Wireless ranging, direction finding, and positioning methods and related apparatus

Abstract

The embodiments of the present application provide a wireless ranging, direction finding and positioning method and related equipment, wherein a wireless ranging method comprises: in a current ranging period, selecting one from a plurality of directional antennas arranged at a ranging node itself as a target antenna corresponding to a target node, wherein the orientations corresponding to each of the directional antennas are all different; applying a carrier-free communication technology to control data communication between the target antenna and the target node; and obtaining distance information of the ranging node itself relative to the target node based on a result of the data communication. The present application can effectively reduce the conflict domain range of wireless signals in the measurement process, and can effectively improve the measurement capacity of the target node.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric communication, in particular to a wireless ranging, direction finding and positioning method and related equipment. BACKGROUND

[0002] With the development of wireless communication technology, its types are more and more diverse, especially the short-range wireless communication technology and the carrier-free communication technology. The short-range wireless communication technology can include Wi-Fi technology, Bluetooth technology and ZigBee technology, and the carrier-free communication technology is ultra-wideband (UWB). The UWB has the advantages of strong anti-interference ability, dynamic positioning and high data transmission rate, and is especially suitable for indoor, outdoor and near-wall positioning. In the specific application of the UWB technology, a target node in a measurement range is usually measured by a wireless ranging or direction finding node, and the target node is positioned based on the ranging or direction finding result.

[0003] In the existing wireless measurement process using the UWB technology, a fixed omnidirectional antenna or a directional antenna is usually arranged in the wireless measurement node, and the omnidirectional antenna or the directional antenna is controlled to transmit and receive wireless signals with the target node in a certain area to measure the ranging or direction finding of the target node.

[0004] However, if the measurement node uses a fixed directional antenna, it cannot measure the ranging of the moving target node. Since the size of the conflict domain of the wireless signal of the measurement node and the time occupied by each positioning determine the capacity of the positioning, if the wireless signal transmission between the fixed antenna and the target node is used, a larger conflict domain will be occupied, especially if the wireless signal transmitted by other wireless ranging nodes also reaches this conflict domain at the same time, signal collision will occur between them, resulting in inaccurate measurement results or even the inability to obtain the measurement results. SUMMARY

[0005] To solve the problems in the prior art, the present application provides a wireless ranging, direction finding and positioning method and related equipment, which can effectively reduce the conflict domain range of the wireless signal in the measurement process and effectively improve the measurement capacity of the target node.

[0006] To solve the above technical problems, the present application provides the following technical solutions:

[0007] In a first aspect, the present application provides a wireless ranging method, comprising:

[0008] In the current ranging period, one of multiple directional antennas arranged in the ranging node itself is set as a target antenna corresponding to the target node, wherein the orientations corresponding to each of the directional antennas are different;

[0009] The preset wireless communication technology is applied to control data communication between the target antenna and the target node;

[0010] Distance information of the ranging node itself relative to the target node is obtained based on a result of the data communication.

[0011] Further, the setting of one of multiple directional antennas arranged in the ranging node itself as a target antenna corresponding to the target node comprises:

[0012] If the ranging node itself pre-stores position information of the target node in the previous ranging period, one of the directional antennas arranged in the ranging node itself is set as the target antenna in the current ranging period according to the position information of the target node in the previous ranging period.

[0013] Further, the setting of one of multiple directional antennas arranged in the ranging node itself as a target antenna corresponding to the target node comprises:

[0014] If the ranging node itself does not pre-store position information of the target node in the previous ranging period, one of the directional antennas arranged in the ranging node itself is randomly selected as the target antenna corresponding to the target node.

[0015] Further, the setting of one of multiple directional antennas arranged in the ranging node itself as a target antenna corresponding to the target node comprises:

[0016] If the ranging node itself does not pre-store position information of the target node in the previous ranging period, a request for obtaining the position information of the target node in the previous ranging period is sent to a corresponding calculation node.

[0017] The position information of the target node in the previous ranging period is received from the calculation node according to the request, and one of the directional antennas arranged in the ranging node itself is set as the target antenna in the current ranging period according to the position information of the target node in the previous ranging period.

[0018] Further, the setting of one of multiple directional antennas arranged in the ranging node itself as a target antenna corresponding to the target node comprises:

[0019] The relative direction unit vector of the target node relative to the ranging node itself is determined according to the pre-stored position information of the target node in the previous ranging period.

[0020] Based on the relative direction unit vector and the direction unit vectors of the directional antennas arranged at the ranging node itself, one of the directional antennas is selected as the current target antenna.

[0021] Furthermore, it also includes:

[0022] The distance information of the ranging node itself relative to the target node is sent to the solving node, so that the solving node locates the target node according to the distance information and the distance information relative to the target node sent by at least two other ranging nodes, and obtains the position information of the target node in the current ranging cycle.

[0023] Furthermore, it also includes:

[0024] If the location information of the target node in the current ranging period is received from the solving node, the location information is stored locally.

[0025] Furthermore, before selecting one of the multiple directional antennas provided on the ranging node itself as the target antenna corresponding to the target node, the method further includes:

[0026] The directional margin angles between adjacent directional antennas are preset.

[0027] Furthermore, the direction margin angle is determined based on a pre-acquired maximum deviation estimate between the estimated position and the actual position of the node, and a maximum positioning distance of the ranging node itself.

[0028] Furthermore, before presetting the direction margin angles between adjacent directional antennas, the method further includes:

[0029] Determining the target number of the directional antenna based on the size of the directional antenna and the size of the ranging node itself;

[0030] A directional antenna matching the target number is set on the ranging node itself.

[0031] In a second aspect, the present application provides a wireless direction finding method, comprising:

[0032] In a current direction finding cycle, selecting one of a plurality of directional antenna arrays provided on the direction finding node itself as a target antenna array corresponding to the target node, wherein each of the directional antenna arrays has a different corresponding orientation and each of the directional antenna arrays includes a plurality of directional antennas;

[0033] Applying a preset wireless communication technology to control only the multiple directional antennas in the target antenna array to respectively communicate data with the target node;

[0034] The angle information of the direction finding node itself relative to the target node is obtained based on the result of the data communication.

[0035] Furthermore, the selecting one of the multiple directional antenna arrays provided in the direction finding node itself as the target antenna array corresponding to the target node includes:

[0036] Determine whether the direction finding node itself has pre-stored angle information of the target node in the previous direction finding cycle. If so, select one of the directional antenna arrays set in the direction finding node itself as the current target antenna array based on the value corresponding to the angle information.

[0037] Furthermore, the selecting one of the multiple directional antenna arrays provided in the direction finding node itself as the target antenna array corresponding to the target node includes:

[0038] It is determined whether the direction finding node itself has pre-stored angle information of the target node in the previous direction finding cycle. If not, one of the multiple directional antenna arrays set in the direction finding node itself is randomly selected as the target antenna array corresponding to the target node.

[0039] Furthermore, the selecting one of the multiple directional antenna arrays provided in the direction finding node itself as the target antenna array corresponding to the target node includes:

[0040] Determine whether the direction finding node itself has pre-stored angle information of the target node in the previous direction finding cycle. If not, send a request to the corresponding solution node for obtaining the angle information of the target node in the previous direction finding cycle.

[0041] Receive the angle information of the target node in the previous direction finding cycle sent back by the solving node according to the acquisition request, and select one of the directional antenna arrays set in the direction finding node itself as the current target antenna array according to the value corresponding to the angle information.

[0042] Furthermore, selecting one of the directional antenna arrays provided in the direction finding node itself as the current target antenna array according to the value corresponding to the angle information includes:

[0043] Determining the effective range of the target antenna array according to the angle between two adjacent antenna arrays;

[0044] Determine the correspondence between the value corresponding to the angle information of the target node in the previous direction finding cycle and the effective range of the target antenna array. If the value corresponding to the angle information of the target node in the previous direction finding cycle falls within the effective range of the target antenna array, the target antenna array selected in the previous direction finding cycle is still used as the target antenna array in the current direction finding cycle.

[0045] Furthermore, it also includes:

[0046] If the value corresponding to the angle information of the target node in the previous direction finding cycle is less than the lower limit of the effective range of the target antenna array, the antenna array adjacent to the target antenna array selected in the previous direction finding cycle is selected in the counterclockwise direction as the target antenna array in the current direction finding cycle.

[0047] Furthermore, it also includes:

[0048] If the value corresponding to the angle information of the target node in the previous direction finding cycle is greater than the upper limit of the effective range of the target antenna array, the antenna array adjacent to the target antenna array selected in the previous direction finding cycle is selected in the clockwise direction as the target antenna array in the current direction finding cycle.

[0049] Furthermore, it also includes:

[0050] The angle information of the direction-finding node itself relative to the target node is sent to the solving node, so that the solving node locates the target node according to the angle information and the angle information relative to the target node sent by at least one other direction-finding node, and obtains the position information of the target node in the current direction-finding cycle.

[0051] Furthermore, before selecting one of the multiple directional antenna arrays provided on the direction-finding node itself as the target antenna array corresponding to the target node, the method further includes:

[0052] The directional margin angles between adjacent directional antenna arrays are preset.

[0053] Furthermore, the direction margin angle is determined based on a pre-acquired maximum deviation estimate between an estimated position and an actual position of the target node, and a maximum positioning distance of the direction-finding node itself.

[0054] Furthermore, before presetting the direction margin angles between adjacent directional antenna arrays, the method further includes:

[0055] Determining the number of targets of the directional antenna array based on the size of the directional antenna array and the size of the direction finding node itself;

[0056] A directional antenna array matching the target number is set on the direction finding node itself.

[0057] In a third aspect, the present application provides a wireless positioning method, comprising:

[0058] receiving distance information relative to the target node obtained by at least three ranging nodes respectively using a wireless ranging method;

[0059] Determine the current location of the target node by using the distance information of each of the ranging nodes relative to the target node;

[0060] The position information of the target node in the current ranging period is sent to the corresponding at least three ranging nodes respectively, and / or the ranging control instruction containing the position information of the target node in the current ranging period is sent to the corresponding at least three ranging nodes so that the at least three ranging nodes obtain the distance information of the target node again based on the ranging control instruction.

[0061] In a fourth aspect, the present application provides a wireless positioning method, comprising:

[0062] Receiving angle information of at least one direction finding node relative to the target node obtained by applying the wireless direction finding method;

[0063] The angle information of the direction-finding node relative to the target node is used to determine the current position information of the target node.

[0064] In a fifth aspect, the present application provides a wireless positioning method, comprising:

[0065] Receiving distance information relative to the target node obtained by at least one ranging node using the wireless ranging method, and angle information relative to the target node obtained by at least one other direction finding node using the wireless direction finding method, wherein the direction finding period is the same as the ranging period;

[0066] Determine current location information of the target node by applying distance information of at least one ranging node relative to the target node and angle information of at least one other direction-finding node relative to the target node;

[0067] The current location information of the target node is sent to at least one corresponding ranging node.

[0068] In a sixth aspect, the present application provides a ranging node, including:

[0069] a ranging antenna selection module, configured to select, within a current ranging cycle, one of a plurality of directional antennas provided on the ranging node itself as a target antenna corresponding to the target node, wherein the corresponding directions of the directional antennas are different;

[0070] a ranging communication module, configured to control data communication between the target antenna and the target node using a preset wireless communication technology;

[0071] The distance determination module is used to obtain the distance information of the ranging node itself relative to the target node based on the result of the data communication.

[0072] In a seventh aspect, the present application provides a direction finding node, including:

[0073] a direction-finding antenna selection module, configured to select, within a current direction-finding cycle, one of a plurality of directional antenna arrays provided on the direction-finding node itself as a target antenna array corresponding to the target node, wherein each of the directional antenna arrays has a different corresponding orientation and each of the directional antenna arrays includes a plurality of directional antennas;

[0074] a direction-finding communication module, configured to apply a preset wireless communication technology to control only the multiple directional antennas in the target antenna array to perform data communication with the target node respectively;

[0075] The angle determination module is configured to obtain angle information of the direction finding node relative to the target node based on the result of the data communication.

[0076] In an eighth aspect, the present application provides a solution node, including:

[0077] a distance information receiving module, configured to receive distance information relative to the target node obtained by at least three ranging nodes respectively using the wireless ranging method;

[0078] A distance positioning module, configured to determine the current location information of the target node by using the distance information of each of the ranging nodes relative to the target node;

[0079] A positioning data sending module is used to send the location information of the target node in the current direction finding period to the corresponding at least three ranging nodes, and / or send a ranging control instruction containing the location information of the target node in the current ranging period to the corresponding at least three ranging nodes so that the at least three ranging nodes obtain the distance information of the target node again based on the ranging control instruction.

[0080] In a ninth aspect, the present application provides a solution node, including:

[0081] An angle information receiving module, configured to receive angle information of at least one direction finding node relative to the target node obtained by applying the wireless direction finding method;

[0082] The direction positioning module is used to determine the current position information of the target node by using the angle information of the direction finding node relative to the target node.

[0083] In a tenth aspect, the present application provides a solution node, including:

[0084] a comprehensive data receiving module, configured to receive distance information relative to the target node obtained by at least one ranging node using the wireless ranging method, and angle information relative to the target node obtained by at least one other direction-finding node using the wireless direction-finding method;

[0085] a comprehensive positioning module, configured to determine current position information of the target node by applying distance information of at least one ranging node relative to the target node and angle information of at least one other direction-finding node relative to the target node;

[0086] The location information sending module is used to send the current location information of the target node to the corresponding at least one ranging node.

[0087] In the eleventh aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the wireless ranging method when executing the program.

[0088] In a twelfth aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the wireless direction finding method when executing the program.

[0089] In the thirteenth aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the wireless positioning method when executing the program.

[0090] In the fourteenth aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the wireless positioning method when executing the program.

[0091] In the fifteenth aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the wireless positioning method when executing the program.

