positioning cells are obtained, and unverified base stations and unverified arrival time differences are obtained from positioning information which is subjected to unverified positioning.
It should be noted that each positioning cell includes a plurality of slave base stations, the base station coordinates of the positioning cell include the position coordinates of the plurality of slave base stations, and the arrival time difference is the time difference between every two adjacent slave base stations receiving the broadcast positioning request.
S3, calculating a first residual error according to the positioning result of the unverified positioning cell, the coordinate of the reference base station and the reference arrival time difference;
further, said step S3 may comprise the following sub-steps S31-S32:
S31, calculating a first cross arrival time difference according to the unverified positioning result and the reference base station coordinates;
in one example of the present invention, step S31 may include the sub-steps of:
Calculating a first Euclidean distance by adopting the unverified positioning result and the reference base station coordinates; the first Euclidean distance comprises a first reference base station Euclidean distance and a plurality of second reference base station Euclidean distances;
Respectively calculating a first difference value of the Euclidean distance of each second reference base station and the Euclidean distance of each first reference base station;
Respectively calculating a first quotient value of each first difference value and a preset speed value;
And combining a plurality of the first quotient values to obtain a first cross arrival time difference.
In the embodiment of the present invention, the first euclidean distance between the unverified positioning result and the reference base station coordinate may be calculated based on the euclidean distance formula, and the specific formula may be as follows:
Wherein, For the set of the first euclidean distance from the base station of the 1 st reference cell to the base station of the m-th reference cell, d 1 is the first euclidean distance between the i-th unverified positioning result and the base stations of all the reference cells, m is the number of the base stations of the reference cells, and the reference base station coordinate S 0 can be expressed as/>The coordinates of the ith unverified positioning result are denoted (x i,yi,zi).
After the first euclidean distance is obtained, the first euclidean distance of the slave base station of the 1 st reference cell can be used as the first reference base station euclidean distance, the first euclidean distances of other slave base stations are used as the second reference base station euclidean distances, the first difference value of each second reference base station euclidean distance and the first reference base station euclidean distance is calculated respectively, the first quotient value of each first difference value and the preset speed value is calculated respectively, a plurality of first quotient values are combined to obtain a first cross arrival time difference, and the specific formula can be as follows:
Where U 1 is the first cross arrival time difference and c is the speed value of the light in air.
The preset speed value may be a speed value of light in air, which is not limited in the embodiment of the present invention.
S32, calculating a first residual error of the first cross arrival time difference and the reference arrival time difference.
The residual is the difference between the actual observed value and the estimated value (fitting value) in mathematical statistics, and is generally used to determine the reliability and the fitting degree of data.
In the embodiment of the present invention, after the first intersection arrival time difference U 1 is obtained, in order to further determine whether the reliability of the first intersection arrival time difference and the reference arrival time difference is good or bad, at this time, a first residual error of the first intersection arrival time difference and the reference arrival time difference may be calculated, specifically, may be calculated by using the euclidean distance between the first intersection arrival time difference U 1 and the reference arrival time difference T 0, and the representation form thereof may be as follows:
r1＝‖U1-T0‖2
Where r 1 is the first residual, U 1 is the first cross arrival time difference, and T 0 is the reference arrival time difference.
S4, calculating a second residual error according to the reference positioning result, the unverified base station coordinates and the unverified arrival time difference;
further, said step S4 may comprise the following sub-steps S41-S42:
S41, calculating a second cross arrival time difference according to the reference positioning result and the unverified base station coordinates;
in one example of the present invention, step S41 may include the sub-steps of:
Calculating a second Euclidean distance by adopting the reference positioning result and the unverified base station coordinates; the second Euclidean distance comprises a first unverified base station Euclidean distance and a plurality of second unverified base stations Euclidean distances;
Respectively calculating a second difference value of the Euclidean distance of each second unverified base station and the Euclidean distance of the first unverified base station;
respectively calculating a second quotient of each second difference value and a preset speed value;
And combining a plurality of the second quotient values to obtain a second cross arrival time difference.
