CN113030851A - Positioning method and device - Google Patents
Positioning method and device Download PDFInfo
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- CN113030851A CN113030851A CN202110208568.2A CN202110208568A CN113030851A CN 113030851 A CN113030851 A CN 113030851A CN 202110208568 A CN202110208568 A CN 202110208568A CN 113030851 A CN113030851 A CN 113030851A
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A positioning method and apparatus are disclosed. The method comprises the following steps: receiving distance information from first equipment to second equipment, which is sent by the first equipment; receiving angle information of the first device and the second device, which is sent by the first device; converting the distance information and the angle information into position coordinates in a rectangular coordinate system; and determining the position relation of the first equipment and the second equipment according to the position coordinates.
Description
Technical Field
The present application relates to the field of communications technologies, and in particular, to a positioning method and apparatus.
Background
Currently, a common positioning technology in the field of positioning technology is mainly a base station positioning technology. The existing positioning method based on the base station positioning technology can perform positioning by acquiring the distance from the mobile equipment to the base station, but one base station can only measure the distance from the base station to the mobile equipment, and cannot perform positioning. At least three base stations are needed to realize two-dimensional positioning, and four base stations are needed to realize three-dimensional positioning. Therefore, the existing positioning method based on the base station positioning technology cannot complete the positioning of the mobile equipment by using only one base station.
Disclosure of Invention
In order to solve the above problem, the present invention provides a positioning method and apparatus, which can realize positioning of a mobile device by using only one base station.
In order to achieve the above object, in a first aspect, an embodiment of the present invention provides a positioning method, including:
receiving distance information from first equipment to second equipment, which is sent by the first equipment;
receiving angle information of the first device and the second device, which is sent by the first device;
converting the distance information and the angle information into position coordinates in a rectangular coordinate system;
and determining the position relation of the first equipment and the second equipment according to the position coordinates.
Preferably, the receiving distance information from the first device to the second device, which is sent by the first device, includes: and receiving distance information, sent by first equipment, of the first equipment to the second equipment, wherein the distance information is obtained by the first equipment through calculation according to the flight time of the electromagnetic waves between the first equipment and the second equipment.
Preferably, the receiving the angle information of the first device and the second device sent by the first device includes: and receiving angle information of the first device and the second device, which is obtained by the first device according to the phase difference of the Bluetooth signal sent by the second device and reaching the antenna array of the first device, and calculated by the first device.
Preferably, the first device and the second device comprise an ultra-bandwidth component and a bluetooth component, respectively.
Preferably, the first device is a base station, and the second device is a mobile device; or, the first device is a mobile device, and the second device is a base station.
In a second aspect, an embodiment of the present invention provides a positioning apparatus, including:
the first receiving unit is used for receiving the distance information between the first equipment and the second equipment, which is sent by the first equipment;
a second receiving unit, configured to receive angle information of the first device and the second device sent by the first device;
a conversion unit configured to convert the distance information and the angle information into position coordinates in a rectangular coordinate system;
and the determining unit is used for determining the position relation of the first equipment and the second equipment according to the position coordinates.
Preferably, the first receiving unit is specifically configured to: and receiving distance information, sent by first equipment, of the first equipment to the second equipment, wherein the distance information is obtained by the first equipment through calculation according to the flight time of the electromagnetic waves between the first equipment and the second equipment.
Preferably, the second receiving unit is specifically configured to: and receiving angle information of the first device and the second device, which is obtained by the first device according to the phase difference of the Bluetooth signal sent by the second device and reaching the antenna array of the first device, and calculated by the first device.
Preferably, the first device and the second device comprise an ultra-bandwidth component and a bluetooth component, respectively.
Preferably, the first device is a base station, and the second device is a mobile device; or, the first device is a mobile device, and the second device is a base station.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium stores a computer program, and the computer program is configured to execute the positioning method according to the first aspect.
In a fourth aspect, an embodiment of the present invention provides an electronic device, including:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the instructions to implement the positioning method according to the first aspect.
By using the positioning method and the positioning device provided by the invention, the distance information between the first equipment and the second equipment and the angle information between the first equipment and the second equipment, which are sent by the first equipment, are received, the distance information and the angle information are converted into position coordinates in a rectangular coordinate system, and the position relation between the first equipment and the second equipment is determined according to the position coordinates. It can be seen that only the distance information and the intersection angle information between the first device and the second device are used in the positioning process, and no other devices are involved. Therefore, no matter the first device is a base station, the second device is a mobile device, or the first device is a mobile device and the second device is a base station, the mobile device can be positioned by only one base station.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic flow chart of a positioning method according to an exemplary embodiment of the present application;
FIG. 2 is a block diagram of a positioning device provided in an exemplary embodiment of the present application;
fig. 3 is a block diagram of an electronic device according to an exemplary embodiment of the present disclosure.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Fig. 1 is a schematic flowchart of a positioning method according to an embodiment of the present application. The positioning method is applied to the electronic equipment, and the electronic equipment can be embodied as a server. As illustrated in fig. 1, the method comprises:
In one example, the first device may be a base station or a mobile device. Correspondingly, when the first device is a base station, the second device is a mobile device. And when the first equipment is mobile equipment, the second equipment is a base station.