[0092] In a sixteenth aspect, the present application provides a base station for wireless ranging, the base station being provided with a wireless ranging controller, a radio frequency switching module, and a plurality of directional antennas;

[0093] The base station is in communication with the solution node;

[0094] The wireless ranging controller is connected to the radio frequency switching module, and the wireless ranging controller is used to implement the wireless ranging method;

[0095] The radio frequency switching module is connected to each of the directional antennas respectively for correspondingly switching each of the directional antennas according to an instruction of the wireless ranging controller, wherein the corresponding directions of each of the directional antennas are different.

[0096] In a seventeenth aspect, the present application provides a base station for wireless direction finding, the base station being provided with a wireless direction finding controller, a radio frequency switching module, and a plurality of directional antennas;

[0097] The base station is in communication with the solution node;

[0098] The wireless direction finding controller is connected to the radio frequency switching module, and the wireless direction finding controller is used to implement the wireless direction finding method;

[0099] The radio frequency switching module is respectively connected to each of the directional antenna arrays to switch each of the directional antenna arrays according to the instruction of the wireless ranging controller, wherein the corresponding directions of each of the directional antenna arrays are different.

[0100] In an eighteenth aspect, the present application provides a wireless positioning system, comprising: a plurality of base stations for wireless ranging, and / or a plurality of base stations for wireless direction finding;

[0101] The wireless positioning system further includes a plurality of target nodes and a server respectively connected to each of the base stations in communication, wherein the target nodes are tags;

[0102] The server is used to implement the wireless positioning method, wherein each of the base stations and each of the tags are located in the same positioning area.

[0103] It can be seen from the above technical solution that the present application provides a wireless ranging, direction finding and positioning method and related equipment, wherein a wireless ranging method includes: in the current ranging cycle, selecting one from multiple directional antennas set on the ranging node itself as the target antenna corresponding to the target node, wherein the corresponding directions of each directional antenna are different; applying a preset wireless communication technology to only control data communication between the target antenna and the target node; based on the result of the data communication, obtaining the distance information of the ranging node itself relative to the target node, and adjusting the collision domain range of the wireless signal by dynamically switching the directional antenna, which can effectively reduce the collision domain range of the wireless signal during the measurement process, avoid unnecessary collisions, and improve the accuracy and reliability of wireless measurements for the target node, thereby effectively improving the positioning capacity, as well as the accuracy and reliability of positioning the target node using the wireless measurement results; the nodes use directional antennas to communicate with each other, and there will be a relatively high gain in a specific direction, that is, a smaller transmission power can be used to achieve communication and ranging, and the smaller transmission power will further reduce the collision domain range of the wireless signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0104] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0105] Figure 1 Schematic diagram of the collision domain between measurement nodes.

[0106] Figure 2 Schematic diagram of the comparison between the directional antenna collision domain and the omnidirectional antenna collision domain.

[0107] Figure 3 Schematic diagram of the structure of the wireless ranging controller in the embodiment of the present application.

[0108] Figure 4 This is a schematic diagram of the structure of a base station used for wireless ranging in an embodiment of the present application.

[0109] Figure 5 Schematic diagram of the structure of the radio frequency switching module in the embodiment of the present application.

[0110] Figure 6 Schematic diagram of the wireless ranging method in an embodiment of the present application.

[0111] Figure 7 This is a flowchart of a first specific implementation process of step 110 in the wireless ranging method in an embodiment of the present application.

[0112] Figure 8 This is a flowchart of a second specific implementation process of step 110 in the wireless ranging method in an embodiment of the present application.

[0113] Figure 9 This is a flowchart of a third specific implementation process of step 110 in the wireless ranging method in an embodiment of the present application.

[0114] Figure 10 This is a flowchart of steps 1101 and 1102 in the wireless ranging method in an embodiment of the present application.

[0115] Figure 11 This is a schematic diagram of the components of the wireless positioning system in an embodiment of the present application.

[0116] Figure 12 This is a schematic diagram of an example flow of the wireless ranging method in an embodiment of the present application.

[0117] Figure 13 140 is a flowchart of a wireless ranging method including step 140 in an embodiment of the present application.

[0118] Figure 14 1 is a flow chart of a wireless ranging method including step 150 in an embodiment of the present application.

[0119] Figure 15 103 is a flowchart of the wireless ranging method in the embodiment of the present application.

[0120] Figure 16 10 is a flow chart of a wireless ranging method including step 101 and step 102 in an embodiment of the present application.

[0121] Figure 17 Schematic diagram of the directional margin angle in an embodiment of the present application.

[0122] Figure 18 Schematic diagram of the structure of the electronic device in the embodiment of the present application.

[0123] Figure 19 Schematic diagram of the structure of the wireless direction finding controller in the embodiment of the present application.

[0124] Figure 20 Schematic diagram of the structure of a base station for wireless direction finding in an embodiment of the present application.

[0125] Figure 21 Schematic diagram of the structure of the antenna array in the embodiment of the present application.

[0126] Figure 22Schematic diagram of the flow of the wireless direction finding method in an embodiment of the present application.

[0127] Figure 23 This is a flowchart of a first specific implementation process of step 210 in the wireless direction finding method in an embodiment of the present application.

[0128] Figure 24 This is a flowchart of a second specific implementation process of step 210 in the wireless direction finding method in an embodiment of the present application.

[0129] Figure 25 This is a flowchart of a third specific implementation process of step 210 in the wireless direction finding method in an embodiment of the present application.

[0130] Figure 26 This is a flowchart of a fourth specific implementation process of step 210 in the wireless direction finding method in an embodiment of the present application.

[0131] Figure 27 21 is a flow chart of a wireless direction finding method including step 2101 and step 2102 in an embodiment of the present application.

[0132] Figure 28 Schematic diagram of the phase angle in the embodiment of the present application.

[0133] Figure 29 Schematic diagram of antenna array switching in an embodiment of the present application.

[0134] Figure 30 2 is a flow chart of a wireless direction finding method including step 240 in an embodiment of the present application.

[0135] Figure 31 2 is a flow chart of a wireless direction finding method including step 250 in an embodiment of the present application.

[0136] Figure 32 203 is a flowchart of a wireless direction finding method including step 203 in an embodiment of the present application.

[0137] Figure 33 201 and 202 are flowcharts of a wireless direction finding method according to an embodiment of the present application.

[0138] Figure 34 This is a schematic diagram of the structure of the solution node based on the ranging result in an embodiment of the present application.

[0139] Figure 35 This is a flow chart of a method for wireless positioning using ranging results in an embodiment of the present application.

[0140] Figure 36Flowchart of the wireless positioning method using the ranging result in the embodiment of the present application.

[0141] Figure 37 Structure diagram of the node for solving based on the direction finding result in the embodiment of the present application.

[0142] Figure 38 Structure diagram of the node for solving based on the direction finding result in the embodiment of the present application.

[0143] Figure 39 Flowchart of the wireless positioning method using the direction finding result in the embodiment of the present application.

[0144] Figure 40 Flowchart of the wireless positioning method using the direction finding result in the embodiment of the present application.

[0145] Figure 41 Flowchart of the wireless positioning method using the direction finding result in the embodiment of the present application.

[0146] Figure 42 Structure diagram of the node for solving based on the ranging result and the direction finding result in the embodiment of the present application.

[0147] Figure 43 Structure diagram of the node for solving based on the ranging result and the direction finding result in the embodiment of the present application.

[0148] Figure 44 Structure diagram of the node for solving based on the ranging result and the direction finding result in the embodiment of the present application.

[0149] Figure 45 Flowchart of the wireless positioning method using the ranging result and the direction finding result in the embodiment of the present application.

[0150] Figure 46 Flowchart of the wireless positioning method using the ranging result and the direction finding result in the embodiment of the present application.

[0151] Figure 47 Flowchart of the wireless positioning method using the ranging result and the direction finding result in the embodiment of the present application.

[0152] Figure 48 Structure diagram of the wireless positioning system in the embodiment of the present application. DETAILED DESCRIPTION

[0153] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0154] In the existing wireless positioning process using UWB technology, the measuring node and the target node can obtain the relative distance or relative angle between them through wireless communication. Figure 1 Assume that a positioning communication takes time t0, the maximum distance a measurement node can transmit a signal is d0, measurement nodes 1 and 2 send signals s1 and s2 at time t1 and t2, respectively. The target node is d1 and d2 away from measurement nodes 1 and 2, respectively. If the following conditions are met simultaneously: |t1-t2| < t0, d1 < d0, and d2 < d0, s1 and s2 will collide. When frames collide, the target node can only receive the signal from one measurement node or cannot correctly receive the signals from both measurement nodes.

[0155] Within a certain time and space, each UWB signal frame takes a certain amount of time. Therefore, the number of signal frames (positioning communication processes) that can be accommodated on the entire timeline is limited. A wireless positioning system consisting of at least one measurement node can also accommodate a limited number of positioning communications. This limited number of communications limits the number of target nodes and the frequency of communications. Within a certain time and space, when target nodes in a wireless positioning system locate themselves at a certain frequency, the maximum number of target nodes that the system can accommodate is called the target node capacity.

[0156] Figure 1 The collision domain in this context refers to the spatial range affected by the positioning signal. The size of the collision domain affects the target node's capacity. The larger the collision domain of a wireless positioning system, the greater the probability that signals will collide with nodes at the same time, and the greater the probability of positioning communication failure. For the target node to communicate with the base station, it must fall within the measurement node's collision domain. A collision domain cannot be too small. A too small collision domain means the signal can only reach a limited distance, and the maximum communication distance between the target node and the measurement node will be reduced.

[0157] See also Figure 2For omnidirectional antennas, the signal impact distance is the same in all directions, and the collision domain is circular. However, for directional antennas, the collision distance range varies in each direction, and the collision domain is non-circular. If the antenna used by the measurement node is a unidirectional directional antenna, the signal impact distance in and near that direction is longer, while the signal impact distance in other directions is closer, resulting in an elliptical collision domain for the measurement node. When performing positioning communication with a target node, if the directional antenna is pointed in the direction of the target node, the signal collision range using the directional antenna is smaller than that using the omnidirectional antenna at the same communication distance.

[0158] Based on the above content, the present application provides a wireless ranging method, a wireless direction finding method, a wireless positioning method, a ranging node, a direction finding node, a solution node, an electronic device, a base station for wireless ranging, a base station for wireless direction finding, and a wireless positioning system. By dynamically switching directional antennas to adjust the collision domain range of wireless signals, the collision domain range of wireless signals during the measurement process can be effectively reduced, unnecessary collisions can be avoided, and the accuracy and reliability of wireless measurements of target nodes can be improved, thereby effectively improving the positioning capacity and the accuracy and reliability of positioning the target nodes using wireless measurement results; nodes use directional antennas to communicate with each other, and there will be relatively high gain in specific directions, that is, smaller transmission power can be used to achieve communication and ranging, and smaller transmission power will further reduce the collision domain range of wireless signals.

[0159] In one or more embodiments of the present application, the measurement node may specifically refer to a ranging node or a direction-finding node. Furthermore, a measurement node may also implement both ranging and direction-finding functions. For example, the measurement node may be a base station for performing wireless ranging and / or wireless direction-finding for a target node.

[0160] In one or more embodiments of the present application, the target node may be a target for which a measurement node is to perform wireless ranging and / or wireless direction finding. The target node must be within the measurement range of a wireless measurement system comprised of at least one measurement node. For example, the target node may be a tag capable of transmitting signals to and from a base station.

[0161] In one example, the wireless ranging method, wireless direction finding method and wireless positioning method of the present application are applicable to areas where people gather (scenes where the targets to be positioned are particularly dense). Specifically, multiple base stations and at least one solution node for performing wireless ranging and / or wireless direction finding for target nodes can be set up in a target site. At the same time, each person in the target site wears a tag that can transmit signals with the base station.

[0162] In one or more embodiments of the present application, the solving node is a node for positioning the target node according to the wireless ranging result and / or the wireless direction finding result, i.e., can be a host of a wireless positioning system. For example, the node can specifically be a server capable of communicating data with each base station in the wireless positioning system, and the server can also be in communication connection with at least one client device to send the positioning result of the target node to the corresponding client device for display, or generate an alarm information for the target node when the server judges that the positioning result of the target node exceeds a preset action range, and send the alarm information to the corresponding client device and / or an alarm device. The alarm device can be a loudspeaker device or a sound and light alarm, etc. capable of playing corresponding warning voice information according to the alarm information.

[0163] Based on the above, the solving node can be integrated with the measurement node, i.e., the device as the measurement node itself also has the function of the solving node. In addition, the solving node can also be integrated with the target node, i.e., the device as the target node itself also has the function of the solving node.

[0164] It can be understood that the client device can include a smart phone, a tablet electronic device, a network set-top box, a portable computer, a desktop computer, a personal digital assistant (PDA), a vehicle-mounted device, a smart wearable device, etc. The smart wearable device can include smart glasses, a smart watch, a smart bracelet, etc.

[0165] In actual application, the part of positioning the target node according to the wireless ranging result and / or the wireless direction finding result can be executed on the server side as described above, or all operations can be completed in the client device. Specifically, the selection can be made according to the processing capability of the client device and the limitation of the user use scenario, etc. The present application does not limit this. If all operations are completed in the client device, the client device can also include a processor.

[0166] The above client device can have a communication module (i.e., a communication unit) and can be in communication connection with a remote server to realize data transmission with the server. The server can include a server of a task scheduling center side, and in other implementation scenarios, can also include a server of an intermediate platform, e.g., a server of a third-party server platform in communication link with the server of the task scheduling center. The server can include a single computer device, or a server cluster composed of multiple servers, or a server structure of a distributed device.

