CN114814918A - Positioning switching method, device, equipment and storage medium - Google Patents
Positioning switching method, device, equipment and storage medium Download PDFInfo
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- CN114814918A CN114814918A CN202210363656.4A CN202210363656A CN114814918A CN 114814918 A CN114814918 A CN 114814918A CN 202210363656 A CN202210363656 A CN 202210363656A CN 114814918 A CN114814918 A CN 114814918A
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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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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Abstract
The invention relates to the field of signal positioning and discloses a positioning switching method, a positioning switching device, positioning switching equipment and a storage medium. The method comprises the following steps: acquiring a positioning instruction; based on the positioning instruction, broadcasting and sending positioning information to N UWB positioning devices to obtain a feedback result, wherein N is a positive integer; judging whether the communication connection with at least three UWB positioning devices is successfully established or not based on the feedback result; if the communication connection is not successfully established, a satellite positioning request is sent to a Beidou positioning satellite, and Beidou positioning data is acquired; and if the communication connection is successfully established, performing signal-to-noise ratio ranging analysis processing on the feedback result according to a preset three-dimensional positioning algorithm to obtain UWB positioning data.
Description
Technical Field
The present invention relates to the field of signal positioning, and in particular, to a method, an apparatus, a device, and a storage medium for positioning switching.
Background
Existing positioning includes UWB positioning and satellite positioning, both of which are in the field of application. UWB positioning is mainly applied in urban and rural areas where there are many base stations and positioning devices, because UWB positioning is more accurate than general satellite positioning and transmission response is faster. However, UWB positioning is limited to the device case and cannot be achieved with a small number of devices.
Satellite positioning has high universality, and can be realized in regions with few communication equipment arrangements, such as desert, grassland, mountain areas and the like, but positioning in urban areas can only be of a planar structure and cannot realize three-dimensional structure positioning. Moreover, since the feedback time of satellite positioning is long and the positioning accuracy is insufficient, the use effect in urban areas is inferior to that of UWB positioning.
Therefore, in view of the shortcomings of the existing UWB positioning and satellite positioning, a technology is needed to solve the problem that the current data positioning cannot adapt to the use environment.
Disclosure of Invention
The invention mainly aims to solve the technical problem that the current data positioning cannot be adaptive to the use environment.
A first aspect of the present invention provides a method for positioning handover, including:
acquiring a positioning instruction;
based on the positioning instruction, broadcasting and sending positioning information to N UWB positioning devices to obtain a feedback result, wherein N is a positive integer;
judging whether the communication connection with at least three UWB positioning devices is successfully established or not based on the feedback result;
if the communication connection is not successfully established, a satellite positioning request is sent to a Beidou positioning satellite, and Beidou positioning data is acquired;
and if the communication connection is successfully established, performing signal-to-noise ratio ranging analysis processing on the feedback result according to a preset three-dimensional positioning algorithm to obtain UWB positioning data.
Optionally, in a first implementation manner of the first aspect of the present invention, the broadcasting and sending positioning information to N UWB positioning devices based on the positioning instruction, and obtaining a feedback result includes:
based on the location instruction, the broadcast sends locating information to N UWB locating device, obtains the location data that M UWB locating device corresponds the feedback, and wherein, M is for being not more than the integer of N, the location data includes: positioning measurement distance and transmission signal-to-noise ratio.
Optionally, in a second implementation manner of the first aspect of the present invention, the determining, based on the feedback result, whether to successfully establish communication connections with at least three UWB positioning devices includes:
judging whether M is less than 3;
if M is not less than 3, determining that communication connection is successfully established with at least three UWB positioning devices;
and if M is less than 3, determining that the communication connection with at least three UWB positioning devices is not successfully established.