In the embodiment of the present invention, the second euclidean distance between the reference positioning result and the unverified base station coordinate may be calculated based on the euclidean distance formula, and the specific formula may be as follows:
Wherein, For the set of the second euclidean distance from the 1 st unverified base station to the nth unverified base station, d 2 is the reference positioning result and the first euclidean distance of all the slave base stations of the unverified cells, n is the number of the slave base stations of the unverified cells, and the unverified base station coordinate S i can be expressed as/> The coordinates of the reference positioning result are denoted as (x 0,y0,z0).
After the second euclidean distance is obtained, the second euclidean distance of the slave base station of the 1 st unverified cell can be used as the first unverified base station euclidean distance, the second euclidean distances of other slave base stations are used as the second unverified base station euclidean distances, the second difference value of each second unverified base station euclidean distance and the second difference value of the first unverified base station euclidean distance are calculated respectively, the second quotient value of each second difference value and the preset speed value is calculated respectively, a plurality of second quotient values are combined, and a second cross arrival time difference is obtained, and the specific formula can be as follows:
Where U 2 is the second cross-arrival time difference and c is the speed value of the light in air.
S42, calculating a second residual error of the second cross arrival time difference and the unverified arrival time difference.
In the embodiment of the present invention, the calculation may be specifically performed by using the euclidean distance between the second cross arrival time difference U 2 and the unverified arrival time difference T i, and the expression form may be as follows:
r2＝‖U2-Ti‖2
Where r 2 is the second residual, U 2 is the second cross arrival time difference, and T i is the unverified arrival time difference.
S5, judging whether to update the reference cell according to the comparison result of the first residual error and the second residual error, and returning to the step of selecting an unverified positioning cell from a plurality of positioning cells until all the positioning cells are verified;
In one example of the present invention, the step of determining whether to update the reference cell according to the comparison result of the first residual and the second residual in the step S5 may include the sub-steps of:
Comparing the first residual with the second residual;
if the first residual error is smaller than the second residual error, updating the reference cell into the unverified positioning cell;
and if the first residual is greater than or equal to the second residual, not updating the reference cell.
In a specific implementation, after the first residual error and the second residual error are obtained, the reliability of the unverified positioning result and the reference positioning result is judged by comparing the first residual error with the second residual error. When the first residual error is smaller than the second residual error, the reliability of the unverified positioning result is higher than that of the reference positioning result, and the reference cell can be updated into the unverified positioning cell; and if the first residual is greater than or equal to the second residual, indicating that the reliability of the reference positioning result of the reference cell is still the highest, and not updating the reference cell.
Judging whether all positioning cells are verified, if not, reselecting an unverified positioning cell from a plurality of positioning cells, and repeatedly executing the steps S1-S5; if yes, go on to step S6.
S6, taking the reference cell at the current moment as a target positioning cell.
After all positioning cells are verified, the reference cell at the moment is the positioning cell with the highest reliability, and the corresponding reference positioning result is the positioning result with the highest reliability, so that the reference cell at the current moment can be used as the target positioning cell.
And step 207, taking the positioning result of the target positioning cell as a target positioning result.
In the embodiment of the invention, positioning information generated by each positioning cell in response to a positioning request broadcast by equipment to be positioned is received respectively, a reference cell is selected from a plurality of positioning cells based on the generation moment of a positioning result, and the positioning information of the reference cell is used as reference positioning information; and performing a cross verification process on the positioning result of each positioning cell by adopting a plurality of positioning information and reference positioning information to determine a target positioning cell. The technical problem that in the prior art, the positioning accuracy is reduced due to the fact that multiple positioning cells simultaneously position the same equipment, and the specific position of the equipment cannot be quickly and accurately determined is solved, and the equipment is more quickly and accurately positioned.
Referring to fig. 3 and 4, a flowchart of steps of a positioning result method according to an embodiment of the present invention is shown.