[0167] The server and the client device may communicate using any suitable network protocol, including network protocols not yet developed on the date of filing this application. Examples of such network protocols include TCP / IP, UDP / IP, HTTP, and HTTPS. Furthermore, examples of such network protocols include RPC (Remote Procedure Call Protocol) and REST (Representational State Transfer) protocols, which are used on top of the aforementioned protocols.

[0168] The wireless ranging, direction finding and positioning methods and related equipment provided in this application are specifically described through the following multiple embodiments.

[0169] (1) Wireless ranging

[0170] Example 1-1: Wireless ranging controller

[0171] In order to effectively reduce the collision domain range of wireless signals during the ranging process, improve the measurement capacity of the target node, and improve the accuracy and reliability of wireless ranging for the target node, thereby effectively improving the accuracy and reliability of positioning the target node, an embodiment of the present application provides a wireless ranging controller. The wireless ranging controller can implement all or part of the wireless ranging method in one or more embodiments described later in this application. The wireless ranging controller is arranged in the ranging node in this application. If the ranging node is a base station, the function of the wireless ranging controller can be directly implemented by improving the internal execution logic of the original controller of the base station, so as to further reduce the implementation cost of wireless ranging while improving the accuracy and reliability of wireless ranging for the target node.

[0172] From the perspective of software implementation, see Figure 3 In this embodiment, the wireless ranging controller 10 may specifically include multiple functional models. Since the wireless ranging controller 10 is provided in the ranging node, the following multiple functional models may be understood as functional modules provided in the ranging node, specifically including the following contents:

[0173] The ranging antenna selection module 11 is used to select one of the multiple directional antennas set on the ranging node itself as the target antenna corresponding to the target node in the current ranging cycle, wherein the corresponding directions of the directional antennas are different.

[0174] In one or more embodiments of the present application, the ranging period is a preset duration stored locally on the ranging node. For example, the ranging period may be 100-1000ms. The more devices (base stations and tags) that communicate in each ranging period, the higher the requirements for time slot allocation, the easier it is to frame, and thus the better the performance of this solution.

[0175] The ranging communication module 12 is configured to apply a preset wireless communication technology to control data communication only between the target antenna and the target node.

[0176] It can be understood that the wireless communication technology may refer to short-range wireless communication technology and / or carrier-free communication technology, and the selection of the specific type mainly depends on the function of the communication equipment, among which the short-range wireless communication technology may include Wi-Fi technology, Bluetooth technology and ZigBee technology, etc.

[0177] In one or more embodiments of the present application, the carrier-free communication technology is the aforementioned UWB technology, which uses nanosecond to microsecond level non-sinusoidal narrow pulses to transmit data.

[0178] The distance determination module 13 is configured to obtain distance information of the ranging node itself relative to the target node based on the result of the data communication.

[0179] It can be understood that the process of the ranging node measuring the distance of the target node is real-time or periodic, and can be pre-set according to actual application requirements. Therefore, the distance information of the ranging node itself relative to the target node obtained by the ranging node based on the result of the data communication refers to the distance information between the target node and the ranging node in the current ranging period.

[0180] The embodiment of the wireless ranging controller provided in the embodiment of the present application can be specifically used to execute the processing flow of the embodiment of the wireless ranging method in one or more embodiments described later in the present application. Its functions are not described in detail here, and reference can be made to the detailed description of the following wireless ranging method embodiment.

[0181] Example 1-2: Ranging Node

[0182] In order to effectively reduce the collision domain range of wireless signals during the ranging process, improve the measurement capacity of the target node and improve the accuracy and reliability of wireless ranging for the target node, thereby effectively improving the accuracy and reliability of positioning the target node, the embodiment of the present application also provides a ranging node.

[0183] As described above, the ranging node may be a base station or an intelligent device capable of implementing base station functions. This embodiment provides a detailed description of the wireless ranging node as a base station for wireless ranging.

[0184] A base station for wireless ranging is provided with a wireless ranging controller, a radio frequency switching module, and multiple directional antennas; the base station is communicatively connected to a corresponding solution node; the wireless ranging controller is connected to the radio frequency switching module, and the wireless ranging controller is used to implement the wireless ranging method described below; the radio frequency switching module is respectively connected to each of the directional antennas to switch each of the directional antennas according to the instructions of the wireless ranging controller, wherein each of the directional antennas has a different corresponding orientation.

[0185] See also Figure 4 The base station 01 for wireless ranging is equipped with the wireless ranging controller 10, the radio frequency switching module 30, and multiple directional antennas described in the aforementioned embodiment 1-1, respectively represented by antenna 1 to antenna n. The base station 01 for wireless ranging is communicatively connected to the solution node. The wireless ranging controller 10 is connected to the radio frequency switching module 30. The radio frequency switching module is connected to each of the directional antennas to switch the directional antennas in response to instructions from the wireless ranging controller. The directional antennas each have a different orientation.

[0186] Specifically, in this embodiment, the base station 01 for wireless ranging is designed as a host with multiple directional antennas. The directional antennas point in all directions, and the base station 01 for wireless ranging can switch to each directional antenna through the radio frequency switch. A local coordinate system is established on the base station 01 for wireless ranging, and the direction of each antenna can be expressed as a unit vector in the local coordinate system. The direction vectors of n antennas are

[0187] Based on the above content, a wireless positioning system can include multiple base stations 01 and tags for wireless ranging. The base stations 01 for wireless ranging are dispersed and connected to the host of the wireless positioning system through an Ethernet data channel. The base station 01 for wireless ranging obtains ranging communication information with the tag, and after obtaining the relative distance between the base station 01 for wireless ranging and the tag, it uploads it to the host of the wireless positioning system. The host calculates the position of the tag through a series of relative distances of each tag relative to each base station 01 for wireless ranging. After calculating the tag position, the host will transmit the position information to each base station 01 for wireless ranging. It can be understood that the host in this example is an alternative to the server mentioned in one or more embodiments of the present application.

[0188] Example 1-3: RF switching module

[0189] In order to further effectively reduce the range of the conflict domain of the wireless signal in the ranging process, improve the measurement capacity of the target node, and improve the accuracy and reliability of the wireless ranging for the target node, and further effectively improve the accuracy and reliability of the positioning of the target node, the embodiment of the present application further provides a radio frequency switching module.

[0190] As described in the foregoing embodiment 1-2, the radio frequency switching module 30 is arranged in the base station for wireless ranging. Specifically, the switching frequency of the radio frequency switching module 30 can be set according to the transceiving frequency of the ranging frame, which is higher than the transceiving frequency of the ranging frame. Referring to Figure 5 , the radio frequency switching module 30 can use a single radio frequency switch or multiple radio frequency switches in cascade. For example, the radio frequency switching module 30 of 8 directional antennas can use a single-throw 8-pole switch, or 7 single-throw double-pole switches can be cascaded to complete the function. If the three-way control signal [C2C1C0] is set to

[000] , the antenna interface is switched to the first antenna, if the three-way control signal [C2C1C0] is set to

[001] , the antenna interface is switched to the second antenna, and so on. The three-way control signal can provide 8 control states, respectively corresponding to 8 antenna interfaces.

[0191] Embodiment 1-4: Wireless ranging method

[0192] In order to effectively reduce the range of the conflict domain of the wireless signal in the ranging process, improve the measurement capacity of the target node, and improve the accuracy and reliability of the wireless ranging for the target node, and further effectively improve the accuracy and reliability of the positioning of the target node, the embodiment of the present application provides a wireless ranging method, which is implemented by using the foregoing ranging node or wireless ranging controller. Referring to Figure 6 , the wireless ranging method specifically includes the following contents:

[0193] Step 110: In the current ranging period, select one from the multiple directional antennas arranged in the ranging node itself as a target antenna corresponding to the target node, wherein the orientations corresponding to each of the directional antennas are all different.

[0194] Step 120: Control the data communication between the target antenna and the target node by using the preset wireless communication technology.

[0195] In step 120, data communication between the target antenna and the target node can be as follows: the target antenna transmits a signal pulse. The base station needs to be pre-installed in the space where it is to be located and needs to customize a rectangular coordinate system to map its own X, Y, and Z coordinates. The pulses transmitted by the target antenna travel at the speed of light C. The time it takes for the pulses to reach the base station is T1. The base station can calculate the distance L1 between itself and the target node by multiplying the speed of light C by the time T.

[0196] Step 130: Obtain distance information of the ranging node itself relative to the target node based on the result of the data communication.

[0197] First, in order to further improve the applicability of the wireless ranging process on the basis of reducing the collision domain range of the wireless signal in the ranging process and improving the measurement capacity of the target node, so as to realize antenna switching in non-initial measurement situations, in one embodiment of the wireless ranging method of the present application, see Figure 7 The first specific implementation process of step 110 includes the following contents:

[0198] Step 111: Determine whether the ranging node itself has pre-stored location information of the target node in the previous ranging cycle. If so, execute step 112.

[0199] Step 112: According to the position information of the target node in the previous ranging cycle, one of the directional antennas set on the ranging node itself is selected as the current target antenna.

[0200] In step 112, if the ranging node learns that the position information of the target node in the previous ranging cycle is (x11, y11), an antenna corresponding to the measurement range of the base station for wireless ranging corresponding to the ranging node and (x11, y11) is determined as the current target antenna, and data communication between the target antenna and the target node is controlled later.

[0201] It can be understood that after step 130, the ranging node sends the distance information of the ranging node itself relative to the target node in the current ranging period to the corresponding calculation node, which can determine the current position information of the target node according to the distance information of the target node relative to the target node respectively sent by at least three ranging nodes, and send the position information of the target node in the current ranging period to the corresponding at least three ranging nodes respectively, and / or send the ranging control instruction containing the position information of the target node in the current ranging period to the corresponding at least three ranging nodes to make the at least three ranging nodes acquire the distance information of the target node again based on the ranging control instruction. Based on this, the position information of the target node in the previous ranging period can be the position information of the target node sent by the calculation node and pre-stored in the ranging node locally, so that the ranging node can quickly acquire the position information of the target node in the previous ranging period as a judgment basis in the subsequent wireless ranging process, and the efficiency and accuracy of antenna switching are improved.

[0202] Secondly, in order to further improve the applicability of the wireless ranging process on the basis of reducing the conflict domain range of wireless signals in the ranging process and improving the measurement capacity of the target node, so that antenna switching can still be realized in the case that the initial measurement or the ranging node does not have the position information of the target node in the previous ranging period locally, and the reliability of the wireless ranging process is further improved, in an embodiment of the wireless ranging method of the present application, referring to Figure 8 , the second specific implementation process of step 110 includes the following contents:

[0203] Step 111: determining whether the ranging node itself pre-stores the position information of the target node in the previous ranging period, and if not, executing step 113.

[0204] Step 113: randomly selecting one of the multiple directional antennas arranged in the ranging node itself as the target antenna corresponding to the target node.

[0205] It can be understood that one specific embodiment of randomly selecting one of the multiple directional antennas arranged in the ranging node itself as the target antenna corresponding to the target node can be: if the ranging node performs random selection of one of the multiple directional antennas arranged in the ranging node itself as the target antenna corresponding to the target node multiple times and performs ranging with the target antenna (although the first randomly selected antenna and the corresponding ranging data are not the best in quality), the ranging node system will converge through multiple selections.

[0206] Thirdly, in order to further improve the applicability of the wireless ranging process on the basis of reducing the collision domain range of the wireless signal in the ranging process and improving the measurement capacity of the target node, so as to still be able to implement antenna switching in the case of initial measurement or when the ranging node does not have the location information of the previous ranging cycle locally, while ensuring the accuracy of the switching, in one embodiment of the wireless ranging method of the present application, see Figure 9 The third specific implementation process of step 110 includes the following contents:

[0207] Step 111 : Determine whether the ranging node itself has pre-stored location information of the target node in the previous ranging cycle. If not, execute step 114 .

[0208] Step 114: Send a request for obtaining the location information of the target node in the previous ranging cycle to the corresponding solution node.

[0209] In the above content, after the ranging node sends an acquisition request for the location information of the target node in the previous ranging cycle to the corresponding solving node, the solving node sends the location information of the target node in the previous ranging cycle to the ranging node according to the acquisition request.

[0210] Step 115: Receive the position information of the target node in the previous ranging cycle sent back by the solving node according to the acquisition request, and then select one of the directional antennas set on the ranging node itself as the current target antenna according to the position information of the target node in the previous ranging cycle.

[0211] It can be understood that the position information of the target node in the previous ranging cycle stored by the solving node this time can be obtained by pre-applying the distance information of the target node sent by any ranging node in the wireless positioning system, or it can be obtained by pre-applying the angle information of the target node sent by any direction-finding node in the wireless positioning system. Therefore, if the current ranging node attempts to measure the distance of the target node for the first time, it can also apply the position information of the target node obtained from the solving node based on the distance information of the target node sent by other ranging nodes or the angle information of the target node sent by other direction-finding nodes.

[0212] Among them, in the first specific implementation process and the third specific implementation process of step 110, see Figure 10 The specific process of selecting one of the directional antennas provided at the ranging node itself as the current target antenna based on the position information of the target node in the previous ranging cycle includes the following:

[0213] Step 1101: Determine the relative direction unit vector of the target node relative to the ranging node itself based on pre-stored position information of the target node in the previous ranging cycle.

[0214] Step 1102: Based on the relative direction unit vector and the direction unit vectors of the directional antennas set at the ranging node itself, one of the directional antennas is selected as the current target antenna.