In one example, receiving the distance information from the first device to the second device, which is sent by the first device, may include: and receiving distance information between the first device and the second device, which is sent by the first device and calculated by the first device according to the flight time of the electromagnetic wave between the first device and the second device.
Preferably, the first device and the second device each include an ultra-wideband component such that a distance between the first device and the second device may be measured using ultra-wideband Of Flight (TOF) ranging between the first device and the second device.
Specifically, the process of measuring the distance between the first device and the second device by using the ultra-wideband TOF ranging method may be as follows:
on the premise that the first device and the second device both comprise ultra-wideband assemblies, the first device sends a data packet 1 to the second device through the ultra-wideband assemblies, and records the time Ta1 when the data packet 1 is sent.
After the second device receives the data packet 1 via the ultra-wideband module, the time Tb1 at which the data packet 1 was received is recorded. After the second device analyzes and processes the data packet 1, the second device sends a data packet 2 to the first device, where the data packet 2 carries a time Tb1 when the second device receives the data packet 1 and a time Tb2 when the second device sends the data packet 2. It should be noted that the data packet 2 may be a data packet generated after the second device processes the data packet 1, may also be a response data packet for the data packet 1, and may also be another data packet, which is not limited in this embodiment of the present invention.
When the first device receives the packet 2, the time Ta2 at which the packet 2 is received is recorded. Then, the flight time Tprop of the electromagnetic wave in the air can be calculated by using the following formula:
tprop ═ formula one (Ta2-Ta1- (Tb2-Tb1))
Then, the first device multiplies the light speed by the flight time Tprop, so that distance information between the first device and the second device can be calculated and sent to the server.
In one example, receiving angle information of the first device and the second device sent by the first device may include:
and receiving angle information of the first device and the second device, which is obtained by the first device according to the phase difference of the Bluetooth signal sent by the second device and reaching the antenna array of the first device.
Preferably, the first device and the second device each include a bluetooth module, so that an Angle Of incidence (AOA) measurement between the first device and the second device can be used to measure an Angle between the first device and the second device.
Specifically, the process of measuring the angle between the first device and the second device by using the bluetooth signal AOA measurement method may be:
the bluetooth module included in the first device comprises at least 2 antennas, typically an antenna array. The second device comprises a bluetooth module comprising at least 1 antenna. Based on this, the distance and the position from each antenna of the first device to the antenna of the second device are different, and then, when the second device sends the bluetooth signal to the first device, the first device may obtain the phase difference of the bluetooth signal sent by the second device reaching the antenna array of the first device, so as to calculate the angle information of the first device and the second device according to the phase difference, and send the angle information to the server.
In another example, the ultra-bandwidth component and the bluetooth component included in the first device and the second device may be independent or associated with each other. Then, when the positioning method of this embodiment is triggered, if the ultra-bandwidth component and the bluetooth component included in the first device and the second device are mutually independent, the first device sends a bluetooth signal to the second device by using the bluetooth component while sending a data packet to the second device by using the ultra-bandwidth component, so that the second device sends a bluetooth signal to the first device by using the bluetooth component as needed for responding; if the ultra-bandwidth component and the Bluetooth component included in the first device and the second device are associated, after the first device sends a data packet to the second device by using the ultra-bandwidth component, the second device can trigger the Bluetooth component to send a Bluetooth signal to the first device when receiving the data packet by using the ultra-bandwidth component.
Since only the distance information and the angle information between the first device and the second device cannot intuitively know the position relationship of the first device and the second device in the three-dimensional space, the distance information and the angle information need to be converted into position coordinates in a rectangular coordinate system.
And 104, determining the position relation of the first equipment and the second equipment according to the position coordinates.
The position relation of the first equipment and the second equipment in the three-dimensional space can be intuitively obtained through the position coordinates in the rectangular coordinate system.
By using the positioning method provided by the embodiment of the invention, the distance information from the first device to the second device and the angle information from the first device to the second device sent by the first device are received, the distance information and the angle information are converted into position coordinates in a rectangular coordinate system, and the position relationship between the first device and the second device is determined according to the position coordinates. It can be seen that only the distance information and the intersection angle information between the first device and the second device are used in the positioning process, and no other devices are involved. Therefore, no matter the first device is a base station, the second device is a mobile device, or the first device is a mobile device and the second device is a base station, the mobile device can be positioned by only one base station.
An embodiment of the present invention provides a positioning device, and fig. 2 is a structural diagram of the positioning device. The apparatus is applicable to an electronic device, which may be embodied as a server.
As shown in fig. 2, the positioning apparatus includes:
a first receiving unit 201, configured to receive distance information from a first device to a second device, where the distance information is sent by the first device;
a second receiving unit 202, configured to receive angle information of the first device and the second device sent by the first device;
a conversion unit 203 for converting the distance information and the angle information into position coordinates in a rectangular coordinate system;
a determining unit 204, configured to determine a position relationship between the first device and the second device according to the position coordinates.
