CN113347703A - Positioning method, positioning device and electronic equipment - Google Patents
Positioning method, positioning device and electronic equipment Download PDFInfo
- Publication number
- CN113347703A CN113347703A CN202110601949.7A CN202110601949A CN113347703A CN 113347703 A CN113347703 A CN 113347703A CN 202110601949 A CN202110601949 A CN 202110601949A CN 113347703 A CN113347703 A CN 113347703A
- Authority
- CN
- China
- Prior art keywords
- uwb
- base station
- signal
- tag
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- 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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the invention discloses a positioning method, a positioning device and electronic equipment. The positioning method comprises the following steps: calculating the distance between the UWB base station and the UWB tag according to the time when the UWB tag sends the first signal and the time when the UWB base station receives the first signal; calculating the relative angle between a connecting line of the first base station antenna and the second base station antenna and the UWB tag based on a first preset formula according to the phase difference of a first signal sent by the UWB tag and the phase difference of the first base station antenna and the second base station antenna and the distance between the UWB base station and the UWB tag; determining the position information of the electronic equipment in the space according to the distance between the UWB base station and the plurality of UWB tags; and determining the orientation information of the electronic equipment according to the relative angle and the position information. The positioning method provided in the embodiment of the application enables the electronic device to obtain global positioning information including position information and orientation information.
Description
Technical Field
The present invention relates to the field of electronic technologies, and in particular, to a positioning method, a positioning apparatus, and an electronic device.
Background
In indoor positioning, bluetooth, Zigbee (Zigbee), WIFI (Wireless Fidelity), and the like are commonly used for Wireless positioning. However, the general electronic device can only obtain the positioning information of the position indoors, the accuracy of the positioning information is not high, and the orientation information cannot be obtained.
Therefore, the positioning method of the existing electronic device has low accuracy of positioning information and cannot acquire orientation information of the electronic device.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a positioning method, a positioning apparatus and an electronic device, which can solve the problems that the positioning method of the existing electronic device has low accuracy of positioning information and cannot acquire orientation information of the electronic device.
In order to solve the technical problem, the present application is implemented as follows:
in a first aspect, an embodiment of the present application provides a positioning method, which is applied to an electronic device, where the electronic device is provided with a UWB base station, the UWB base station includes a first base station antenna and a second base station antenna, a space in which the electronic device is located is provided with a plurality of UWB tags, and the UWB tags are used for sending a first signal to the UWB base station, and the method includes:
calculating the distance between the UWB base station and the UWB tag according to the time when the UWB tag sends the first signal and the time when the UWB base station receives the first signal;
according to the phase difference of a first signal sent by the UWB tag reaching the first base station antenna and the second base station antenna and the distance between the UWB base station and the UWB tag, calculating the relative angle between the connection line of the first base station antenna and the second base station antenna and the UWB tag based on a first preset formula;
determining the position information of the electronic equipment in the space according to the distance between the UWB base station and the plurality of UWB tags;
and determining orientation information of the electronic equipment according to the relative angle and the position information.
According to one embodiment of the present disclosure, the UWB base station is configured to send a second signal to the UWB tag after receiving the first signal of the tag; the UWB tag is further configured to send a third signal to the UWB base station after receiving the second signal, and the distance between the UWB base station and the UWB tag is calculated according to the time when the UWB tag sends the first signal and the time when the UWB base station receives the first signal, including:
calculating a distance r between the UWB base station and the UWB tag based on a second preset formula according to a first time difference between a time when the UWB tag transmits the first signal and a time when the UWB tag receives the second signal, a second time difference between a time when the UWB tag receives the second signal and a time when the UWB tag transmits the third signal, a third time difference between a time when the UWB base station receives the first signal and a time when the UWB base station transmits the second signal, and a fourth time difference between a time when the UWB base station transmits the second signal and a time when the UWB base station receives the third signal, wherein the second preset formula is as follows:
wherein, Tround1 represents the first time difference, Treplay2 represents the second time difference, Treplay1 represents the third time difference, Tround2 represents the fourth time difference, and c represents the speed of light.