[0215] It can be seen that based on the above content, the antenna switching reliability can be enhanced to further ensure the realization of the antenna conflict domain reduction process, so as to improve the ranging accuracy. Figure 11 and Figure 12 , specific examples are as follows:

[0216] Taking the wireless positioning system as an example, in the global coordinate system, the coordinates of base station A1 are (x1, y1). When base station A1 and tag T1 perform ranging, base station A1 first checks whether it knows the position of tag T1 in the previous ranging cycle. If it does not know, it switches to a random antenna or obtains it from the corresponding solution node. If it is known that the position of tag T1 in the previous ranging cycle is (x1, y1), then the base station A1 will check whether it knows the position of tag T1 in the previous ranging cycle. t1 ,y t1 ), then the relative direction unit vector of the tag relative to the base station is calculated as:

[0217]

[0218] The rotation matrix of the local coordinate system of base station A1 relative to the global coordinate system is M1, then the n antenna direction unit vectors of base station A1 are The expression in the global coordinate system is:

[0219]

[0220] Calculate the cosine value of the antenna direction unit vector and the tag relative direction unit vector in sequence:

[0221] where k = 1, 2, ..., n

[0222] Compare all cosθ1, cosθ2, ..., cosθ n If the mth cosine value is the largest, the base station antenna is switched to antenna m.

[0223] After switching the antenna, during the ranging process, in the wireless positioning system, the base station sends a frame of wireless signal to the tag and records the time ts1. After the tag receives the signal, it delays Δts and replies to the base station with a frame of wireless signal. The base station receives it and records the receipt time ts2. The flight time of the wireless signal in the air is:

[0224] t f =ts2-ts1-Δts

[0225] According to the propagation speed C of electromagnetic waves in the air, the distance between the base station and the tag can be obtained as:

[0226]

[0227] Base station A1 calculates the distance to tag T1 and uploads it to the system host. In this example, the system host is an alternative to the server mentioned in one or more embodiments of this application. The solution node can be a device equipped with a server or system host, or the solution node itself can be a server or system host.

[0228] In one or more embodiments of the present application, the wireless positioning system bidirectional wireless positioning system may specifically be a bidirectional wireless positioning system, which may be a type of time-of-flight (TOF) ranging method. The TOF ranging method is a bidirectional ranging technology that primarily uses the time of flight of a signal between two asynchronous transceivers (or reflected surfaces) to measure the distance between nodes. Traditional ranging technologies are divided into bidirectional ranging technologies and unidirectional ranging technologies.

[0229] Therefore, when the above method is applied for ranging and positioning, without changing the maximum ranging distance, the collision domain of the node sending the signal will be reduced, the probability of signal collision will be lower, the success rate of positioning communication will be increased, and it will have a certain effect on increasing the tag capacity.

[0230] In addition, as described above, in one embodiment of the wireless ranging method of the present application, see Figure 13 After step 130, the following contents may also be included:

[0231] Step 140: Send the distance information of the ranging node itself relative to the target node to the solving node, so that the solving node locates the target node based on the distance information and the distance information relative to the target node sent by at least two other ranging nodes, and obtains the position information of the target node in the current ranging cycle.

[0232] Therefore, applying the wireless ranging results to the positioning process of the target node can effectively improve the positioning capacity, as well as the accuracy and reliability of positioning the target node using the wireless measurement results; nodes use directional antennas to communicate with each other, and there will be relatively high gain in specific directions, that is, smaller transmission power can be used to achieve communication and ranging, and smaller transmission power will further reduce the collision domain range of the wireless signal.

[0233] In order to further improve the convenience and reliability of the ranging node in selecting the antenna in the next ranging cycle, to further improve the measurement capacity of the target node, and to improve the accuracy and reliability of the wireless ranging for the target node, in one embodiment of the wireless ranging method of the present application, see Figure 14 The wireless ranging method further specifically includes the following contents:

[0234] Step 150: If the location information of the target node in the current ranging period is received from the solving node, the location information is stored locally.

[0235] It is understandable that although Figure 14 Step 150 in the embodiment is executed after step 140. However, in actual applications, step 150 can be executed before step 110 or at any position between steps 110 and 140. That is, as long as the ranging node actually receives the position information of the target node in the current ranging cycle sent by the solving node, the position information is stored locally.

[0236] In order to ensure that the distance measurement is successful even when the target node has a position estimation deviation, so as to further improve the measurement capacity of the target node and improve the accuracy and reliability of the wireless distance measurement for the target node, in one embodiment of the wireless distance measurement method of the present application, see Figure 15 , the wireless ranging method further includes the following contents before step 110:

[0237] Step 103: pre-setting the direction margin angles between adjacent directional antennas.

[0238] It can be understood that the direction margin angle is determined based on a pre-acquired maximum deviation estimate between the estimated position and the actual position of the node, and the maximum positioning distance of the ranging node itself.

[0239] In order to further ensure that the tag can always fall within the effective ranging range, so as to further improve the measurement capacity of the target node and improve the accuracy and reliability of the wireless ranging of the target node, in one embodiment of the wireless ranging method of the present application, see Figure 16 , the wireless ranging method further includes the following contents before step 103:

[0240] Step 101: Determine the target number of the directional antennas based on the size of the directional antennas and the size of the ranging node itself.

[0241] Step 102: Setting a number of directional antennas that matches the target number on the ranging node itself.

[0242] It is understandable that although Figure 16Steps 101 and 102 in the method of the present application are performed before step 103, but in actual applications, steps 101 and 102 can be directly and individually performed before step 110, that is, step 103, and steps 101 and 102 can be individually performed, and if both are performed, the accuracy and reliability of the wireless ranging to the target node can be more preferably improved.

[0243] Specifically, in the wireless positioning system of the present application using UWB technology, the positioning accuracy is higher than other wireless positioning methods due to the use of a larger wireless signal bandwidth (more than 500 MHz), and the positioning error is generally less than several tens of centimeters. The UWB technology is the carrier-free communication technology mentioned in one or more embodiments of the present application. Higher positioning accuracy can make antenna switching more accurate. If the base station contains n directional antennas, the directional antennas are uniformly arranged in each direction, the nominal maximum positioning distance of the base station is d, the effective direction range of the directional antenna is a (radian), the maximum positioning error of the tag is ε, and the maximum movement distance of the tag between two positionings is S, then the maximum deviation between the estimated position of the tag and the actual position when the tag starts to prepare to switch the antenna for ranging is:

[0244] Δ max = ε + s

[0245] There is a certain overlap between the effective directions of adjacent antennas, which is called the direction margin angle, which is used to ensure that the tag can successfully range when the position estimation deviation occurs. Referring to Figure 17 , the direction margin angle is:

[0246]

[0247] When the tag is located at the farthest ranging edge and the position error is perpendicular to the tag-base station line, the antenna switching is most likely to fail. At this time, the estimated position deviation of the tag should not deviate from the directional antenna direction angle margin. That is:

[0248]

[0249]

[0250] Only when the above inequality is satisfied, can the tag always fall within the effective ranging range after switching the antenna. For a certain directional antenna, the effective angle and maximum distance are determined, in order to ensure the establishment of the inequality, the following points can be achieved as much as possible:

[0251] 1. Make n larger, that is, use more directional antennas. Considering the size of the antenna and the base station, the installation convenience and other factors, the value of n cannot be too large, and in general, the value of n is 8-12, which is more appropriate.

[0252] 2, make ε smaller, that is, to ensure higher positioning accuracy, this is more advantageous for UWB wireless positioning, ε value within tens of centimeters is more appropriate. Among them, the scheme can be used in short distance communication, Bluetooth positioning, WIFI positioning can also be used but the effect is better in UWB: 1) UWB positioning accuracy is high, the antenna selection is more accurate, and the effect is better; 2) UWB positioning system, because it is a carrier-free communication, compared with others, the single frame is shorter, the system capacity is larger (more tags are measured at the same time), the ranging frame is more dense, and it is easier to frame.

[0253] 3, make s smaller, that is, to ensure that the tag moves a shorter distance between two periods, this scheme should be better in the scene where the tag moves slowly, if the tag moves faster, the ranging frequency should be increased. If the positioning is generally for walking personnel, the speed is generally not greater than 2m / s, and the positioning refresh rate is 3Hz or more, which can ensure that the s value is within one meter. If the object is faster, a higher refresh rate should be used to ensure that the s value is within a smaller range.

[0254] Embodiment 1-5: electronic device for wireless ranging

[0255] From the hardware level, the hardware implementation of the wireless ranging controller in embodiment 1-1 can be an electronic device for wireless ranging, which can effectively reduce the conflict domain range of wireless signals in the ranging process, improve the measurement capacity of the target node and improve the accuracy and reliability of wireless ranging for the target node, thereby effectively improving the accuracy and reliability of positioning the target node. The electronic device for wireless ranging specifically includes the following contents:

[0256] processor, memory, communications interface and bus; wherein the processor, memory, communications interface complete the communication between each other through the bus; the communications interface is used to realize the information transmission between the wireless ranging controller and the related devices such as radio frequency switching module, solution node and user terminal; the electronic device can be a desktop computer, tablet computer and mobile terminal, etc., and the embodiment is not limited thereto. In the embodiment, the electronic device can be implemented with reference to the embodiments of the wireless ranging method in embodiment 1-4, and the wireless ranging controller in embodiment 1-1, the contents of which are incorporated herein, and the repeated parts will not be described.

[0257] Figure 18A schematic block diagram of a system configuration of an electronic device 9600 according to an embodiment of the present application. It can be understood that the electronic device for wireless ranging in the embodiments 1-5, the electronic device for wireless direction finding in the embodiments 2-5 to be described later, the electronic device for wireless positioning based on ranging results in the embodiments 3-5, the electronic device for wireless positioning based on direction finding results in the embodiments 4-5, and the electronic device for wireless positioning based on direction finding results and ranging results in the embodiments 5-5, can all be implemented by the structure of the electronic device 9600 in the embodiment 1-5. Of course, different structures can be applied between different electronic devices, which is not limited in the present application. Figure 18 It can be understood that the electronic device 9600 in the embodiment 1-5 can be implemented by the structure shown in the embodiment 1-5. Of course, different structures can be applied between different electronic devices, which is not limited in the present application.

[0258] As shown in the embodiment 1-5, Figure 18 the electronic device 9600 can include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. It is worth noting that the structure shown in the embodiment 1-5 is exemplary; other types of structures can also be used to supplement or replace the structure to implement telecommunication functions or other functions. Figure 18 It is worth noting that the structure shown in the embodiment 1-5 is exemplary; other types of structures can also be used to supplement or replace the structure to implement telecommunication functions or other functions.

[0259] In the embodiment, the function of wireless ranging can be integrated into the central processor 9100. The central processor 9100 can be configured to control as follows:

[0260] Step 110: In the current ranging period, select one from a plurality of directional antennas arranged at the ranging node itself as a target antenna corresponding to the target node, wherein the orientations corresponding to each of the directional antennas are all different.

[0261] Step 120: Apply a preset wireless communication technology to control data communication between the target antenna and the target node.

[0262] Step 130: Obtain distance information of the ranging node itself relative to the target node based on the result of the data communication.

[0263] In another embodiment, the wireless ranging controller can be configured separately from the central processor 9100, for example, the wireless ranging controller can be configured as a chip connected to the central processor 9100, and the wireless ranging function is realized through the control of the central processor.

[0264] As shown in the embodiment 1-5, Figure 18 the electronic device 9600 can further include a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is worth noting that the electronic device 9600 does not necessarily include all the components shown in the embodiment 1-5; in addition, the electronic device 9600 can further include Figure 18 other components. Figure 18For components not shown, reference may be made to the prior art.

[0265] like Figure 18 As shown, the central processing unit 9100 is sometimes also referred to as a controller or operation control, and may include a microprocessor or other processor device and / or logic device. The central processing unit 9100 receives input and controls the operation of various components of the electronic device 9600.

[0266] Memory 9140 can be, for example, one or more of a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It can store the aforementioned failure-related information and also store programs that execute the relevant information. The CPU 9100 can execute the programs stored in memory 9140 to implement information storage or processing.

[0267] The input unit 9120 provides input to the central processing unit 9100. The input unit 9120 may be, for example, a keypad or touch input device. The power supply 9170 is used to provide power to the electronic device 9600. The display 9160 is used to display objects such as images and text. The display may be, for example, an LCD display, but is not limited thereto.

[0268] The memory 9140 may be a solid-state memory, such as a read-only memory (ROM), a random access memory (RAM), or a SIM card. Alternatively, it may be a memory that retains information even when power is off, can be selectively erased, and is provided with more data. Examples of such memory are sometimes referred to as EPROMs. The memory 9140 may also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application / function storage unit 9142 for storing application programs and function programs or processes for executing the operation of the electronic device 9600 by the central processing unit 9100.

[0269] The memory 9140 may also include a data storage unit 9143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various driver programs for communication functions of the electronic device and / or for executing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0270] The communication module 9110 is a transmitter / receiver 9110 that transmits and receives signals via an antenna 9111. The communication module (transmitter / receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as in a conventional mobile communication terminal.

[0271] Based on different communication technologies, multiple communication modules 9110 can be provided in the same electronic device, such as a cellular network module, a Bluetooth module, and / or a wireless local area network module. The communication module (transmitter / receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby implementing common telecommunication functions. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. Furthermore, the audio processor 9130 is also coupled to the central processing unit 9100, enabling local recording via the microphone 9132 and playback of stored audio via the speaker 9131.

[0272] Embodiment 1-6: Computer-readable storage medium for wireless ranging

[0273] The embodiments of the present application also provide a computer-readable storage medium capable of implementing all or part of the steps of the wireless ranging method in the above embodiments 1-4. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, all the steps of the wireless ranging method in the above embodiments 1-4 are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0274] Step 110: In the current ranging cycle, one of the multiple directional antennas provided on the ranging node is selected as the target antenna corresponding to the target node, wherein the corresponding directions of the directional antennas are different.

[0275] Step 120: Apply a preset wireless communication technology to control data communication only between the target antenna and the target node.

[0276] Step 130: Obtain distance information of the ranging node itself relative to the target node based on the result of the data communication.