Preferably, the first receiving unit 201 is specifically configured to: and receiving distance information, sent by first equipment, of the first equipment to the second equipment, wherein the distance information is obtained by the first equipment through calculation according to the flight time of the electromagnetic waves between the first equipment and the second equipment.
Preferably, the second receiving unit 202 is specifically configured to: and receiving angle information of the first device and the second device, which is obtained by the first device according to the phase difference of the Bluetooth signal sent by the second device and reaching the antenna array of the first device, and calculated by the first device.
Preferably, the first device and the second device comprise an ultra-bandwidth component and a bluetooth component, respectively.
Preferably, the first device is a base station, and the second device is a mobile device; or, the first device is a mobile device, and the second device is a base station.
The positioning device provided by the invention is used for receiving the distance information between the first equipment and the second equipment and the angle information between the first equipment and the second equipment, which are sent by the first equipment, converting the distance information and the angle information into position coordinates in a rectangular coordinate system, and determining the position relation between the first equipment and the second equipment according to the position coordinates. It can be seen that only the distance information and the intersection angle information between the first device and the second device are used in the positioning process, and no other devices are involved. Therefore, no matter the first device is a base station, the second device is a mobile device, or the first device is a mobile device and the second device is a base station, the mobile device can be positioned by only one base station.
Next, an electronic apparatus 11 according to an embodiment of the present application is described with reference to fig. 3.
As shown in fig. 3, the electronic device 11 includes one or more processors 111 and memory 112.
The processor 111 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 11 to perform desired functions.
Memory 112 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by processor 111 to implement the positioning methods of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device 11 may further include: an input device 113 and an output device 114, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 113 may include, for example, a keyboard, a mouse, and the like.
The output device 114 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 114 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.
Of course, for the sake of simplicity, only some of the components of the electronic device 11 relevant to the present application are shown in fig. 3, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 11 may include any other suitable components, depending on the particular application.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the positioning method according to various embodiments of the present application described in the "exemplary methods" section of this specification, above.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the electronic device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, cause the processor to perform steps in a positioning method according to various embodiments of the present application, described in the "exemplary methods" section above of the present specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (12)
1. A method of positioning, the method comprising:
receiving distance information from first equipment to second equipment, which is sent by the first equipment;
receiving angle information of the first device and the second device, which is sent by the first device;
converting the distance information and the angle information into position coordinates in a rectangular coordinate system;
and determining the position relation of the first equipment and the second equipment according to the position coordinates.
2. The method of claim 1, wherein the receiving the distance information from the first device to the second device sent by the first device comprises:
and receiving distance information, sent by first equipment, of the first equipment to the second equipment, wherein the distance information is obtained by the first equipment through calculation according to the flight time of the electromagnetic waves between the first equipment and the second equipment.
3. The method of claim 1, wherein the receiving the angle information of the first device and the second device sent by the first device comprises:
and receiving angle information of the first device and the second device, which is obtained by the first device according to the phase difference of the Bluetooth signal sent by the second device and reaching the antenna array of the first device, and calculated by the first device.
4. The method of claim 1, wherein the first device and the second device comprise an ultra-bandwidth component and a Bluetooth component, respectively.
5. The method of claim 1, wherein the first device is a base station and the second device is a mobile device; or the like, or, alternatively,
the first device is a mobile device, and the second device is a base station.
6. A positioning device, the device comprising:
the first receiving unit is used for receiving the distance information between the first equipment and the second equipment, which is sent by the first equipment;
a second receiving unit, configured to receive angle information of the first device and the second device sent by the first device;
a conversion unit configured to convert the distance information and the angle information into position coordinates in a rectangular coordinate system;
and the determining unit is used for determining the position relation of the first equipment and the second equipment according to the position coordinates.
7. The apparatus of claim 6, wherein the first receiving unit is specifically configured to:
and receiving distance information, sent by first equipment, of the first equipment to the second equipment, wherein the distance information is obtained by the first equipment through calculation according to the flight time of the electromagnetic waves between the first equipment and the second equipment.
8. The apparatus of claim 6, wherein the second receiving unit is specifically configured to:
and receiving angle information of the first device and the second device, which is obtained by the first device according to the phase difference of the Bluetooth signal sent by the second device and reaching the antenna array of the first device, and calculated by the first device.
9. The apparatus of claim 6, wherein the first device and the second device comprise an ultra-bandwidth component and a Bluetooth component, respectively.
10. The apparatus of claim 6, wherein the first device is a base station and the second device is a mobile device; or the like, or, alternatively,
the first device is a mobile device, and the second device is a base station.
11. A computer-readable storage medium, which stores a computer program for executing the positioning method according to any one of claims 1 to 5.
12. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for reading the executable instructions from the memory and executing the instructions to realize the positioning method of any one of the above claims 1-5.
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| CN202110208568.2A CN113030851A (en) | 2021-02-24 | 2021-02-24 | Positioning method and device |
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| CN202110208568.2A CN113030851A (en) | 2021-02-24 | 2021-02-24 | Positioning method and device |
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