Optionally, in a third implementation manner of the first aspect of the present invention, the performing, according to a preset three-dimensional positioning algorithm, signal-to-noise ratio ranging analysis processing on the feedback result to obtain UWB positioning data includes:
analyzing the transmission signal-to-noise ratios in the M positioning data, screening out the maximum transmission signal-to-noise ratio, and determining the positioning equipment corresponding to the maximum transmission signal-to-noise ratio as first computing equipment;
removing the positioning data corresponding to the maximum transmission signal-to-noise ratio from M positioning data to obtain M-1 screened positioning data;
analyzing the positioning measurement distances in the M-1 screened positioning data, screening out a preliminary minimum distance measurement, and determining the positioning equipment corresponding to the preliminary minimum distance measurement as second computing equipment;
removing the positioning data corresponding to the preliminary minimum distance measurement from M-1 positioning data to obtain M-2 screened positioning data;
analyzing the positioning measurement distance in the M-2 screened positioning data, screening out the final minimum distance measurement, and determining the positioning equipment corresponding to the final minimum distance measurement as third computing equipment;
and calculating three-dimensional UWB positioning data based on the positioning data corresponding to the first computing device, the positioning data corresponding to the second computing device and the positioning data corresponding to the third computing device.
Optionally, in a fourth implementation manner of the first aspect of the present invention, the calculating three-dimensional UWB positioning data based on the positioning data corresponding to the first computing device, the positioning data corresponding to the second computing device, and the positioning data corresponding to the third computing device includes:
constructing a first sphere by using the positioning data corresponding to the first computing device, constructing a second sphere by using the positioning measurement distance corresponding to the second ranging and positioning device, and constructing a third sphere by using the positioning data corresponding to the third computing device;
and calculating the sphere intersection coordinates corresponding to the first sphere, the second sphere and the third sphere, and determining the sphere intersection coordinates as UWB positioning data.
Optionally, in a fifth implementation manner of the first aspect of the present invention, the calculating a sphere intersection coordinate corresponding to the first sphere, the second sphere, and the third sphere, and determining the sphere intersection coordinate as the UWB positioning data includes:
judging whether the first sphere and the second sphere have intersection;
if the intersection exists, calculating the intersection of the second sphere and the first sphere to obtain an intersection plane;
calculating point distance data of the third calculation device and the intersection plane, calculating a difference value between the point distance data and the final step minimum distance measurement, and determining point coordinates of the intersection plane corresponding to the minimum difference value as UWB positioning data;
if the intersection does not exist, constructing a public plane based on the first computing device, the second computing device and the third computing device, and calculating the intersection of the public plane and the first sphere to obtain an intersection axis;
and determining the midpoint coordinate of the intersection axis as UWB positioning data.
Optionally, in a sixth implementation manner of the first aspect of the present invention, the sending a satellite positioning request to a beidou positioning satellite, and acquiring the beidou positioning data includes:
and sending a satellite positioning request to a Beidou positioning satellite, and receiving Beidou positioning data directly transmitted by the Beidou positioning satellite.
A second aspect of the present invention provides a positioning switching apparatus, including:
the acquisition module is used for acquiring a positioning instruction;
the broadcast sending module is used for broadcasting and sending positioning information to N UWB positioning devices based on the positioning instruction to obtain a feedback result, wherein N is a positive integer;
the judging module is used for judging whether the communication connection with at least three UWB positioning devices is successfully established or not based on the feedback result;
the satellite positioning module is used for sending a satellite positioning request to a Beidou positioning satellite to acquire Beidou positioning data if the communication connection is not successfully established;
and the UWB positioning module is used for carrying out signal-to-noise ratio ranging analysis processing on the feedback result according to a preset three-dimensional positioning algorithm to obtain UWB positioning data if the communication connection is successfully established.
A third aspect of the present invention provides a positioning switching apparatus, including: a memory having instructions stored therein and at least one processor, the memory and the at least one processor interconnected by a line; the at least one processor invokes the instructions in the memory to cause the positioning switching device to perform the positioning switching method described above.
A fourth aspect of the present invention provides a computer-readable storage medium having stored therein instructions, which, when run on a computer, cause the computer to execute the above-mentioned positioning handover method.
In the embodiment of the invention, the problem that satellite positioning cannot realize stereo positioning in a city is solved by improving the space of UWB positioning, the problem that the outdoor UWB positioning is difficult to realize is solved by judging whether to adopt satellite positioning switching or not through the quantity of UWB positioning equipment, and the mutual switching of satellite positioning and UWB positioning realizes a data positioning self-adaptive use environment and makes up the defect that the positioning of the current technology is positioned in three dimensions.