[0277] From the above description, it can be seen that the computer-readable storage medium for wireless ranging provided in the embodiment of the present application can effectively reduce the collision domain range of wireless signals during the ranging process by dynamically switching directional antennas to adjust the collision domain range of wireless signals, avoid unnecessary collisions, and improve the accuracy and reliability of wireless ranging for target nodes, thereby effectively improving the positioning capacity and the accuracy and reliability of positioning the target node using the wireless ranging results; nodes use directional antennas to communicate with each other, and there will be relatively high gain in specific directions, that is, a smaller transmission power can be used to achieve communication and ranging, and the smaller transmission power will further reduce the collision domain range of wireless signals.

[0278] (2) Wireless direction finding

[0279] Example 2-1: Wireless Direction Finding Controller

[0280] In order to effectively reduce the collision domain range of wireless signals during the direction finding process, improve the measurement capacity of the target node, and improve the accuracy and reliability of wireless direction finding for the target node, thereby effectively improving the accuracy and reliability of positioning the target node, an embodiment of the present application provides a wireless direction finding controller. The wireless direction finding controller can implement all or part of the contents of the wireless direction finding method in one or more embodiments described later in this application. The wireless direction finding controller is arranged in the direction finding node in this application. If the direction finding node is a base station, the function of the wireless direction finding controller can be directly implemented by improving the internal execution logic of the original controller of the base station, so as to further reduce the implementation cost of wireless direction finding while improving the accuracy and reliability of wireless direction finding for the target node.

[0281] From the perspective of software implementation, see Figure 19 In this embodiment, the wireless direction finding controller 20 may specifically include multiple functional models. Since the wireless direction finding controller 20 is provided in the direction finding node, the following multiple functional models may be understood as functional modules provided in the direction finding node, specifically including the following contents:

[0282] The direction-finding antenna selection module 21 is used to select one of the multiple directional antenna arrays set in the direction-finding node itself as the target antenna array corresponding to the target node within the current direction-finding cycle, wherein the corresponding directions of each of the directional antenna arrays are different, and each of the directional antennas includes multiple directional antennas.

[0283] In one or more embodiments of the present application, a direction finding period is a preset duration stored locally on a direction finding node. For example, the direction finding period may be 100-1000 ms. The more devices (base stations and tags) communicating in each direction finding period, the higher the time slot allocation requirements, the easier it is to frame data, and thus, the better the performance of this solution.

[0284] The direction-finding communication module 22 is configured to apply a preset wireless communication technology to control only the multiple directional antennas in the target antenna array to perform data communication with the target node respectively.

[0285] The angle determination module 23 is configured to obtain angle information of the direction finding node relative to the target node based on the result of the data communication.

[0286] It can be understood that the process of the direction-finding node performing direction-finding on the target node is real-time or periodic, and can be pre-set according to actual application requirements. Therefore, the direction-finding node obtains the angle information of the direction-finding node itself relative to the target node based on the result of the data communication, which refers to the angle information between the target node and the direction-finding node in the current direction-finding cycle.

[0287] The embodiment of the wireless direction finding controller provided in the embodiment of the present application can be specifically used to execute the processing flow of the embodiment of the wireless direction finding method in one or more embodiments described later in the present application. Its functions are not described in detail here, and reference can be made to the detailed description of the following wireless direction finding method embodiment.

[0288] Example 2-2: Direction Finding Node

[0289] In order to effectively reduce the collision domain range of wireless signals during the direction finding process, improve the measurement capacity of the target node and improve the accuracy and reliability of wireless direction finding for the target node, thereby effectively improving the accuracy and reliability of positioning the target node, the embodiment of the present application also provides a direction finding node.

[0290] As described above, the direction finding node may be a base station or an intelligent device capable of implementing base station functions. This embodiment provides a detailed description of the wireless direction finding node as a base station for wireless direction finding.

[0291] The base station for wireless direction finding is provided with a wireless direction finding controller, a radio frequency switching module and a plurality of directional antennas; the base station is communicatively connected to the corresponding solution node; the wireless direction finding controller is connected to the radio frequency switching module, and the wireless direction finding controller is used to implement the wireless direction finding method described later; the radio frequency switching module is respectively connected to each of the directional antenna arrays for switching each of the directional antenna arrays according to the instructions of the wireless ranging controller, wherein the corresponding directions of each of the directional antenna arrays are different.

[0292] See also Figure 20 The base station 02 for wireless direction finding is equipped with the wireless direction finding controller 20 described in the aforementioned embodiment 2-1, a radio frequency switching module 30 of the same type as in the aforementioned embodiments 1-3, and multiple directional antenna arrays, represented by antenna array 1 to antenna array n. The base station 02 for wireless direction finding is communicatively connected to the solution node. The wireless direction finding controller 20 is connected to the radio frequency switching module 30. The radio frequency switching module is respectively connected to each of the directional antenna arrays to switch the directional antenna arrays in response to instructions from the wireless direction finding controller, wherein each of the directional antenna arrays has a different corresponding orientation.

[0293] Specifically, to complete the wireless direction finding process, the base station used for wireless direction finding needs to use multiple antennas (at least two) to work simultaneously each time it communicates with the tag. For a system that includes base station direction finding, each direction no longer contains a single antenna, but an antenna array. Therefore, multiple antennas must be switched simultaneously each time the antenna direction is switched. Figure 21 Taking the direction finding system with two antennas in each direction as an example, two identical directional antennas are arranged in parallel in the antenna array in each direction. The direction of the tag relative to the directional antenna is obtained through communication between these two directional antennas and the tag.

[0294] After the antennas in each direction are arranged as multiple directional antennas, the overall structure of the base station used for wireless direction finding is as follows: Figure 20 In the direction finding scenario, the RF switch in the RF switching module 30 also needs to use a multi-pole multi-throw switch as shown in the RF switch in Embodiment 1-2 to achieve switching of the antenna cluster.

[0295] Based on the above, a wireless positioning system can include multiple base stations 02 for wireless direction finding and tags. The base stations 02 for wireless direction finding are distributed and connected to the wireless positioning system host via Ethernet data channels. The base stations 02 for wireless direction finding receive ranging communication information from the tags and, after determining the relative distance between the base stations 02 for wireless direction finding and the tags, upload this information to the wireless positioning system host. The host calculates the tag's position based on the angle information of each tag relative to each base station 02 for wireless direction finding. After calculating the tag's position, the host can transmit this information to each base station 02 for wireless direction finding.

[0296] Example 2-3: Wireless Direction Finding Method

[0297] In order to effectively reduce the collision domain of wireless signals during direction finding, improve the measurement capacity of the target node and improve the accuracy and reliability of wireless direction finding for the target node, thereby effectively improving the accuracy and reliability of positioning the target node, the embodiment of the present application provides a wireless direction finding method, which is implemented by applying the aforementioned direction finding node or wireless direction finding controller, see Figure 22 , the wireless direction finding method specifically includes the following contents:

[0298] Step 210: In the current direction finding cycle, one of the multiple directional antenna arrays set in the direction finding node itself is selected as the target antenna array corresponding to the target node, wherein the corresponding directions of the respective directional antenna arrays are different, and each of the directional antennas includes multiple directional antennas.

[0299] Step 220: Apply a preset wireless communication technology to control only the multiple directional antennas in the target antenna array to perform data communication with the target node respectively.

[0300] Step 230: Obtain angle information of the direction finding node itself relative to the target node based on the result of the data communication.

[0301] Specifically, in the wireless positioning method of the present application, the angle information of the target node can be calculated using the position information. For example, at least three base stations (each with n directional antennas) can be used to calculate the target's position using TOF (at least three distances) or TDOA (at least three distance differences), thereby obtaining the angle information of the target node. In addition, the position information of the target node after multiple measurements and calculations becomes increasingly convergent and highly accurate.

[0302] In a specific example, since UWB is close to the speed of light and the positioning signal frequency is high, the location information of the target node can be stabilized after 2-3 seconds.

[0303] In addition, the angle information of the target node can be obtained by PDOA (phase difference) calculation. For example, at least one base station can be used (multiple base stations are also possible, and 1 is feasible), each base station has n antenna arrays, and an antenna array specifically includes at least 2 directional antennas.

[0304] An optimal antenna array should have two directional antennas, which can achieve accurate measurements while reducing setup costs. If an antenna array only has one directional antenna, a rough estimate of the target's direction can be made by comparing the signal strengths of multiple directional antennas communicating with the target. However, this method is susceptible to interference, resulting in inaccurate directional data and limited practicality.

[0305] First, in order to further improve the applicability of the wireless direction finding process on the basis of reducing the collision domain range of the wireless signal in the direction finding process and improving the measurement capacity of the target node, the angle information obtained locally is used to realize the switching of the antenna array in the non-initial measurement situation. In one embodiment of the wireless direction finding method of the present application, see Figure 23 The first specific implementation process of step 210 includes the following contents:

[0306] Step 211: Determine whether the direction finding node itself has pre-stored angle information of the target node in the previous direction finding cycle. If so, execute step 212.

[0307] Step 212: According to the value corresponding to the angle information, one of the directional antenna arrays provided in the direction finding node itself is selected as the current target antenna array.

[0308] Secondly, in order to further improve the applicability of the wireless direction finding process on the basis of reducing the collision domain range of the wireless signal in the direction finding process and improving the measurement capacity of the target node, the position information received from the solution node is used to realize the switching of the antenna array in the non-initial measurement situation. In one embodiment of the wireless direction finding method of the present application, see Figure 24 The second specific implementation process of step 210 includes the following contents:

[0309] Step 213: Determine whether the direction finding node has pre-stored location information of the target node in the previous direction finding cycle. If yes, execute step 214.

[0310] Step 214: Based on the position information of the target node in the previous direction finding cycle, one of the directional antenna arrays provided in the direction finding node itself is selected as the current target antenna array.

[0311] In step 212, if the target node's position information in the previous direction-finding period is (x11, y11) known by the direction-finding node, the measurement range of the base station corresponding to the direction-finding node for wireless direction-finding is determined as the current target antenna array corresponding to one antenna array corresponding to (x11, y11), and the data communication between the target antenna array and the target node is controlled.

[0312] It can be understood that after step 230, the direction-finding node sends the angle information of the target node in the current direction-finding period to the corresponding calculation node, which can determine the current position information of the target node according to the angle information of the target node sent by at least two direction-finding nodes respectively, and can send the position information of the target node in the current direction-finding period to the corresponding at least two direction-finding nodes respectively, and / or send the direction-finding control instruction containing the position information of the target node in the current direction-finding period to the corresponding at least two direction-finding nodes to make the at least two direction-finding nodes acquire the angle information of the target node again based on the direction-finding control instruction. Based on this, the position information of the target node in the previous direction-finding period can be the position information of the target node sent by the calculation node and pre-stored in the direction-finding node locally, so that the direction-finding node can quickly acquire the position information of the target node in the previous direction-finding period as a judgment basis in the subsequent wireless direction-finding process, thereby improving the efficiency and accuracy of antenna array switching.

[0313] Thirdly, in order to further improve the applicability of the wireless direction-finding process on the basis of reducing the conflict domain range of the wireless signal in the direction-finding process and improving the measurement capacity of the target node, the antenna array switching can still be realized in the case that the initial measurement or the direction-finding node does not have the position information or angle information of the target node in the previous direction-finding period, so as to further improve the reliability of the wireless direction-finding process. In an embodiment of the wireless direction-finding method of the present application, referring to Figure 25 , the third specific implementation process of step 210 includes the following contents:

[0314] If it is known by steps 211 and 213 respectively that the direction-finding node itself does not pre-store the angle information or position information of the target node in the previous direction-finding period, step 215 is executed.

[0315] Step 215: randomly selecting one of the multiple directional antenna arrays arranged in the direction-finding node itself as the target antenna array corresponding to the target node.

[0316] Fourthly, in order to further improve the applicability of the wireless direction finding process on the basis of reducing the collision domain range of the wireless signal in the direction finding process and improving the measurement capacity of the target node, so as to still be able to implement the switching of the antenna array in the case of initial measurement or when the direction finding node does not have the position information or angle information of the previous direction finding cycle locally, while ensuring the accuracy of the switching, in one embodiment of the wireless direction finding method of the present application, see Figure 26 The fourth specific implementation process of step 210 includes the following contents:

[0317] If it is determined through steps 211 and 213 that the direction finding node itself does not pre-store the angle information or position information of the target node in the previous direction finding cycle, step 216 is executed.

[0318] Step 216: Send a request for obtaining the location information of the target node in the previous direction finding cycle to the corresponding solution node.

[0319] In the above content, after the direction finding node sends an acquisition request for the position information of the target node in the previous direction finding cycle to the corresponding solution node, the solution node sends the position information or angle information of the target node in the previous direction finding cycle to the direction finding node according to the acquisition request.

[0320] Step 217: Receive the location information of the target node in the previous direction finding cycle sent back by the solving node according to the acquisition request, and then execute step 214.

[0321] It can be understood that the position information of the target node in the previous ranging cycle stored by the solving node this time can be obtained by pre-applying the distance information of the target node sent by any ranging node in the wireless positioning system, or it can be obtained by pre-applying the angle information of the target node sent by any direction-finding node in the wireless positioning system. Therefore, if the current direction-finding node attempts to perform direction-finding on the target node for the first time, it can also obtain the position information of the target node determined based on the distance information or angle information of the target node sent by other ranging nodes from the solving node.

[0322] Among them, in the first, second and fourth specific implementation processes of step 210, see Figure 27 The specific process of selecting one of the directional antenna arrays provided at the direction finding node itself as the current target antenna array according to the value corresponding to the angle information includes the following contents:

[0323] Step 2101: Determine the effective range of the target antenna array based on the angle between two adjacent antenna arrays;

[0324] Step 2102: judging the corresponding relationship between the value corresponding to the angle information of the target node in the previous direction finding period and the effective range of the target antenna array; and according to the corresponding relationship between the two, one of the following steps 2103 to 2105 is selected for execution.