According to a specific embodiment of the present disclosure, a distance between the first base station antenna and the second base station antenna is smaller than a half wavelength, and the first preset formula is as follows:
wherein r represents a distance between the UWB base station and the UWB tag, d represents a distance between the first base station antenna and the second base station antenna, and p represents a difference in distance from which a first signal transmitted by the UWB tag reaches the first base station antenna and the second base station antenna, respectively,
λ represents a radio wave wavelength, and Φ represents a phase difference at which a first signal transmitted by the UWB tag reaches the first base station antenna and the second base station antenna, respectively.
According to a specific embodiment of the present disclosure, the determining, according to the distance between the UWB base station and the plurality of UWB tags, the position information of the electronic device in the space includes:
selecting any three UWB tags to form a UWB tag group, and calculating the coordinate value of the electronic equipment corresponding to the UWB tag group in the space based on a triangular centroid method according to the distances between the three UWB tags in the UWB tag group and the UWB base station;
and calculating the average value of coordinate values of the electronic equipment corresponding to the plurality of UWB tag groups in the space, and determining the average value as the position information of the electronic equipment in the space.
According to a specific embodiment disclosed in the present application, the calculating an average value of coordinate values of electronic devices corresponding to a plurality of UWB tag groups in a space where the electronic devices are located, and determining the average value as location information of the electronic devices in the space includes:
calculating the average value and the variance of coordinate values of electronic equipment corresponding to the UWB tag groups in the space;
if the variance is larger than a preset variance threshold, removing the coordinate value with the maximum Euclidean distance from the average value to obtain a removed coordinate value, and calculating the average value and the variance of the removed coordinate value until the variance is smaller than or equal to the preset variance threshold;
and determining the average value when the variance is less than or equal to a preset variance threshold value as the position information of the electronic equipment in the space.
According to a specific embodiment of the present disclosure, the determining orientation information of the electronic device according to the relative angle and the position information of the electronic device in the space includes:
determining a global angle of the electronic equipment and the UWB tag under a global coordinate system according to the position information of the electronic equipment in the space and the position information of the UWB tag in the space;
adding the relative angle to the global angle of the electronic equipment and the UWB tag under a global coordinate system to obtain the angle of the electronic equipment corresponding to the UWB tag;
if the difference value between the angle at the current moment and the angle at the previous moment is greater than a preset angle threshold value, discarding the angle at the current moment;
if the difference value between the angle at the current moment and the angle at the previous moment is less than or equal to a preset angle threshold value, storing the angle at the current moment;
and calculating the average value of all the stored angles at the current moment as the orientation information of the electronic equipment.
In a second aspect, an embodiment of the present application provides a positioning apparatus, which is applied to an electronic device, the electronic device is provided with a UWB base station, the UWB base station includes a first base station antenna and a second base station antenna, a space in which the electronic device is located is provided with a plurality of UWB tags, the UWB tags are used for transmitting a first signal to the UWB base station, and the apparatus includes:
a distance calculation module, configured to calculate a distance between the UWB base station and the UWB tag according to a time when the UWB tag transmits the first signal and a time when the UWB base station receives the first signal;
a relative angle calculation module, configured to calculate, according to a phase difference between a first signal sent by the UWB tag and a point at which the first signal reaches the first base station antenna and the second base station antenna, and a distance between the UWB base station and the UWB tag, a relative angle between a connection line between the first base station antenna and the second base station antenna and the UWB tag based on a first preset formula;
the position information determining module is used for determining the position information of the electronic equipment in the space according to the distance between the UWB base station and the plurality of UWB tags;
and the orientation information determining module is used for determining the orientation information of the electronic equipment according to the relative angle and the position information.
According to one embodiment of the present disclosure, the UWB base station is configured to send a second signal to the UWB tag after receiving the first signal of the tag; the UWB tag is further configured to send a third signal to the UWB base station after receiving the second signal, and the distance calculation module is specifically configured to:
calculating a distance r between the UWB base station and the UWB tag based on a second preset formula according to a first time difference between a time when the UWB tag transmits the first signal and a time when the UWB tag receives the second signal, a second time difference between a time when the UWB tag receives the second signal and a time when the UWB tag transmits the third signal, a third time difference between a time when the UWB base station receives the first signal and a time when the UWB base station transmits the second signal, and a fourth time difference between a time when the UWB base station transmits the second signal and a time when the UWB base station receives the third signal, wherein the second preset formula is as follows:
wherein, Tround1 represents the first time difference, Treplay2 represents the second time difference, Treplay1 represents the third time difference, Tround2 represents the fourth time difference, and c represents the speed of light.