Drawings
Fig. 1 is a schematic diagram of an embodiment of a positioning handover method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an embodiment of a positioning switch device according to an embodiment of the invention;
FIG. 3 is a schematic diagram of another embodiment of a positioning switch device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an embodiment of a positioning switching device in the embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a positioning switching method, a positioning switching device, positioning switching equipment and a storage medium.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," or "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For convenience of understanding, a specific flow of the embodiment of the present invention is described below, and referring to fig. 1, an embodiment of a positioning handover method in the embodiment of the present invention includes:
101. acquiring a positioning instruction;
102. based on the positioning instruction, broadcasting and sending positioning information to N UWB positioning devices to obtain a feedback result, wherein N is a positive integer;
103. judging whether the communication connection with at least three UWB positioning devices is successfully established or not based on the feedback result;
104. if the communication connection is not successfully established, a satellite positioning request is sent to a Beidou positioning satellite, and Beidou positioning data is acquired;
in the step 101 and 104, the positioning instruction triggered by the user is obtained, which may be triggered by a screen button of a mobile phone or by an external control device. After receiving the positioning instruction, sending a positioning exploration signal, namely positioning information, wherein the positioning information is attached with a sending time stamp, receiving the positioning information by N UWB positioning devices, generating a receiving time stamp during receiving, and calculating the signal-to-noise ratio of the signal. And then the N UWB positioning devices calculate the positioning measurement distance by multiplying the time difference and the light speed based on the time difference between the receiving time stamp and the sending time stamp. And then packaging the three-dimensional coordinate data, the positioning measurement distance and the transmission signal-to-noise ratio of the UWB positioning equipment to obtain a feedback result, and transmitting the feedback result back. And analyzing whether the N UWB positioning devices feed back data by more than or equal to 3 UWB positioning devices. If be less than 3 UWB positioning device but be greater than 0 UWB positioning device, then will switch to the big dipper satellite and fix a position, send earlier positioning information to the big dipper positioning satellite in, by the big dipper positioning satellite transmission data to the UWB positioning device who has established communication connection in, return the positioning data by UWB positioning device.
Further, 102 may perform the following steps:
1021. based on the positioning instruction, the broadcast sends positioning information to N UWB positioning device, obtains the positioning data that M UWB positioning device corresponds the feedback, and wherein, M is for the integer that is not more than N, and the positioning data includes: positioning measurement distance and transmission signal-to-noise ratio.
In step 1021, based on the positioning command, the positioning information is broadcasted to N UWB positioning devices, theoretically, there are at most N UWB positioning devices feeding back and at least 0 UWB positioning device feeding back, so that the positioning data fed back by M UWB positioning devices correspondingly is received, and M is an integer not greater than N.
Further, 103 may perform the following steps:
1031. judging whether M is less than 3;
1032. if M is not less than 3, determining that the communication connection with at least three UWB positioning devices is successfully established;
1033. and if M is less than 3, determining that the communication connection with at least three UWB positioning devices is not successfully established.
In steps 1031 and 1033, it is determined whether M is less than 3, and if M is less than 3, then positioning calculation cannot be performed, and it is determined that communication connection with at least three UWB positioning devices is not successfully established. And if the number is more than or equal to 3, positioning calculation can be carried out, and the fact that the communication connection is successfully established with at least three UWB positioning devices is determined.
Further, 104 may perform the following steps:
1041. and sending a satellite positioning request to a Beidou positioning satellite, and receiving Beidou positioning data directly transmitted by the Beidou positioning satellite.
In the step 1041, the 0 UWB positioning devices feed back data, and then after sending the request for completing satellite positioning, the Beidou positioning device needs to directly communicate with the Beidou positioning satellite to receive the returned Beidou positioning data.
105. And if the communication connection is successfully established, performing signal-to-noise ratio ranging analysis processing on the feedback result according to a preset three-dimensional positioning algorithm to obtain UWB positioning data.
In this embodiment, the distance is first measured based on three positioning devices A, B, C, and based on the measured distance R a 、R b 、R c Drawing a sphere with a root opening number of R based on the difference between the UWB positioning data and the coordinates of the three positioning devices A, B, C a 、R b 、R c Three primary equations are generated, and UWB positioning data can be obtained by solving the equation set.