[0325] It can be understood that the effective range of the target antenna array is set according to the characteristics of the directional antenna, and in an example of the present application, in a plane, it can be considered as a relationship of equally dividing 360°, and the antenna array is evenly divided. When there are 4 antenna arrays, the effective range of each antenna array is 90°.

[0326] Step 2103: if the value corresponding to the angle information of the target node in the previous direction finding period falls within the effective range of the target antenna array, the target antenna array selected in the previous direction finding period is still used as the target antenna array in the current direction finding period.

[0327] Step 2104: if the value corresponding to the angle information of the target node in the previous direction finding period is less than the lower limit value of the effective range of the target antenna array, the antenna array adjacent to the selected target antenna array in the previous direction finding period is selected as the target antenna array in the current direction finding period along the counterclockwise direction of the selected target antenna array in the previous direction finding period.

[0328] Step 2105: if the value corresponding to the angle information of the target node in the previous direction finding period is greater than the upper limit value of the effective range of the target antenna array, the antenna array adjacent to the selected target antenna array in the previous direction finding period is selected as the target antenna array in the current direction finding period along the clockwise direction of the selected target antenna array in the previous direction finding period.

[0329] Therefore, based on the above, the reliability of antenna array switching can be enhanced to further ensure the implementation of the antenna conflict domain reduction process, so as to improve the measurement capacity of the target node and improve the direction finding accuracy. Specific examples are as follows:

[0330] In the communication between the tag in the wireless positioning system and the base station for wireless direction finding, by comparing the phase difference of the signals received by each antenna array, the base station for wireless direction finding can obtain the relative angle relationship between the tag and the base station for wireless direction finding. The phase angle φ is as shown in Figure 28

[0331] Taking an antenna array of two antennas as an example, the angle between the tag wave direction and the direction opposite to the antenna array is φ, the distance between the two parallel antennas is l, the carrier wavelength used for communication is λ, and the phase difference of the signals received by the two antennas is η. The relationship can be obtained as follows:

[0332] ​

[0333] That is:

[0334]

[0335] Compared with a wireless positioning system using ranging results only, in a wireless positioning system using direction finding results only, or in a wireless positioning system using both ranging results and direction finding results, a base station can select a corresponding antenna array according to angle information.

[0336] For example, referring to Figure 29 If the last time the kth antenna array is switched, the angle of the tag relative to the base station is obtained by measuring the phase difference of the signal, and the direction close to the k-1th antenna array is positive, and the direction close to the k+1th antenna array is negative.

[0337] The last time the antenna array k is used, and after one period of communication, the communication results can be divided into four cases for processing:

[0338] 1. If -α / 2<φ<α / 2 is measured, it means that the tag is still within the effective range of the antenna array k, the antenna cluster interface does not change, and the antenna array k is still used.

[0339] 2. If φ>α / 2 is measured, it means that the tag is within the effective range of the antenna array k-1, and the antenna cluster interface is switched to the antenna array k-1.

[0340] 3. If φ<-α / 2 is measured, it means that the tag is within the effective range of the antenna array k+1, and the antenna cluster interface is switched to the antenna array k+1.

[0341] 4. If there is no valid phase difference information, the value of φ cannot be obtained, and the antenna array is randomly switched.

[0342] Therefore, when the above-mentioned direction finding positioning method is used, the conflict domain of the node sending signal is reduced without changing the maximum direction finding distance, the probability of signal collision is low, the success rate of positioning communication is increased, and the tag capacity is increased to a certain extent.

[0343] In addition, as described above, in one embodiment of the wireless ranging method of the present application, referring to Figure 30 After step 230, the following content can also be included:

[0344] Step 240: sending the angle information of the direction finding node itself relative to the target node to the solving node, so that the solving node locates the target node according to the angle information and the angle information of each relative to the target node sent by at least one other direction finding node, and obtains the position information of the target node in the current direction finding period.

[0345] Therefore, applying the wireless direction finding results to the positioning process of the target node can effectively improve the positioning capacity, as well as the accuracy and reliability of positioning the target node using the wireless measurement results; the nodes communicate with each other using an antenna array containing at least two directional antennas, which will have a relatively high gain in a specific direction, that is, smaller transmission power can be used to achieve communication and ranging, and the smaller transmission power will further reduce the collision domain range of the wireless signal.

[0346] In order to further improve the convenience and reliability of the direction finding node in selecting the antenna in the next direction finding cycle, and to further improve the accuracy and reliability of the wireless direction finding for the target node, in one embodiment of the wireless direction finding method of the present application, see Figure 31 The wireless direction finding method further specifically includes the following contents:

[0347] Step 250: If the location information of the target node in the current direction finding cycle is received from the solving node, the location information is stored locally.

[0348] It is understandable that although Figure 31 Step 250 in the embodiment is executed after step 240. However, in actual applications, step 250 can be executed before step 210 or at any position between steps 210 and 240. That is, as long as the direction finding node actually receives the position information of the target node in the current direction finding cycle sent by the solution node, the position information is stored locally.

[0349] In order to ensure that the direction finding is successful even when the target node has a position estimation deviation, so as to further improve the accuracy and reliability of the wireless direction finding for the target node, in one embodiment of the wireless direction finding method of the present application, see Figure 32 , the wireless direction finding method further includes the following contents before step 210:

[0350] Step 203: pre-setting the direction margin angles between adjacent directional antenna arrays.

[0351] It can be understood that the direction margin angle is determined based on a pre-acquired maximum deviation estimate between the estimated position and the actual position of the target node, and the maximum positioning distance of the direction-finding node itself.

[0352] In order to further ensure that the tag can always fall within the effective direction finding range, so as to further improve the accuracy and reliability of wireless direction finding for the target node, in one embodiment of the wireless direction finding method of the present application, see Figure 33 , the wireless direction finding method further includes the following contents before step 203:

[0353] Step 201: Determine the target number of the directional antenna array based on the size of the directional antenna array and the size of the direction finding node itself.

[0354] Step 202: Setting a directional antenna array that meets the target number on the direction finding node itself.

[0355] It is understandable that although Figure 33 In the embodiment, step 201 and step 202 are performed before step 203. However, in actual applications, step 201 and step 202 can be directly performed separately before step 210. That is, step 203, as well as step 201 and step 202 can be performed separately. If both are performed, the accuracy and reliability of wireless direction finding for the target node can be more preferably improved.

[0356] Example 2-4: Electronic device for wireless direction finding

[0357] From a hardware perspective, the hardware implementation of the wireless direction finding controller in Example 2-1 may be specifically an electronic device for wireless direction finding, which can effectively reduce the collision domain of wireless signals during the direction finding process and improve the accuracy and reliability of wireless direction finding for the target node, thereby effectively improving the accuracy and reliability of positioning the target node. The electronic device for wireless direction finding specifically includes the following:

[0358] A processor, a memory, a communications interface, and a bus; wherein the processor, the memory, and the communications interface communicate with each other via the bus; the communications interface is used to implement information transmission between the wireless direction finding controller and related devices such as the RF switching module, the solution node, and the user terminal; the electronic device can be a desktop computer, a tablet computer, a mobile terminal, etc., but this embodiment is not limited thereto. In this embodiment, the electronic device can be implemented with reference to the embodiments of the wireless direction finding method in Example 2-3, and the wireless direction finding controller in Example 2-1, the contents of which are incorporated herein, and repeated parts are not repeated.

[0359] In this embodiment, the wireless direction finding function can be integrated into Figure 18 The central processing unit 9100 shown in FIG. 9100 may be configured to perform the following control:

[0360] Step 210: In the current direction finding cycle, one of the multiple directional antenna arrays set in the direction finding node itself is selected as the target antenna array corresponding to the target node, wherein the corresponding directions of the respective directional antenna arrays are different, and each of the directional antennas includes multiple directional antennas.

[0361] Step 220: Apply a preset wireless communication technology to control only the multiple directional antennas in the target antenna array to perform data communication with the target node respectively.

[0362] Step 230: Obtain angle information of the direction finding node itself relative to the target node based on the result of the data communication.

[0363] Example 2-5: Computer-readable storage medium for wireless ranging

[0364] The embodiments of the present application also provide a computer-readable storage medium capable of implementing all or part of the steps of the wireless direction finding method in the above-mentioned embodiments 2-3. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, all the steps of the wireless direction finding method in the above-mentioned embodiments 2-3 are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0365] Step 210: In the current direction finding cycle, one of the multiple directional antenna arrays set in the direction finding node itself is selected as the target antenna array corresponding to the target node, wherein the corresponding directions of the respective directional antenna arrays are different, and each of the directional antennas includes multiple directional antennas.

[0366] Step 220: Apply a preset wireless communication technology to control only the multiple directional antennas in the target antenna array to perform data communication with the target node respectively.

[0367] Step 230: Obtain angle information of the direction finding node itself relative to the target node based on the result of the data communication.

[0368] From the above description, it can be seen that the computer-readable storage medium for wireless ranging provided in the embodiment of the present application can effectively reduce the collision domain range of wireless signals during the direction finding process by dynamically switching the directional antenna array to adjust the collision domain range of the wireless signal, avoid unnecessary collisions, and improve the accuracy and reliability of wireless direction finding for the target node, thereby effectively improving the positioning capacity and the accuracy and reliability of positioning the target node using the wireless direction finding results; the nodes use directional antenna arrays to communicate with each other, and there will be a relatively high gain in a specific direction, that is, a smaller transmission power can be used to achieve communication and direction finding, and the smaller transmission power will further reduce the collision domain range of the wireless signal.

[0369] (3) Wireless positioning based on ranging results

[0370] Example 3-1: Calculation node based on ranging results

[0371] In order to effectively reduce the collision domain range of wireless signals during the positioning process and effectively improve the accuracy and reliability of positioning the target node, an embodiment of the present application provides a solution node based on ranging results. The solution node based on ranging results can implement all or part of the wireless positioning method based on ranging results in one or more embodiments described later in this application. The function of the solution node based on ranging results can be directly implemented by improving the internal execution logic of the original host in the wireless positioning system, so as to improve the accuracy and reliability of wireless positioning of the target node while further reducing the implementation cost of wireless positioning using ranging results.

[0372] From the perspective of software implementation, see Figure 34 In this embodiment, the solution node based on the ranging result may specifically include multiple functional models, specifically including the following contents:

[0373] The distance information receiving module 31 is configured to receive distance information of at least three ranging nodes relative to the target node obtained by respectively applying the wireless ranging methods in Embodiments 1-4.

[0374] The distance positioning module 32 is configured to determine the current location information of the target node by using the distance information of each of the distance measuring nodes relative to the target node.

[0375] The first positioning data sending module 33 is used to send the location information of the target node in the current ranging period to the corresponding at least three ranging nodes respectively, and / or send the ranging control instruction containing the location information of the target node in the current ranging period to the corresponding at least three ranging nodes so that the at least three ranging nodes obtain the distance information of the target node again based on the ranging control instruction.

[0376] It can be understood that if the process of the ranging node measuring the distance of the target node is real-time or periodic, the distance information between itself and the target node can be obtained at regular intervals, and the distance information can be sent to the solution node based on the ranging result. If the process of the ranging node measuring the distance of the target node is performed according to a ranging control instruction, the ranging node can obtain the distance information of the target node again according to the ranging control instruction containing the position information of the target node in the current ranging cycle.

[0377] The embodiment of the solution node based on the ranging results provided in the embodiment of the present application can be specifically used to execute the processing flow of the embodiment of the method for wireless positioning using the ranging results in one or more embodiments described later in the present application. Its function will not be described in detail here, and you can refer to the detailed description of the embodiment of the method for wireless positioning using the ranging results described below.

[0378] Example 3-2: Wireless positioning method using ranging results

[0379] In order to effectively reduce the collision domain of wireless signals during the positioning process and improve the accuracy and reliability of wireless positioning of the target node, thereby effectively improving the accuracy and reliability of positioning the target node, the embodiment of the present application provides a method for wireless positioning using ranging results. The method for wireless positioning using ranging results is implemented by the interaction process between the solution node based on the ranging result in embodiment 3-1 and the aforementioned ranging node or wireless ranging controller, see Figure 35 The method for performing wireless positioning using the ranging results specifically includes the following:

[0380] Step 310: Receive distance information of at least three ranging nodes relative to the target node obtained by respectively applying the wireless ranging method.

[0381] Step 320: Using the distance information of each of the ranging nodes relative to the target node, determine the current location information of the target node.

[0382] Step 330: Send the location information of the target node in the current ranging period to the corresponding at least three ranging nodes respectively, and / or send a control instruction containing the location information of the target node in the current ranging period to the corresponding at least three ranging nodes so that the at least three ranging nodes obtain the distance information of the target node again based on the control instruction.

[0383] Among them, in order to further improve the applicability of the wireless positioning process on the basis of reducing the collision domain range of the wireless signal during the positioning process, so as to achieve reliable antenna switching when the ranging node performs initial measurement or the ranging node does not have the location information of the previous ranging cycle locally, so as to further improve the reliability of the wireless positioning process, in one embodiment of the wireless positioning method using the ranging results of the present application, see Figure 36 The specific implementation process after step 330 of the wireless positioning method using the ranging result includes the following contents:

[0384] Step 340: If an acquisition request for the location information of the target node in the previous ranging cycle is received from the ranging node, the pre-stored location information of the target node in the previous ranging cycle is sent to the ranging node based on the acquisition request.

[0385] It is understandable that although Figure 36 Step 340 in the embodiment is executed after step 330. However, in actual applications, step 340 can be executed before step 310 or at any position between steps 310 and 330. That is, as long as the solution node based on the ranging result actually receives a request for obtaining the position information of the target node in the previous ranging cycle sent by the ranging node, it locally searches for the pre-stored position information of the target node in the previous ranging cycle and then sends the position information to the ranging node.