Taking the example that the tag can obtain effective resolving results in the cells A, B with 4 adjacent secondary stations, and the tag is at least positioned in the positioning area of one cell, the two cells respectively resolve the position coordinates P A＝[xA yAzA]、PB＝[xB yB zB of the tag at the moment, and the secondary station position coordinates of the three cells are respectivelyTime difference of arrival
Firstly, taking the positioning result of the cell A as a reference quantity, obtaining a positioning result P B after positioning and resolving the data of the cell B, and solving the distance from the positioning result P B of the cell B to each secondary station coordinate S A of the reference quantityThe distance between the tag and other secondary stations of the A cell is reduced by the distance between the tag and the secondary station of the A cell 1 to obtain a cross arrival time difference/>Solving a residual error r 1＝‖U1-TA‖2 of the cross arrival time difference U 1 and the reference quantity arrival time difference T A;
Similarly, a residual r 2 of the cross arrival time difference U 2 of the reference amount of the positioning result P A to the cell B from the station coordinate S B and the B cell arrival time difference T B may be calculated, and when r 1<r2, the positioning result P B of the cell B is output, and otherwise the positioning result P A of the cell a is output.
Referring to fig. 5, fig. 5 is a block diagram illustrating a positioning result calibration device according to an embodiment of the invention.
The embodiment of the invention provides a positioning result calibration device, which relates to a plurality of positioning cells in a wireless synchronous TDOA positioning system, and comprises the following components:
a positioning information receiving module 501, configured to receive positioning information and a positioning result generated by each positioning cell in response to a positioning request broadcast by a device to be positioned;
A reference cell system information determining module 502, configured to select a reference cell from a plurality of positioning cells according to the generation moments of a plurality of positioning results, and use positioning information of the reference cell as reference positioning information, and use a positioning result of the reference cell as a reference positioning result;
A positioning result verification module 503, configured to perform a cross verification process on a plurality of positioning results and the reference positioning result according to a plurality of positioning information and the reference positioning information, and determine a target positioning cell;
And the target positioning result determining module 504 is configured to take the positioning result of the target positioning cell as a target positioning result.
Optionally, the reference cell system information determining module 502 includes:
A generation time comparison sub-module for comparing the generation time of the plurality of positioning results;
A reference cell determining sub-module, configured to use a positioning cell corresponding to the positioning result with the smallest generation time as a reference cell;
A reference positioning information determining sub-module, configured to use positioning information of the reference cell as reference positioning information;
And the reference positioning result determining submodule is used for taking the positioning result of the reference cell as a reference positioning result.
Optionally, the positioning cell includes a plurality of slave base stations, the positioning information includes base station coordinates of the plurality of slave base stations and arrival time differences of the plurality of slave base stations, the reference positioning information includes reference base station coordinates and reference arrival time differences, and the positioning result verification module 503 includes:
an unverified positioning result obtaining sub-module, configured to select an unverified positioning cell from a plurality of positioning cells, and obtain an unverified positioning result of the unverified positioning cell;
a base station information acquisition sub-module, configured to acquire an unverified base station coordinate and an unverified arrival time difference from the positioning information of the unverified positioning cell;
The first residual calculation sub-module is used for calculating a first residual according to the positioning result of the unverified positioning cell, the reference base station coordinates and the reference arrival time difference;
The second residual calculation sub-module is used for calculating a second residual according to the reference positioning result, the unverified base station coordinates and the unverified arrival time difference;
The updating judging sub-module is used for judging whether to update the reference cell according to the comparison result of the first residual error and the second residual error, and returning to the step of selecting the unverified positioning cell from the positioning cells until all the positioning cells are verified;
and the target positioning cell determining submodule is used for taking the reference cell at the current moment as a target positioning cell.
Optionally, the update judgment submodule includes:
a comparison unit for comparing the first residual error and the second residual error;
A reference cell updating unit, configured to update the reference cell to the unverified positioning cell if the first residual is smaller than the second residual;
And the reference cell holding unit is used for not updating the reference cell if the first residual is greater than or equal to the second residual.
Optionally, the first residual calculation submodule includes:
A first cross arrival time difference calculating unit, configured to calculate a first cross arrival time difference according to the unverified positioning result and the reference base station coordinate;
and a first residual calculation unit for calculating a first residual of the first cross arrival time difference and the reference arrival time difference.
Optionally, the first cross arrival time difference calculating unit includes:
A first euclidean distance calculating unit, configured to calculate a first euclidean distance using the unverified positioning result and the reference base station coordinates; the first Euclidean distance comprises a first reference base station Euclidean distance and a plurality of second reference base station Euclidean distances;
a first difference value calculating unit, configured to calculate a first difference value of the euclidean distance of each second reference base station and the euclidean distance of the first reference base station;
A first quotient calculation unit, configured to calculate a first quotient of each of the first difference and a preset speed value;
And the first cross arrival time difference determining unit is used for combining a plurality of first quotient values to obtain a first cross arrival time difference.