Further, at 105, the following steps may be performed:
1051. analyzing the transmission signal-to-noise ratio in the M positioning data, screening out the maximum transmission signal-to-noise ratio, and determining the positioning equipment corresponding to the maximum transmission signal-to-noise ratio as first computing equipment;
1052. removing the positioning data corresponding to the maximum transmission signal-to-noise ratio from the M positioning data to obtain M-1 screened positioning data;
1053. analyzing the positioning measurement distances in the M-1 screened positioning data, screening out a preliminary minimum distance measurement, and determining the positioning equipment corresponding to the preliminary minimum distance measurement as second computing equipment;
1054. removing the positioning data corresponding to the preliminary minimum distance measurement from the M-1 positioning data to obtain M-2 screened positioning data;
1055. analyzing the positioning measurement distances in the M-2 screened positioning data, screening out the final minimum distance measurement, and determining the positioning equipment corresponding to the final minimum distance measurement as third computing equipment;
1056. and calculating three-dimensional UWB positioning data based on the positioning data corresponding to the first computing device, the positioning data corresponding to the second computing device and the positioning data corresponding to the third computing device.
In the 1051-1056 step, the transmission of signals and the determination of distances in cities are details to be considered, for example 6 positioning data feedbacks are obtained, the determination distances are R respectively a 、R b 、R c 、R d 、R e 、R f The transmission signal-to-noise ratios are SNR a 、SNR b 、SNR c 、SNR d 、SNR e 、SNR f The measured distance is generated by transmission calculation between the urban ground and a floor in a three-dimensional space, different floors of the same building and different floors of different buildings, and the transmission signal-to-noise ratio is also different due to obstacles between different three-dimensional positions, for example, the transmission signal-to-noise ratio between every two buildings is smaller than that between the same buildings of the same building. The positioning data A with the maximum transmission signal-to-noise ratio is screened out firstly, then two F, D with the minimum remaining 5 measuring distances are screened out to obtain three A, F, D positioning devices, and the three-dimensional UWB positioning data are finally obtained by calculating the space sphere intersection based on the three positioning devices.
Further, at 1056, the following steps may be performed:
10561. constructing a first sphere by using positioning data corresponding to the first computing device, constructing a second sphere by using a positioning measurement distance corresponding to the second ranging and positioning device, and constructing a third sphere by using positioning data corresponding to the third computing device;
10562. and calculating the sphere intersection coordinates corresponding to the first sphere, the second sphere and the third sphere, and determining the sphere intersection coordinates as UWB positioning data.
In the 10561-10562 steps, it is apparent that R a 、R d 、R f A, F, D, the three-dimensional coordinates of the positioning equipment and the positioning three-dimensional coordinates are respectively used for solving the value of Euclidean distance to form three linear equations of three elements, and the equation set is solved to obtain the positioning UWB positioning data.
Further, at 10562, the following steps may be performed:
105621, determining whether the first sphere and the second sphere have an intersection;
105622, if there is intersection, calculating the intersection of the second sphere and the first sphere to obtain an intersection plane;
105623, calculating point distance data of the third calculation device and the intersection plane, calculating a difference value between the point distance data and the final step minimum distance measurement, and determining the point coordinate of the intersection plane corresponding to the minimum difference value as UWB positioning data;
105624, if the intersection does not exist, constructing a public plane based on the first computing device, the second computing device and the third computing device, and computing the intersection of the public plane and the first sphere to obtain an intersection axis;
105625, determining the midpoint coordinate of the intersection axis as the UWB positioning data.
In the 105621-105625 step, when there is no intersection point in the three spheres, the step needs to be adopted to eliminate the solution-free equation, and the first sphere, that is, the sphere obtained by the maximum transmission signal-to-noise ratio, is analyzed first, because the smaller the signal-to-noise ratio, the higher the precision, the intersection operation is performed with the positioning device closest to the distance on the basis of the highest precision. If there is an intersection, then the plane in the geometry resulting from the intersection of the two spheres is determined to be the plane of intersection. The coordinate point in the plane of the intersecting geometry at which the measurement deviation distance difference from the third computing device is minimal is considered to be UWB positioning data.
And if the intersection does not exist, constructing a common plane by taking the first computing device, the second computing device and the third computing device as three points, wherein the common plane is an intersection axis which is necessarily intersected with the first sphere to generate intersection, and determining the three-dimensional data of the midpoint coordinate of the intersection axis as the estimated UWB positioning data.