In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device is provided with a UWB base station, the UWB base station includes a first base station antenna and a second base station antenna, a plurality of UWB tags are provided in a space where the electronic device is located, the UWB tags are used for transmitting a first signal to the UWB base station, and the electronic device further includes a processor and a memory, where the memory stores a program or instructions, and the program or instructions, when executed by the processor, implement the steps of the method according to the first aspect.
In a fourth aspect, the present application provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the method according to the first aspect.
According to the positioning method, the positioning device and the electronic equipment provided by the embodiment of the application, the UWB base station comprising the double antennas is arranged on the electronic equipment, the UWB tag is arranged in the space where the electronic equipment is located, the accuracy of the position information is improved based on the UWB base station and the UWB tag, and meanwhile, the orientation information is obtained through PDOA. In this way, the electronic device is caused to obtain global positioning information including position information and orientation information.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
Fig. 1 is a flowchart illustrating a positioning method provided in an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating the calculation of the relative angle in step 102 according to the embodiment of the present application;
FIG. 3 is a flow chart illustrating sub-steps of step 103 according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating that the electronic device corresponding to the UWB tag group calculates coordinate values in the space where the electronic device is located in step 103 according to the embodiment of the present application;
fig. 5 shows a schematic structural diagram of a positioning device provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a positioning method according to an embodiment of the present application, and as shown in fig. 1, the positioning method is applied to an electronic device, where the electronic device is provided with an Ultra Wide Band (UWB) base station, the UWB base station includes a first base station antenna and a second base station antenna, a space of the electronic device is provided with a plurality of UWB tags, and the UWB tags are used for transmitting a first signal to the UWB base station, and the method includes the following steps:
The positioning method is applied to positioning of electronic equipment, particularly indoor positioning. In indoor positioning, UWB can improve accurate positioning accuracy due to low power consumption, high wireless frequency and high data rate.
Before step 101, the UWB tag and the UWB base station may be time-calibrated according to requirements, so that the time of the UWB tag and the time of the UWB base station are synchronized, thereby improving the accuracy of the time and the calculated distance.
Specifically, the distance between the UWB base station and the UWB tag can be obtained by subtracting a difference between a time when the UWB base station receives the first signal and a time when the UWB tag transmits the first signal, and multiplying the difference by an optical speed.
It is to be understood that the UWB tag includes a tag antenna, and the UWB base station includes a first base station antenna and a second base station antenna, and therefore, the distance between the two UWB base stations and the UWB tag, that is, the distance between the first base station antenna and the UWB tag and the distance between the second base station antenna and the UWB tag can be calculated. The distance between any one base station antenna and the UWB tag may be set as the distance between the UWB base station and the UWB tag, an average value of the distance between the first base station antenna and the UWB tag and the distance between the second base station antenna and the UWB tag may be calculated as the distance between the UWB base station and the UWB tag, and different weights may be respectively given to the distance between the first base station antenna and the UWB tag and the distance between the second base station antenna and the UWB tag to perform weighted averaging, and the weighted averaging may be specifically set as required.
In an alternative embodiment, in order to make the calculated distance between the UWB base station and the UWB tag more accurate, the UWB base station is configured to transmit a second signal to the UWB tag after receiving the first signal of the tag; the UWB tag is further configured to send a third signal to the UWB base station after receiving the second signal, and step 101 includes:
calculating a distance r between the UWB base station and the UWB tag based on a second preset formula according to a first time difference between a time when the UWB tag transmits the first signal and a time when the UWB tag receives the second signal, a second time difference between a time when the UWB tag receives the second signal and a time when the UWB tag transmits the third signal, a third time difference between a time when the UWB base station receives the first signal and a time when the UWB base station transmits the second signal, and a fourth time difference between a time when the UWB base station transmits the second signal and a time when the UWB base station receives the third signal, wherein the second preset formula is as follows:
wherein, Tround1 represents the first time difference, Treplay2 represents the second time difference, Treplay1 represents the third time difference, Tround2 represents the fourth time difference, and c represents the speed of light.