Optionally, the second residual calculation submodule includes:
A second cross arrival time difference calculating unit, configured to calculate a second cross arrival time difference according to the reference positioning result and the unverified base station coordinates;
and a second residual calculation unit for calculating a second residual of the second cross arrival time difference and the unverified arrival time difference.
Optionally, the second cross arrival time difference calculating unit includes:
A second euclidean distance calculating unit, configured to calculate a second euclidean distance using the reference positioning result and the unverified base station coordinates; the second Euclidean distance comprises a first unverified base station Euclidean distance and a plurality of second unverified base stations Euclidean distances;
a second difference value calculating unit, configured to calculate a second difference value of the euclidean distance of each second unverified base station and the euclidean distance of the first unverified base station;
A second quotient calculation unit, configured to calculate a second quotient of each of the second difference values and a preset speed value;
And the second cross arrival time difference determining unit is used for combining a plurality of second quotient values to obtain a second cross arrival time difference.
The invention also provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program which, when executed by the processor, causes the processor to execute the steps of the positioning result calibration method as described in any one of the above.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A method of calibrating positioning results, involving a plurality of positioning cells in a wireless synchronous TDOA positioning system, the method comprising:
Receiving positioning information and positioning results generated by each positioning cell in response to a positioning request broadcast by equipment to be positioned;
Selecting a reference cell from a plurality of positioning cells according to the generation moments of the positioning results, taking the positioning information of the reference cell as reference positioning information, and taking the positioning result of the reference cell as reference positioning result;
performing a cross-validation process on a plurality of positioning results and the reference positioning results according to a plurality of positioning information and the reference positioning information, and determining a target positioning cell;
taking the positioning result of the target positioning cell as a target positioning result;
The category of the positioning cell comprises a verified positioning cell and an unverified positioning cell, the positioning cell comprises a plurality of slave base stations, the positioning information comprises base station coordinates of the plurality of slave base stations and arrival time differences of the plurality of slave base stations, the reference positioning information comprises reference base station coordinates and reference arrival time differences, and the step of determining a target positioning cell comprises the following steps of:
selecting an unverified positioning cell from a plurality of positioning cells, and acquiring an unverified positioning result of the unverified positioning cell;
acquiring the coordinates of an unverified base station and the unverified arrival time difference from the positioning information of the unverified positioning cell;
Calculating a first residual error according to the positioning result of the unverified positioning cell, the coordinate of the reference base station and the reference arrival time difference;
calculating a second residual error according to the reference positioning result, the unverified base station coordinates and the unverified arrival time difference;
Judging whether to update the reference cell according to the comparison result of the first residual error and the second residual error, and returning to the step of selecting an unverified positioning cell from a plurality of positioning cells until all the positioning cells are verified;
And taking the reference cell at the current moment as a target positioning cell.
2. The positioning result calibration method according to claim 1, wherein the step of selecting a reference cell from a plurality of the positioning cells based on the generation timings of the plurality of the positioning results, and taking positioning information of the reference cell as reference positioning information and positioning results of the reference cell as reference positioning results comprises:
comparing the generation moments of a plurality of positioning results;
Taking a positioning cell corresponding to the positioning result with the minimum generation moment as a reference cell;
Taking the positioning information of the reference cell as reference positioning information;
And taking the positioning result of the reference cell as a reference positioning result.
3. The positioning result calibration method according to claim 1, wherein the step of determining whether to update the reference cell according to the comparison result of the first residual error and the second residual error comprises:
Comparing the first residual with the second residual;
if the first residual error is smaller than the second residual error, updating the reference cell into the unverified positioning cell;
and if the first residual is greater than or equal to the second residual, not updating the reference cell.
4. The positioning result calibration method according to claim 1, wherein the step of calculating a first residual error from the unverified positioning result, the reference base station coordinates and the reference arrival time difference comprises:
calculating a first cross arrival time difference according to the unverified positioning result and the reference base station coordinates;
A first residual of the first cross arrival time difference and the reference arrival time difference is calculated.