In the embodiment of the invention, the problem that satellite positioning cannot realize stereo positioning in a city is solved by improving the space of UWB positioning, the problem that the outdoor UWB positioning is difficult to realize is solved by judging whether to adopt satellite positioning switching or not through the quantity of UWB positioning equipment, and the mutual switching of satellite positioning and UWB positioning realizes a data positioning self-adaptive use environment and makes up the defect that the positioning of the current technology is positioned in three dimensions.
With reference to fig. 2, the positioning switching device in the embodiment of the present invention is described as an embodiment of the positioning switching device, where the positioning switching device includes:
an obtaining module 201, configured to obtain a positioning instruction;
a broadcast sending module 202, configured to send positioning information to N UWB positioning devices in a broadcast manner based on the positioning instruction, so as to obtain a feedback result, where N is a positive integer;
a judging module 203, configured to judge whether to successfully establish communication connection with at least three UWB positioning devices based on the feedback result;
the satellite positioning module 204 is used for sending a satellite positioning request to a Beidou positioning satellite to acquire Beidou positioning data if the communication connection is not successfully established;
and the UWB positioning module 205 is configured to, if the communication connection is successfully established, perform signal-to-noise ratio ranging analysis processing on the feedback result according to a preset three-dimensional positioning algorithm to obtain UWB positioning data.
In the embodiment of the invention, the problem that satellite positioning cannot realize stereo positioning in a city is solved by improving the space of UWB positioning, the problem that the outdoor UWB positioning is difficult to realize is solved by judging whether to adopt satellite positioning switching or not through the quantity of UWB positioning equipment, and the mutual switching of satellite positioning and UWB positioning realizes a data positioning self-adaptive use environment and makes up the defect that the positioning of the current technology is positioned in three dimensions.
Referring to fig. 3, in another embodiment of the positioning switching device according to the embodiment of the present invention, the positioning switching device includes:
an obtaining module 201, configured to obtain a positioning instruction;
a broadcast sending module 202, configured to broadcast and send positioning information to N UWB positioning devices based on the positioning instruction, to obtain a feedback result, where N is a positive integer;
a judging module 203, configured to judge whether to successfully establish communication connection with at least three UWB positioning devices based on the feedback result;
the satellite positioning module 204 is used for sending a satellite positioning request to a Beidou positioning satellite to acquire Beidou positioning data if the communication connection is not successfully established;
and the UWB positioning module 205 is configured to, if the communication connection is successfully established, perform signal-to-noise ratio ranging analysis processing on the feedback result according to a preset three-dimensional positioning algorithm to obtain UWB positioning data.
The broadcast sending module 202 is specifically configured to:
based on the location instruction, the broadcast sends locating information to N UWB locating device, obtains the location data that M UWB locating device corresponds the feedback, and wherein, M is for being not more than the integer of N, the location data includes: positioning measurement distance and transmission signal-to-noise ratio.
The determining module 203 is specifically configured to:
judging whether M is less than 3;
if M is not less than 3, determining that communication connection is successfully established with at least three UWB positioning devices;
and if M is less than 3, determining that the communication connection with at least three UWB positioning devices is not successfully established.
Wherein the UWB positioning module 205 comprises:
the first screening unit 2051 is configured to analyze transmission signal-to-noise ratios in the M pieces of location data, screen out a maximum transmission signal-to-noise ratio, and determine a location device corresponding to the maximum transmission signal-to-noise ratio as a first computing device;
a first removing unit 2052, configured to remove the positioning data corresponding to the maximum snr from the M positioning data to obtain M-1 filtered positioning data;
a second screening unit 2053, configured to analyze positioning measurement distances in the M-1 screened positioning data, screen out a preliminary minimum distance measurement, and determine a positioning device corresponding to the preliminary minimum distance measurement as a second computing device;
a third screening unit 2054, configured to remove the positioning data corresponding to the preliminary minimum ranging from the M-1 positioning data to obtain M-2 screened positioning data;
an analysis determining unit 2055, configured to analyze positioning measurement distances in the M-2 filtered positioning data, filter out a final minimum distance measurement, and determine a positioning device corresponding to the final minimum distance measurement as a third computing device;
a positioning calculation unit 2056, configured to calculate three-dimensional UWB positioning data based on the positioning data corresponding to the first computing device, the positioning data corresponding to the second computing device, and the positioning data corresponding to the third computing device.