The distance between the UWB base station and the UWB tag calculated by adopting the steps is more accurate.
102, calculating a relative angle between a connecting line of the first base station antenna and the second base station antenna and the UWB tag based on a first preset formula according to a phase difference between a first signal sent by the UWB tag and the first base station antenna and a phase difference between the first base station antenna and the second base station antenna and a distance between the UWB base station and the UWB tag.
Specifically, in the present embodiment, the relative angle between the connection line of the first base station antenna and the second base station antenna and the UWB tag is calculated based on PDOA (Phase difference of arrival). Presetting that the distance between the first base station antenna and the second base station antenna is smaller than a half wavelength, wherein the first preset formula is as follows:
wherein r represents a distance between the UWB base station and the UWB tag, d represents a distance between the first base station antenna and the second base station antenna, and p represents a distance between a first signal transmitted from the UWB tag and arriving at the first base station antenna and the second base station antenna, respectivelyThe difference in the distance from which the lines are measured,
λ represents a radio wave wavelength, and Φ represents a phase difference at which a first signal transmitted by the UWB tag reaches the first base station antenna and the second base station antenna, respectively.
Referring to fig. 2, first, a distance difference between the first base station antenna and the UWB tag and a distance between the second base station antenna and the UWB tag are calculated according to a phase difference between the first base station antenna and the second base station antenna when the first signal is received. The distance difference between the first signal sent by the UWB tag and the distance between the first base station antenna and the second base station antenna is p,
where λ represents a radio wave wavelength, and Φ represents a phase difference at which a first signal transmitted by the UWB tag reaches the first base station antenna and the second base station antenna, respectively. And if the distance between the UWB tag and the first base station antenna is r, the distance between the UWB tag and the second base station antenna is r-p.
Then according to the cosine theorem, (r-p)2＝r2+d2-2rdcos θ. Therefore, relative angle
And 103, determining the position information of the electronic equipment in the space according to the distance between the UWB base station and the plurality of UWB tags.
Specifically, according to the distance between the UWB base station and at least three UWB tags, the position information of the electronic device in the space where the electronic device is located can be determined.
In an alternative embodiment, in order to make the calculated position information of the electronic device in the space more accurate, please refer to fig. 3, step 103 includes:
and a substep 1031 of selecting any three UWB tags to form a UWB tag group, and calculating coordinate values of the electronic equipment corresponding to the UWB tag group in the space based on a triangular centroid method according to the distances between the three UWB tags in the UWB tag group and the UWB base station.
Specifically, referring to fig. 4, any three UWB tags, that is, a first UWB tag 401, a second UWB tag 402, and a third UWB tag 403 are selected to form a UWB tag group, and a circle is formed by taking each UWB tag as a center of a circle and taking a distance between each UWB tag and the UWB base station as a radius, so as to obtain three circles. And calculating the average coordinate D of the intersection point formed by any two circles in the other circle, namely the intersection point A, B, C, as the coordinate value of the UWB base station corresponding to the UWB tag group, namely the electronic device in the space. Where D is the centroid of the triangle formed by A, B, C.
Sub-step 1032, calculating an average value of coordinate values of the electronic device corresponding to the plurality of UWB tag groups in the space, and determining the average value as the position information of the electronic device in the space.
Specifically, after obtaining the average value of the coordinate values of the electronic device corresponding to each UWB tag group in the located space in step 1031, the average value of the coordinate values of the electronic devices corresponding to a plurality of UWB tag groups in the located space may be calculated, so as to determine the position information of the electronic device in the located space.
It is understood that the greater the number of UWB tag groups, the more accurate the position information of the electronic device in the space.
In an optional embodiment, in order to improve the accuracy of the position information of the electronic device in the space, the sub-step 1032 includes:
calculating the average value and the variance of coordinate values of electronic equipment corresponding to the UWB tag groups in the space;
if the variance is larger than a preset variance threshold, removing the coordinate value with the maximum Euclidean distance from the average value to obtain a removed coordinate value, and calculating the average value and the variance of the removed coordinate value until the variance is smaller than or equal to the preset variance threshold;
and determining the average value when the variance is less than or equal to a preset variance threshold value as the position information of the electronic equipment in the space.