[0386] Example 3-3: Electronic device for wireless positioning based on ranging results

[0387] From a hardware perspective, the hardware implementation of the solution node based on the ranging results in Example 3-1 can be specifically an electronic device that performs wireless positioning based on the ranging results, which can effectively reduce the collision domain range of wireless signals in the process of using the ranging results for positioning, and improve the accuracy and reliability of wireless ranging for the target node, thereby effectively improving the accuracy and reliability of positioning the target node. The electronic device that performs wireless positioning based on the ranging results specifically includes the following:

[0388] A processor, a memory, a communications interface, and a bus; wherein the processor, the memory, and the communications interface communicate with each other via the bus; the communications interface is used to implement information transmission between the solution node based on the ranging result and the ranging node and related devices such as the user terminal; the electronic device can be a desktop computer, a tablet computer, a mobile terminal, etc., but this embodiment is not limited thereto. In this embodiment, the electronic device can refer to the embodiment of the wireless positioning method using the ranging results in Example 3-2, and the solution node based on the ranging results in Example 3-1 for implementation, and their contents are incorporated herein, and repeated parts are not repeated.

[0389] In this embodiment, the function of applying the ranging result to perform wireless positioning can be integrated into the Figure 18 The central processing unit 9100 shown in FIG. 9100 may be configured to perform the following control:

[0390] Step 310: Receive distance information of at least three ranging nodes relative to the target node obtained by respectively applying the wireless ranging method.

[0391] Step 320: Using the distance information of each of the ranging nodes relative to the target node, determine the current location information of the target node.

[0392] Step 330: Send the location information of the target node in the current ranging period to the corresponding at least three ranging nodes respectively, and / or send a control instruction containing the location information of the target node in the current ranging period to the corresponding at least three ranging nodes so that the at least three ranging nodes obtain the distance information of the target node again based on the control instruction.

[0393] Example 3-4: Computer-readable storage medium for wireless positioning based on ranging results

[0394] The embodiments of the present application also provide a computer-readable storage medium capable of implementing all or part of the steps of the method for wireless positioning using ranging results in the above-mentioned embodiment 3-2. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, all the steps of the method for wireless positioning using ranging results in the above-mentioned embodiment 3-2 are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0395] Step 310: Receive distance information of at least three ranging nodes relative to the target node obtained by respectively applying the wireless ranging method.

[0396] Step 320: Using the distance information of each of the ranging nodes relative to the target node, determine the current location information of the target node.

[0397] Step 330: Send the location information of the target node in the current ranging period to the corresponding at least three ranging nodes respectively, and / or send a control instruction containing the location information of the target node in the current ranging period to the corresponding at least three ranging nodes so that the at least three ranging nodes obtain the distance information of the target node again based on the control instruction.

[0398] From the above description, it can be seen that the computer-readable storage medium for wireless positioning based on ranging results provided in the embodiment of the present application can effectively reduce the collision domain range of wireless signals during the positioning process by dynamically switching directional antennas to adjust the collision domain range of wireless signals, avoid unnecessary collisions, and improve the accuracy and reliability of wireless ranging for target nodes, thereby effectively improving the positioning capacity and the accuracy and reliability of positioning the target node using wireless ranging results; nodes use directional antennas to communicate with each other, and there will be relatively high gain in specific directions, that is, smaller transmission power can be used to achieve communication and ranging, and smaller transmission power will further reduce the collision domain range of wireless signals.

[0399] (4) Wireless positioning based on direction finding results

[0400] Example 4-1: Calculation node based on direction finding results

[0401] In order to effectively reduce the collision domain range of wireless signals during the positioning process and effectively improve the accuracy and reliability of positioning the target node, an embodiment of the present application provides a solution node based on direction finding results. The solution node based on direction finding results can implement all or part of the contents of the wireless positioning method based on direction finding results in one or more embodiments described later in this application. The function of the solution node based on direction finding results can be directly implemented by improving the internal execution logic of the original host in the wireless positioning system, so as to improve the accuracy and reliability of wireless positioning of the target node while further reducing the implementation cost of wireless positioning using direction finding results.

[0402] From the perspective of software implementation, see Figure 37 In this embodiment, the solution node based on the direction finding result may specifically include multiple functional models, specifically including the following contents:

[0403] An angle information receiving module 41 is used to receive angle information of at least one direction finding node relative to the target node obtained by applying the wireless direction finding method;

[0404] The direction positioning module 42 is configured to determine the current position information of the target node by using the angle information of the direction finding node relative to the target node.

[0405] In a specific embodiment, in order to further improve the applicability of the wireless direction finding process on the basis of reducing the collision domain range of the wireless signal in the direction finding process, the position information received from the solution node is used to implement the switching of the antenna array in the non-initial measurement situation, see Figure 38 In the embodiment of the present application, the solution node based on the direction finding result further specifically includes the following contents:

[0406] The second positioning data sending module 43 is used to send the position information of the target node in the current direction finding cycle to the corresponding at least two direction finding nodes respectively, and / or send the direction finding control instruction containing the position information of the target node in the current direction finding cycle to the corresponding at least two direction finding nodes so that the at least two direction finding nodes can obtain the angle information of the target node again based on the direction finding control instruction.

[0407] It can be understood that if the process of the direction-finding node performing direction-finding on the target node is real-time or periodic, the angle information between itself and the target node can be obtained at regular intervals, and the angle information can be sent to the solution node based on the direction-finding result. If the process of the direction-finding node performing direction-finding on the target node is executed according to a direction-finding control instruction, the direction-finding node can obtain the angle information of the target node again according to the direction-finding control instruction containing the position information of the target node in the current direction-finding cycle.

[0408] The embodiment of the solution node based on the direction finding results provided in the embodiment of the present application can be specifically used to execute the processing flow of the embodiment of the method for wireless positioning using the direction finding results in one or more embodiments described later in the present application. Its function will not be repeated here, and you can refer to the detailed description of the embodiment of the method for wireless positioning using the direction finding results below.

[0409] Example 4-2: Wireless positioning method using direction finding results

[0410] In order to effectively reduce the collision domain of wireless signals during the positioning process and improve the accuracy and reliability of wireless positioning of the target node, thereby effectively improving the accuracy and reliability of positioning the target node, the embodiment of the present application provides a method for wireless positioning using direction finding results. The method for wireless positioning using direction finding results is implemented by the interaction process between the solution node based on the direction finding results in embodiment 4-1 and the aforementioned direction finding node or wireless direction finding controller, see Figure 39 The method for performing wireless positioning using direction finding results specifically includes the following contents:

[0411] Step 410: Receive angle information of at least one direction-finding node relative to the target node obtained by applying the wireless direction-finding method.

[0412] Step 420: Using the angle information of the direction-finding node relative to the target node, determine the current position information of the target node.

[0413] In a specific embodiment, in order to further improve the applicability of the wireless direction finding process on the basis of reducing the collision domain range of the wireless signal during the positioning process, the position information received from the solving node is used to implement the switching of the antenna array in the non-initial measurement situation. Figure 40 The wireless positioning method based on the direction finding results in the embodiment of the present application further specifically includes the following contents:

[0414] Step 430: Send the direction finding control instruction including the position information of the target node in the current direction finding cycle to at least one corresponding direction finding node so that the at least one direction finding node obtains the angle information of the target node again based on the direction finding control instruction.

[0415] Among them, in order to further improve the applicability of the wireless positioning process on the basis of reducing the collision domain range of the wireless signal during the positioning process, so as to achieve reliable switching of the antenna array when the direction finding node performs initial measurement or the direction finding node does not have the position information or angle information of the previous ranging cycle locally, so as to further improve the reliability of the wireless positioning process, in one embodiment of the wireless positioning method using the direction finding results of the present application, see Figure 41 The specific implementation process after step 430 of the wireless positioning method using the direction finding results includes the following:

[0416] Step 440: If a request for obtaining the angle information of the target node in the previous direction finding cycle is received from the direction finding node, the pre-stored angle information of the target node in the previous direction finding cycle is sent to the direction finding node based on the acquisition request.

[0417] It is understandable that although Figure 41 Step 440 in the above is executed after step 430. However, in actual applications, step 440 can be executed before step 410 or at any position between steps 410 and 430. That is, as long as the solution node based on the direction finding result actually receives any acquisition request for the position information of the target node in the previous direction finding cycle sent by the direction finding node, it locally searches for the pre-stored position information of the target node in the previous direction finding cycle and then sends the position information to the direction finding node.

[0418] Example 4-3: Electronic device for wireless positioning based on direction finding results

[0419] From the hardware level, the hardware implementation of the solving node based on the direction finding result in embodiment 4-1 can be an electronic device for wireless positioning based on the direction finding result, which can effectively reduce the conflict domain range of the wireless signal in the process of positioning by using the direction finding result, and improve the accuracy and reliability of the wireless direction finding of the target node, thereby effectively improving the accuracy and reliability of the positioning of the target node. The electronic device for wireless positioning based on the direction finding result specifically includes the following contents:

[0420] A processor, a memory, a communications interface, and a bus; wherein the processor, the memory, the communications interface, and the bus complete the communication among each other through the bus; the communications interface is used to realize the information transmission between the solving node based on the direction finding result and the direction finding node, the user terminal and other related devices; the electronic device can be a desktop computer, a tablet computer, a mobile terminal, and the like, and the embodiment is not limited thereto. In the embodiment, the electronic device can refer to the embodiments of the wireless positioning method based on the direction finding result in embodiment 4-2, and the solving node based on the direction finding result in embodiment 4-1 is implemented, the contents of which are incorporated herein, and the repeated parts will not be described herein.

[0421] In the embodiment, the function of the wireless positioning based on the direction finding result can be integrated into the central processor 9100 as shown in Figure 18 The central processor 9100 can be configured to control as follows:

[0422] Step 410: receiving the angle information of the target node relative to the target node obtained by at least one direction finding node applying the wireless direction finding method.

[0423] Step 420: applying the angle information of the target node relative to the target node to determine the current position information of the target node.

[0424] Embodiment 4-4: computer readable storage medium for wireless positioning based on direction finding result

[0425] The embodiments of the present application also provide a computer readable storage medium capable of realizing all or part of the steps of the wireless positioning method based on the direction finding result in embodiment 4-2. The computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize all the steps of the wireless positioning method based on the direction finding result in embodiment 4-2. For example, the processor executes the computer program to realize the following steps:

[0426] Step 410: Receive angle information of at least one direction-finding node relative to the target node obtained by applying the wireless direction-finding method.

[0427] Step 420: Using the angle information of the direction-finding node relative to the target node, determine the current position information of the target node.

[0428] From the above description, it can be seen that the computer-readable storage medium for wireless positioning based on direction finding results provided in the embodiment of the present application can effectively reduce the collision domain range of wireless signals during the positioning process by dynamically switching directional antenna arrays to adjust the collision domain range of wireless signals, avoid unnecessary collisions, and improve the accuracy and reliability of wireless direction finding for target nodes, thereby effectively improving the positioning capacity and the accuracy and reliability of positioning the target node using wireless direction finding results; nodes use directional antennas to communicate with each other, and there will be relatively high gain in specific directions, that is, smaller transmission power can be used to achieve communication and direction finding, and smaller transmission power will further reduce the collision domain range of wireless signals.

[0429] (5) Wireless positioning based on direction and distance measurement results

[0430] Example 5-1: Calculation Node Based on Ranging and Direction Finding Results

[0431] In order to effectively reduce the collision domain range of wireless signals during the positioning process and effectively improve the accuracy and reliability of positioning the target node, an embodiment of the present application provides a solution node based on ranging results and direction finding results. The solution node based on ranging results and direction finding results can implement all or part of the contents of the wireless positioning method based on ranging results and direction finding results in one or more embodiments described later in this application. The function of the solution node based on ranging results and direction finding results can be directly implemented by improving the internal execution logic of the original host in the wireless positioning system, so as to improve the accuracy and reliability of wireless positioning of the target node while further reducing the implementation cost of wireless positioning using ranging results and direction finding results.

[0432] From the perspective of software implementation, see Figure 42 In this embodiment, the solution node based on the ranging result and the direction finding result may specifically include multiple functional models, specifically including the following contents:

[0433] The integrated data receiving module 51 is used to receive the distance information of each ranging node relative to the target node obtained by applying the wireless ranging method, and the angle information of itself relative to the target node obtained by applying the wireless direction finding method by at least one other direction finding node.

[0434] The integrated positioning module 52 is configured to determine the current position information of the target node by applying the distance information of at least one ranging node relative to the target node and the angle information of at least one other direction-finding node relative to the target node.

[0435] The location information sending module 53 is configured to send the current location information of the target node to at least one corresponding ranging node.

[0436] In a specific embodiment, in order to further improve the applicability of the wireless direction finding and ranging process on the basis of reducing the collision domain range of the wireless signal during the direction finding and ranging process, the position information received from the solution node is used to implement the switching of the antenna or antenna array in the non-initial measurement situation, see Figure 43 In the embodiment of the present application, the solution node based on the ranging result and the direction finding result further specifically includes the following contents:

[0437] The ranging control instruction sending module 54 is configured to send a ranging control instruction including the position information of the target node in the current ranging cycle to at least one corresponding ranging node so that the at least one ranging node obtains the distance information of the target node again based on the ranging control instruction.

[0438] The direction finding control instruction sending module 55 is used to send the direction finding control instruction including the position information of the target node in the current direction finding cycle to at least one corresponding direction finding node so that the at least one direction finding node obtains the angle information of the target node again based on the direction finding control instruction.

[0439] Correspondingly, in order to further use the position information received from the solution node to switch the antenna or antenna array in non-initial measurement situations, see Figure 44 In the embodiment of the present application, the solution node based on the ranging result and the direction finding result further specifically includes the following contents:

[0440] The first acquisition request receiving module 56 is configured to, upon receiving an acquisition request for the location information of the target node in the previous ranging cycle sent by the ranging node, send the pre-stored location information of the target node in the previous ranging cycle to the ranging node based on the acquisition request.