Wherein the positioning calculation unit 2056 is specifically configured to:
constructing a first sphere by using the positioning data corresponding to the first computing device, constructing a second sphere by using the positioning measurement distance corresponding to the second ranging and positioning device, and constructing a third sphere by using the positioning data corresponding to the third computing device;
and calculating the sphere intersection coordinates corresponding to the first sphere, the second sphere and the third sphere, and determining the sphere intersection coordinates as UWB positioning data.
Wherein the positioning calculation unit 2056 is further specifically configured to:
judging whether the first sphere and the second sphere have intersection;
if the intersection exists, calculating the intersection of the second sphere and the first sphere to obtain an intersection plane;
calculating point distance data of the third calculation device and the intersection plane, calculating a difference value between the point distance data and the final step minimum distance measurement, and determining point coordinates of the intersection plane corresponding to the minimum difference value as UWB positioning data;
if the intersection does not exist, constructing a public plane based on the first computing device, the second computing device and the third computing device, and calculating the intersection of the public plane and the first sphere to obtain an intersection axis;
and determining the midpoint coordinate of the intersection axis as UWB positioning data.
The broadcast sending module 202 is specifically configured to:
and sending a satellite positioning request to a Beidou positioning satellite, and receiving Beidou positioning data directly transmitted by the Beidou positioning satellite.
In the embodiment of the invention, the problem that satellite positioning cannot realize stereo positioning in a city is solved by improving the space of UWB positioning, the problem that the outdoor UWB positioning is difficult to realize is solved by judging whether to adopt satellite positioning switching or not through the quantity of UWB positioning equipment, and the mutual switching of satellite positioning and UWB positioning realizes a data positioning self-adaptive use environment and makes up the defect that the positioning of the current technology is positioned in three dimensions.
Fig. 2 and fig. 3 describe the positioning switching device in the embodiment of the present invention in detail from the perspective of the modular functional entity, and the positioning switching device in the embodiment of the present invention is described in detail from the perspective of hardware processing.
Fig. 4 is a schematic structural diagram of a positioning switching device 400 according to an embodiment of the present invention, where the positioning switching device 400 may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 410 (e.g., one or more processors) and a memory 420, and one or more storage media 430 (e.g., one or more mass storage devices) storing an application 433 or data 432. Memory 420 and storage medium 430 may be, among other things, transient or persistent storage. The program stored in the storage medium 430 may include one or more modules (not shown), each of which may include a series of instruction operations for positioning the switching device 400. Further, the processor 410 may be configured to communicate with the storage medium 430, and execute a series of instruction operations in the storage medium 430 on the positioning switching device 400.
The location-based switching device 400 may also include one or more power supplies 440, one or more wired or wireless network interfaces 450, one or more input-output interfaces 460, and/or one or more operating systems 431, such as Windows Server, Mac OS X, Unix, Linux, Free BSD, and the like. Those skilled in the art will appreciate that the positioning switching device configuration illustrated in fig. 4 does not constitute a limitation of a positioning-based switching device, and may include more or fewer components than those illustrated, or some components in combination, or a different arrangement of components.
The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium, and which may also be a volatile computer-readable storage medium, having stored therein instructions, which, when run on a computer, cause the computer to perform the steps of the positioning handover method.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses, and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit 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 may 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 personal computer, a server, or a network device) 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: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present 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 solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A positioning switching method is characterized by comprising the following steps:
acquiring a positioning instruction;
based on the positioning instruction, broadcasting and sending positioning information to N UWB positioning devices to obtain a feedback result, wherein N is a positive integer;
judging whether the communication connection with at least three UWB positioning devices is successfully established or not based on the feedback result;
if the communication connection is not successfully established, a satellite positioning request is sent to a Beidou positioning satellite, and Beidou positioning data is acquired;
and if the communication connection is successfully established, performing signal-to-noise ratio ranging analysis processing on the feedback result according to a preset three-dimensional positioning algorithm to obtain UWB positioning data.
2. The method according to claim 1, wherein the broadcasting positioning information to N UWB positioning devices based on the positioning instruction, and obtaining a feedback result comprises:
based on the location instruction, the broadcast sends locating information to N UWB locating device, obtains the location data that M UWB locating device corresponds the feedback, and wherein, M is for being not more than the integer of N, the location data includes: positioning measurement distance and transmission signal-to-noise ratio.