And comparing the variance with a preset variance threshold value by calculating the variance, removing the coordinate value with the maximum Euclidean distance from the average value when the variance is greater than the preset variance threshold value, calculating the average value and the variance of the removed coordinate value until the variance is less than or equal to the preset variance threshold value, and determining the average value when the variance is less than or equal to the preset variance threshold value as the position information of the electronic equipment in the space. Therefore, the discrete degree of the obtained coordinate values is reduced, the coordinate values are more concentrated, and the position information is more accurate.
And 104, determining the orientation information of the electronic equipment according to the relative angle and the position information.
Specifically, based on the relative angle obtained in step 102 and the position information obtained in step 103, the orientation information of the electronic device may be determined.
In an optional implementation manner, in order to improve the accuracy of the orientation information of the electronic device, step 104 includes:
determining a global angle of the electronic equipment and the UWB tag under a global coordinate system according to the position information of the electronic equipment in the space and the position information of the UWB tag in the space;
adding the relative angle to the global angle of the electronic equipment and the UWB tag under a global coordinate system to obtain the angle of the electronic equipment corresponding to the UWB tag;
if the difference value between the angle at the current moment and the angle at the previous moment is greater than a preset angle threshold value, discarding the angle at the current moment;
if the difference value between the angle at the current moment and the angle at the previous moment is less than or equal to a preset angle threshold value, storing the angle at the current moment;
and calculating the average value of all the stored angles at the current moment as the orientation information of the electronic equipment.
Before use, the UWB base station and the UWB tag are generally initialized, that is, the UWB base station faces any one UWB tag in the forward direction, and an angle between the UWB base station and the UWB tag is used as initial orientation information of an electronic device.
After initialization, respectively calculating the angle between the UWB base station at the current moment and each UWB tag, if the difference value between the angle at the current moment and the angle at the previous moment is greater than a preset angle threshold value, considering that the angle exceeds a measurement reliable range, and discarding the angle at the current moment; and if the difference value between the angle at the current moment and the angle at the previous moment is less than or equal to a preset angle threshold value, storing the angle at the current moment. And calculating the average value of all the stored angles at the current moment as the orientation information of the electronic equipment.
It is understood that the variance of all stored angles at the current time can be calculated as a reference for data reliability, i.e. the larger the variance, the larger the degree of dispersion of the angles is, the lower the data reliability is; the smaller the variance, the smaller the degree of dispersion, and the higher the reliability of the data.
According to the positioning method provided by the embodiment of the application, the UWB base station comprising the double antennas is arranged on the electronic equipment, the UWB tag is arranged in the space where the electronic equipment is located, the accuracy of the position information is improved based on the UWB base station and the UWB tag, and meanwhile, the orientation information is obtained through PDOA. In this way, the electronic device is caused to obtain global positioning information including position information and orientation information.
Corresponding to the above method embodiment, please refer to fig. 5, fig. 5 is a schematic structural diagram of a positioning apparatus provided in an embodiment of the present application, and as shown in fig. 5, the positioning apparatus is applied to an electronic device, the electronic device is provided with a UWB base station, the UWB base station includes a first base station antenna and a second base station antenna, a space of the electronic device is provided with a plurality of UWB tags, the UWB tags are used for transmitting a first signal to the UWB base station, and the positioning apparatus 500 includes:
a distance calculating module 501, configured to calculate a distance between the UWB base station and the UWB tag according to a time when the UWB tag sends the first signal and a time when the UWB base station receives the first signal;
a relative angle calculation module 502, configured to calculate, according to a phase difference between a first signal sent by the UWB tag and a point at which the first signal reaches the first base station antenna and the second base station antenna, and a distance between the UWB base station and the UWB tag, a relative angle between a connection line between the first base station antenna and the second base station antenna and the UWB tag based on a first preset formula;
a position information determining module 503, configured to determine, according to distances between the UWB base station and the plurality of UWB tags, position information of the electronic device in a space where the electronic device is located;
an orientation information determining module 504, configured to determine orientation information of the electronic device according to the relative angle and the position information.