5. The method of calibrating a positioning result according to claim 4, wherein the step of calculating a first cross arrival time difference based on the unverified positioning result and the reference base station coordinates comprises:
Calculating a first Euclidean distance by adopting the unverified positioning result and the reference base station coordinates; the first Euclidean distance comprises a first reference base station Euclidean distance and a plurality of second reference base station Euclidean distances;
Respectively calculating a first difference value of the Euclidean distance of each second reference base station and the Euclidean distance of each first reference base station;
Respectively calculating a first quotient value of each first difference value and a preset speed value;
And combining a plurality of the first quotient values to obtain a first cross arrival time difference.
6. The positioning result calibration method according to claim 1, wherein the step of calculating a second residual error from the reference positioning result, the unverified base station coordinates and the unverified arrival time difference comprises:
calculating a second cross arrival time difference according to the reference positioning result and the unverified base station coordinates;
A second residual of the second cross arrival time difference and the unverified arrival time difference is calculated.
7. The method of calibrating positioning results according to claim 6, wherein the step of calculating a second cross arrival time difference based on the reference positioning result and the unverified base station coordinates includes:
Calculating a second Euclidean distance by adopting the reference positioning result and the unverified base station coordinates; the second Euclidean distance comprises a first unverified base station Euclidean distance and a plurality of second unverified base stations Euclidean distances;
Respectively calculating a second difference value of the Euclidean distance of each second unverified base station and the Euclidean distance of the first unverified base station;
respectively calculating a second quotient of each second difference value and a preset speed value;
And combining a plurality of the second quotient values to obtain a second cross arrival time difference.
8. A positioning result calibration apparatus, relating to a plurality of positioning cells in a wireless synchronous TDOA positioning system, the apparatus comprising:
the positioning information receiving module is used for respectively receiving positioning information and positioning results generated by each positioning cell in response to a positioning request broadcast by equipment to be positioned;
The reference cell system information determining module is used for selecting a reference cell from a plurality of positioning cells according to the generation moments of a plurality of positioning results, taking the positioning information of the reference cell as reference positioning information and taking the positioning result of the reference cell as reference positioning result;
The positioning result verification module is used for executing a cross verification process on a plurality of positioning results and the reference positioning results according to a plurality of positioning information and the reference positioning information to determine a target positioning cell;
the target positioning result determining module is used for taking the positioning result of the target positioning cell as a target positioning result;
the category of the positioning cell comprises a verified positioning cell and an unverified positioning cell, the positioning cell comprises a plurality of slave base stations, the positioning information comprises base station coordinates of the plurality of slave base stations and arrival time differences of the plurality of slave base stations, the reference positioning information comprises reference base station coordinates and reference arrival time differences, and the positioning result verification module comprises:
an unverified positioning result obtaining sub-module, configured to select an unverified positioning cell from a plurality of positioning cells, and obtain an unverified positioning result of the unverified positioning cell;
a base station information acquisition sub-module, configured to acquire an unverified base station coordinate and an unverified arrival time difference from the positioning information of the unverified positioning cell;
The first residual calculation sub-module is used for calculating a first residual according to the positioning result of the unverified positioning cell, the reference base station coordinates and the reference arrival time difference;
The second residual calculation sub-module is used for calculating a second residual according to the reference positioning result, the unverified base station coordinates and the unverified arrival time difference;
The updating judging sub-module is used for judging whether to update the reference cell according to the comparison result of the first residual error and the second residual error, and returning to the step of selecting the unverified positioning cell from the positioning cells until all the positioning cells are verified;
and the target positioning cell determining submodule is used for taking the reference cell at the current moment as a target positioning cell.
9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of the positioning result calibration method according to any of claims 1-7.
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Effective date of registration: 20240619 Address after: 510000 Si Cheng Road, Tianhe District, Guangzhou, Guangdong Province, No. 39 Patentee after: SOUTH SURVEYING & MAPPING TECHNOLOGY CO.,LTD. Country or region after: China Address before: 510000 Tianhe District District, Guangzhou, Guangdong, 39 Tianhe District 4 Building A area, 5 floor, A area, 6 floor A area Patentee before: GUANGZHOU SOUTH SATELLITE NAVIGATION INSTRUMENT Co.,Ltd. Country or region before: China |