3. The method of claim 2, wherein the determining whether the communication connection with at least three UWB positioning devices is successfully established based on the feedback result comprises:
judging whether M is less than 3;
if M is not less than 3, determining that communication connection is successfully established with at least three UWB positioning devices;
and if M is less than 3, determining that the communication connection with at least three UWB positioning devices is not successfully established.
4. The positioning switching method according to claim 3, wherein the performing signal-to-noise ratio ranging analysis processing on the feedback result according to a preset three-dimensional positioning algorithm to obtain UWB positioning data comprises:
analyzing the transmission signal-to-noise ratios in the M positioning data, screening out the maximum transmission signal-to-noise ratio, and determining the positioning equipment corresponding to the maximum transmission signal-to-noise ratio as first computing equipment;
removing the positioning data corresponding to the maximum transmission signal-to-noise ratio from M positioning data to obtain M-1 screened positioning data;
analyzing the positioning measurement distances in the M-1 screened positioning data, screening out a preliminary minimum distance measurement, and determining the positioning equipment corresponding to the preliminary minimum distance measurement as second computing equipment;
removing the positioning data corresponding to the preliminary minimum distance measurement from M-1 positioning data to obtain M-2 screened positioning data;
analyzing the positioning measurement distance in the M-2 screened positioning data, screening out the final minimum distance measurement, and determining the positioning equipment corresponding to the final minimum distance measurement as third computing equipment;
and calculating three-dimensional UWB positioning data based on the positioning data corresponding to the first computing device, the positioning data corresponding to the second computing device and the positioning data corresponding to the third computing device.
5. The positioning switching method according to claim 4, wherein said calculating three-dimensional UWB positioning data based on the positioning data corresponding to the first computing device, the positioning data corresponding to the second computing device, and the positioning data corresponding to the third computing device comprises:
constructing a first sphere by using the positioning data corresponding to the first computing device, constructing a second sphere by using the positioning measurement distance corresponding to the second ranging and positioning device, and constructing a third sphere by using the positioning data corresponding to the third computing device;
and calculating the sphere intersection coordinates corresponding to the first sphere, the second sphere and the third sphere, and determining the sphere intersection coordinates as UWB positioning data.
6. The positioning switching method according to claim 5, wherein the calculating a sphere intersection coordinate corresponding to the first sphere, the second sphere, and the third sphere, and determining the sphere intersection coordinate as the UWB positioning data comprises:
judging whether the first sphere and the second sphere have intersection;
if the intersection exists, calculating the intersection of the second sphere and the first sphere to obtain an intersection plane;
calculating point distance data of the third calculation device and the intersection plane, calculating a difference value between the point distance data and the final step minimum distance measurement, and determining point coordinates of the intersection plane corresponding to the minimum difference value as UWB positioning data;
if the intersection does not exist, constructing a public plane based on the first computing device, the second computing device and the third computing device, and calculating the intersection of the public plane and the first sphere to obtain an intersection axis;
and determining the midpoint coordinate of the intersection axis as UWB positioning data.
7. The positioning switching method according to claim 1, wherein the sending of the satellite positioning request to the beidou positioning satellite, and the obtaining of the beidou positioning data comprises:
and sending a satellite positioning request to a Beidou positioning satellite, and receiving Beidou positioning data directly transmitted by the Beidou positioning satellite.
8. A positioning switching device, characterized in that the positioning switching device comprises:
the acquisition module is used for acquiring a positioning instruction;
the broadcast sending module is used for broadcasting and sending positioning information to N UWB positioning devices based on the positioning instruction to obtain a feedback result, wherein N is a positive integer;
the judging module is used for judging whether the communication connection with at least three UWB positioning devices is successfully established or not based on the feedback result;
the satellite positioning module is used for sending a satellite positioning request to a Beidou positioning satellite to acquire Beidou positioning data if the communication connection is not successfully established;
and the UWB positioning module is used for carrying out signal-to-noise ratio ranging analysis processing on the feedback result according to a preset three-dimensional positioning algorithm to obtain UWB positioning data if the communication connection is successfully established.
9. A positioning switching device, characterized in that the positioning switching device comprises: a memory having instructions stored therein and at least one processor, the memory and the at least one processor interconnected by a line;
the at least one processor invokes the instructions in the memory to cause the location switching device to perform the location switching method of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the positioning handover method according to any one of claims 1-7.
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