Optionally, the UWB base station is configured to send a second signal to the UWB tag after receiving the first signal of the tag; the UWB tag is further configured to send a third signal to the UWB base station after receiving the second signal, and the distance calculation module 501 is specifically configured to:
calculating a distance r between the UWB base station and the UWB tag based on a second preset formula according to a first time difference between a time when the UWB tag transmits the first signal and a time when the UWB tag receives the second signal, a second time difference between a time when the UWB tag receives the second signal and a time when the UWB tag transmits the third signal, a third time difference between a time when the UWB base station receives the first signal and a time when the UWB base station transmits the second signal, and a fourth time difference between a time when the UWB base station transmits the second signal and a time when the UWB base station receives the third signal, wherein the second preset formula is as follows:
wherein, Tround1 represents the first time difference, Treplay2 represents the second time difference, Treplay1 represents the third time difference, Tround2 represents the fourth time difference, and c represents the speed of light.
The positioning device provided in the embodiment of the present application can implement each process of the positioning method in the method embodiment of fig. 1, and can achieve the same technical effect, and for avoiding repetition, details are not repeated here.
Optionally, an embodiment of the present application further provides an electronic device, where the electronic device is provided with a UWB base station, the UWB base station includes a first base station antenna and a second base station antenna, a space where the electronic device is located is provided with a plurality of UWB tags, the UWB tags are configured to send a first signal to the UWB base station, the electronic device further includes a processor and a memory, where the memory stores a program or an instruction, and when the program or the instruction is executed by the processor, the processes of the foregoing positioning method embodiment are implemented, and the same technical effect can be achieved, and for avoiding repetition, details are not repeated here.
The electronic equipment provided by the embodiment of the application can be electronic equipment with mobile attributes and positioning requirements, such as robots, mobile phones and the like.
Optionally, an embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the foregoing positioning method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not described here again.
The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and so on.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110601949.7A CN113347703A (en) | 2021-05-31 | 2021-05-31 | Positioning method, positioning device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110601949.7A CN113347703A (en) | 2021-05-31 | 2021-05-31 | Positioning method, positioning device and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113347703A true CN113347703A (en) | 2021-09-03 |
Family
ID=77472926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110601949.7A Pending CN113347703A (en) | 2021-05-31 | 2021-05-31 | Positioning method, positioning device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113347703A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114040322A (en) * | 2021-10-22 | 2022-02-11 | 云南腾云信息产业有限公司 | Space positioning method and device, computer equipment and storage medium |
| CN114679781A (en) * | 2022-05-27 | 2022-06-28 | 杭州优智联科技有限公司 | Positioning method, device, equipment and medium based on multi-transmitting antenna UWB system |
| CN115589632A (en) * | 2022-09-30 | 2023-01-10 | 歌尔科技有限公司 | UWB positioning method, device, system and computer-readable storage medium |
| CN116456458A (en) * | 2023-01-12 | 2023-07-18 | 广州世炬网络科技有限公司 | Auxiliary positioning method and device based on equipment sensor |
| WO2023197842A1 (en) * | 2022-04-15 | 2023-10-19 | 海南摩尔兄弟科技有限公司 | Atomization device control method, devices, and atomization control system |
| CN117793618A (en) * | 2023-12-21 | 2024-03-29 | 深圳旷世科技有限公司 | Space scene setting method, electronic device and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019205678A1 (en) * | 2018-04-28 | 2019-10-31 | 纳恩博（北京）科技有限公司 | Positioning communication device, positioning method, and computer storage medium |
| CN110572774A (en) * | 2019-09-17 | 2019-12-13 | 浙江智昌机器人科技有限公司 | indoor multi-base-station extension method based on UWB self-positioning |
| CN110657799A (en) * | 2019-09-26 | 2020-01-07 | 广东省海洋工程装备技术研究所 | Space real-time positioning method, computer device and computer readable storage medium |
| CN112637951A (en) * | 2020-12-31 | 2021-04-09 | Oppo广东移动通信有限公司 | Positioning method and device, electronic equipment and computer readable storage medium |
-
2021
- 2021-05-31 CN CN202110601949.7A patent/CN113347703A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019205678A1 (en) * | 2018-04-28 | 2019-10-31 | 纳恩博（北京）科技有限公司 | Positioning communication device, positioning method, and computer storage medium |
| CN110572774A (en) * | 2019-09-17 | 2019-12-13 | 浙江智昌机器人科技有限公司 | indoor multi-base-station extension method based on UWB self-positioning |
| CN110657799A (en) * | 2019-09-26 | 2020-01-07 | 广东省海洋工程装备技术研究所 | Space real-time positioning method, computer device and computer readable storage medium |
| CN112637951A (en) * | 2020-12-31 | 2021-04-09 | Oppo广东移动通信有限公司 | Positioning method and device, electronic equipment and computer readable storage medium |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114040322A (en) * | 2021-10-22 | 2022-02-11 | 云南腾云信息产业有限公司 | Space positioning method and device, computer equipment and storage medium |
| WO2023197842A1 (en) * | 2022-04-15 | 2023-10-19 | 海南摩尔兄弟科技有限公司 | Atomization device control method, devices, and atomization control system |
| CN114679781A (en) * | 2022-05-27 | 2022-06-28 | 杭州优智联科技有限公司 | Positioning method, device, equipment and medium based on multi-transmitting antenna UWB system |
| CN115589632A (en) * | 2022-09-30 | 2023-01-10 | 歌尔科技有限公司 | UWB positioning method, device, system and computer-readable storage medium |
| CN116456458A (en) * | 2023-01-12 | 2023-07-18 | 广州世炬网络科技有限公司 | Auxiliary positioning method and device based on equipment sensor |
| CN116456458B (en) * | 2023-01-12 | 2024-05-03 | 广东世炬网络科技股份有限公司 | Auxiliary positioning method and device based on equipment sensor |
| CN117793618A (en) * | 2023-12-21 | 2024-03-29 | 深圳旷世科技有限公司 | Space scene setting method, electronic device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113347703A (en) | Positioning method, positioning device and electronic equipment | |
| US10254381B2 (en) | Location determination of a mobile device | |
| US20170079001A1 (en) | Radio Beacon for Direction Detection | |
| CN106680763B (en) | Positioning method and device | |
| EP2677778B1 (en) | Distance measurement and alarm method and apparatus | |
| US20170123039A1 (en) | Ultra wideband (uwb)-based high precision positioning method and system | |
| US9660740B2 (en) | Signal strength distribution establishing method and wireless positioning system | |
| CN112584488B (en) | Positioning method, terminal and computer storage medium | |
| US20180076875A1 (en) | Method and apparatus for non-linear antenna array angle of arrival detection | |
| CN107547598B (en) | Positioning method, server and terminal | |
| CN114080023B (en) | Positioning method, positioning system, terminal and readable storage medium | |
| KR20190021957A (en) | Method and apparatus for positioning terminal moving indoors | |
| WO2014168635A1 (en) | Determining an angle of direct path of a signal | |
| JP2012083136A (en) | Bias error estimation apparatus, bias error estimation method and position estimation apparatus | |
| KR20110041166A (en) | Wireless terminal for location measurement, location measuring system and method using same, location measuring device and method | |
| US20150043309A1 (en) | Ultrasonic locationing using flight time calculated from counter offsets | |
| US20150098345A1 (en) | Ternary sequences with power of two exponent dimensionalities suitable for channel estimation | |
| CN103630918B (en) | A kind of localization method and device, alignment system | |
| CN114513748A (en) | Indoor high-precision positioning method and device and electronic equipment | |
| CN112929820A (en) | Positioning direction detection method, positioning terminal and computer readable storage medium | |
| KR101949282B1 (en) | Method for wireless position estimation in multi-hop system | |
| JP6805880B2 (en) | Mobile terminals, methods and mobile communication systems | |
| CN113132894B (en) | Positioning method and device, WLAN (Wireless local area network) equipment, computing equipment and storage medium | |
| KR101459915B1 (en) | Method of Localization | |
| Tian et al. | SAPIL: single access point based indoor localisation using Wi‐Fi L‐shaped antenna array |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210903 |
|
| RJ01 | Rejection of invention patent application after publication |