[0441] The second acquisition request receiving module 57 is used to send the pre-stored location information of the target node in the previous direction finding cycle to the direction finding node based on the acquisition request if an acquisition request for the location information of the target node in the previous direction finding cycle is received from the direction finding node.

[0442] The embodiment of the solution node based on the ranging results and direction finding results provided in the embodiment of the present application can be specifically used to execute the processing flow of the embodiment of the wireless positioning method using the ranging results and direction finding results in one or more embodiments described later in the present application. Its function will not be repeated here, and you can refer to the detailed description of the embodiment of the wireless positioning method using the ranging results and direction finding results below.

[0443] Example 5-2: Wireless positioning method using ranging and direction finding results

[0444] In order to effectively reduce the collision domain range of wireless signals during the positioning process and improve the accuracy and reliability of wireless positioning of the target node, thereby effectively improving the accuracy and reliability of positioning the target node, the embodiment of the present application provides a method for wireless positioning using ranging results and direction finding results. The method for wireless positioning using ranging results and direction finding results is implemented by the interaction process between the solution node based on ranging results and direction finding results in embodiment 5-1 and the aforementioned ranging node, wireless ranging controller, direction finding node and wireless direction finding controller, see Figure 45 The method for performing wireless positioning using the ranging results and the direction finding results specifically includes the following contents:

[0445] Step 510: Receive distance information relative to the target node obtained by at least one ranging node using the wireless ranging method, and angle information relative to the target node obtained by at least one other direction-finding node using the wireless direction-finding method, wherein the direction-finding period is the same as the ranging period.

[0446] Step 520: Determine the current location information of the target node by applying the distance information of at least one of the ranging nodes relative to the target node and the angle information of at least one other direction-finding node relative to the target node.

[0447] Step 530: Send the current location information of the target node to at least one corresponding ranging node.

[0448] Specifically, the target direction can be determined based on the previous moment's position / direction information. Alternatively, the target can be determined by randomly selecting directional antennas from at least three base stations for TOF or TDOA to obtain relatively rough position data, with iterative convergence within 2-3 seconds. Alternatively, the target can be determined by randomly switching antenna arrays from at least one base station to find one with a small angle. The entire positioning system (at least three in the TOF or TDOA method) then measures the distance / distance difference, calculates the position, and outputs the position to determine whether to switch directions.

[0449] Wherein, the whole positioning system (PDOA at least one base station), direction finding / distance measurement, calculate the position (distance + direction) or calculate the direction, position / direction output - determine whether to switch direction. And, between the measurement - position / direction data output, there are some filtering and algorithm processing, so that the data is more accurate.

[0450] It can be understood that TDOA positioning is a method of positioning by time difference. By measuring the time of signal arrival at the monitoring station, the distance of the signal source can be determined. Using the distance of the signal source to each monitoring station (centered at the monitoring station, the distance is the radius of the circle), the position of the signal can be determined. The PDOA estimation method is used to calculate the propagation distance of two signals.

[0451] In a specific embodiment, in order to further improve the applicability of the wireless direction finding and distance measurement process on the basis of reducing the conflict domain range of the wireless signal in the direction finding and distance measurement process, to apply the position information received from the calculation node to realize the switching of the antenna or antenna array in the non-initial measurement situation, see Figure 46 In the wireless positioning method using the distance measurement result and the direction finding result in the embodiment of the application, the following contents are further included:

[0452] Step 540: sending the distance measurement control instruction containing the position information of the target node in the current distance measurement period to the corresponding at least one distance measurement node to make the at least one distance measurement node acquire the distance information of the target node again based on the distance measurement control instruction.

[0453] Step 550: sending the direction finding control instruction containing the position information of the target node in the current direction finding period to the corresponding at least one direction finding node to make the at least one direction finding node acquire the angle information of the target node again based on the direction finding control instruction.

[0454] It can be understood that, although Figure 46 Step 540 in the embodiment is executed after step 550, in actual application, step 550 can be executed before step 510, at any position between steps 510 and 540, that is, as long as the calculation node based on the distance measurement result and the direction finding result actually receives the acquisition request of the position information of the target node in the previous direction finding or distance measurement period sent by the direction finding node or the distance measurement node, the pre-stored position information of the target node in the previous direction finding or distance measurement period is found locally, and then the position information is sent to the direction finding node or the distance measurement node.

[0455] Correspondingly, in order to further apply the position information received from the calculation node to realize the switching of the antenna or antenna array in the non-initial measurement situation, see Figure 47The wireless positioning method based on the ranging result and the direction finding result in the embodiment of the present application further specifically includes the following contents:

[0456] Step 560: If an acquisition request for the location information of the target node in the previous ranging cycle is received from the ranging node, the pre-stored location information of the target node in the previous ranging cycle is sent to the ranging node based on the acquisition request.

[0457] Step 570: If an acquisition request for the location information of the target node in the previous direction finding cycle is received from the direction finding node, the pre-stored location information of the target node in the previous direction finding cycle is sent to the direction finding node based on the acquisition request.

[0458] It is understandable that although Figure 47 Step 560 in the above is executed after step 570. However, in actual applications, step 570 can be executed before step 510 or at any position between steps 510 and 560. That is, as long as the solution node based on the ranging result and the direction finding result actually receives any acquisition request for the position information of the target node in the previous direction finding or ranging cycle sent by the direction finding node or the ranging node, it locally searches for the pre-stored position information of the target node in the previous direction finding or ranging cycle, and then sends the position information to the direction finding node or the ranging node.

[0459] Example 5-3: Electronic device for wireless positioning based on ranging and direction finding results

[0460] From a hardware perspective, the hardware implementation of the solution node based on the ranging results and direction finding results in Example 5-1 can be specifically an electronic device that performs wireless positioning based on the ranging results and direction finding results, which can effectively reduce the collision domain range of the wireless signal in the process of positioning using the ranging results and direction finding results, and improve the accuracy and reliability of wireless direction finding and ranging for the target node, thereby effectively improving the accuracy and reliability of positioning the target node. The electronic device that performs wireless positioning based on the ranging results and direction finding results specifically includes the following contents:

[0461] A processor, a memory, a communications interface, and a bus; wherein the processor, the memory, and the communications interface communicate with each other via the bus; the communications interface is used to implement information transmission between a solution node based on ranging results and direction finding results and related devices such as ranging nodes, direction finding nodes, and user terminals; the electronic device can be a desktop computer, a tablet computer, a mobile terminal, etc., but this embodiment is not limited thereto. In this embodiment, the electronic device can refer to the embodiment of the wireless positioning method using ranging results and direction finding results in Example 5-2, and the solution node based on ranging results and direction finding results in Example 5-1 for implementation, and their contents are incorporated herein, and repeated parts are not repeated.

[0462] In this embodiment, the function of using the distance measurement result and the direction finding result to perform wireless positioning can be integrated into the Figure 18 The central processing unit 9100 shown in FIG. 9100 may be configured to perform the following control:

[0463] Step 510: Receive distance information relative to the target node obtained by at least one ranging node using the wireless ranging method, and angle information relative to the target node obtained by at least one other direction-finding node using the wireless direction-finding method, wherein the direction-finding period is the same as the ranging period.

[0464] Step 520: Determine the current location information of the target node by applying the distance information of at least one of the ranging nodes relative to the target node and the angle information of at least one other direction-finding node relative to the target node.

[0465] Step 530: Send the current location information of the target node to at least one corresponding ranging node.

[0466] Example 5-4: Computer-readable storage medium for wireless positioning based on ranging and direction-finding results

[0467] The embodiments of the present application also provide a computer-readable storage medium capable of implementing all or part of the steps of the method for performing wireless positioning by using ranging results and direction finding results in the above-mentioned embodiment 5-2. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, all the steps of the method for performing wireless positioning by using ranging results and direction finding results in the above-mentioned embodiment 5-2 are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0468] Step 510: Receive distance information relative to the target node obtained by at least one ranging node using the wireless ranging method, and angle information relative to the target node obtained by at least one other direction-finding node using the wireless direction-finding method, wherein the direction-finding period is the same as the ranging period.

[0469] Step 520: Determine the current location information of the target node by applying the distance information of at least one of the ranging nodes relative to the target node and the angle information of at least one other direction-finding node relative to the target node.

[0470] Step 530: Send the current location information of the target node to at least one corresponding ranging node.

[0471] From the above description, it can be seen that the computer-readable storage medium for wireless positioning based on ranging results and direction finding results provided in the embodiment of the present application can effectively reduce the collision domain range of wireless signals during the positioning process by dynamically switching directional antennas or antenna arrays to adjust the collision domain range of wireless signals, avoid unnecessary collisions, and improve the accuracy and reliability of wireless ranging and direction finding for target nodes, thereby effectively improving the positioning capacity and the accuracy and reliability of positioning the target node using wireless ranging results and direction finding results; nodes use directional antennas to communicate with each other, and there will be relatively high gain in specific directions, that is, a smaller transmission power can be used to achieve communication, direction finding and ranging, and the smaller transmission power will further reduce the collision domain range of wireless signals.

[0472] Example 5-5: Wireless Positioning System

[0473] In order to effectively reduce the collision domain of wireless signals during the positioning process and effectively improve the accuracy and reliability of positioning the target node, the embodiment of the present application provides a wireless positioning system, which can implement all or part of the wireless positioning method based on ranging results, the wireless positioning method based on direction finding results, and the wireless positioning method based on ranging results and direction finding results in one or more of the aforementioned embodiments of the present application, see Figure 48 , the wireless positioning system may specifically include the following contents:

[0474] Multiple base stations 01 for wireless ranging, and / or, multiple base stations 02 for wireless direction finding;

[0475] The wireless positioning system further includes a plurality of target nodes and a server respectively connected to each of the base stations in communication, wherein the target node is tag 03;

[0476] The server 04 is used to implement all or part of the wireless positioning method based on ranging results, the wireless positioning method based on direction finding results, and the wireless positioning method based on ranging results and direction finding results, wherein each of the base stations and each of the tags are located in the same positioning area 05.

[0477] From the above description, it can be seen that the wireless positioning method provided in the embodiment of the present application uses multiple switchable directional antennas or antenna arrays at the node; the directional antenna is switched in real time during each positioning communication; the antenna that is closest in angle to the communication object is used; in high-precision positioning systems such as UWB, the effect is better; the capacity is higher and the power consumption is lower; an antenna array can be used to replace the multiple switchable directional antennas in the base station used for wireless ranging, and by controlling the phase relationship of each unit of the antenna array, the functions of directional transmission and directional reception can be achieved.

[0478] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0479] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (apparatus), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0480] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0481] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0482] Specific embodiments are used in the present invention to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A wireless ranging method, characterized in that: include: In the current ranging cycle, one of the multiple directional antennas provided on the ranging node is selected as the target antenna corresponding to the target node, wherein the corresponding directions of the directional antennas are different; Applying a preset wireless communication technology to control data communication only between the target antenna and the target node; Acquire distance information of the ranging node itself relative to the target node based on the result of the data communication; The step of selecting one of the plurality of directional antennas provided on the ranging node itself as a target antenna corresponding to the target node includes: Determine whether the ranging node itself has pre-stored location information of the target node in the previous ranging cycle. If so, select one of the directional antennas set in the ranging node itself as the current target antenna based on the location information of the target node in the previous ranging cycle.

2. The wireless ranging method according to claim 1, wherein: The step of selecting one of the plurality of directional antennas provided on the ranging node itself as a target antenna corresponding to the target node includes: It is determined whether the ranging node itself has pre-stored location information of the target node in the previous ranging cycle. If not, one of the multiple directional antennas set on the ranging node itself is randomly selected as the target antenna corresponding to the target node.

3. The wireless ranging method according to claim 1, wherein: The step of selecting one of the plurality of directional antennas provided on the ranging node itself as a target antenna corresponding to the target node includes: Determine whether the ranging node itself has pre-stored the location information of the target node in the previous ranging cycle. If not, send a request to the corresponding solution node for obtaining the location information of the target node in the previous ranging cycle. The solution node receives the position information of the target node in the previous ranging cycle sent back by the solution node according to the acquisition request, and selects one of the directional antennas set in the ranging node itself as the current target antenna according to the position information of the target node in the previous ranging cycle.

4. The wireless ranging method according to claim 3, wherein: The selecting, according to the position information of the target node in the previous ranging cycle, one of the directional antennas provided at the ranging node itself as the current target antenna includes: Determine the relative direction unit vector of the target node relative to the ranging node itself based on the pre-stored position information of the target node in the previous ranging cycle; Based on the relative direction unit vector and the direction unit vectors of the directional antennas arranged at the ranging node itself, one of the directional antennas is selected as the current target antenna.

5. The wireless ranging method according to claim 1, wherein: Also includes: The distance information of the ranging node itself relative to the target node is sent to the solving node, so that the solving node locates the target node according to the distance information and the distance information relative to the target node sent by at least two other ranging nodes, and obtains the position information of the target node in the current ranging cycle.

6. The wireless ranging method according to claim 5, wherein: Also includes: If the location information of the target node in the current ranging period is received from the solving node, the location information is stored locally.

7. The wireless ranging method according to claim 1, wherein: Before selecting one of the multiple directional antennas provided on the ranging node itself as the target antenna corresponding to the target node, the method further includes: The directional margin angles between adjacent directional antennas are preset.

8. The wireless ranging method according to claim 7, wherein: The direction margin angle is determined based on a pre-acquired maximum deviation estimate between the estimated position and the actual position of the node, and a maximum positioning distance of the ranging node itself.

9. The wireless ranging method according to claim 7, wherein: Before presetting the direction margin angles between adjacent directional antennas, the method further includes: Determining the target number of the directional antenna based on the size of the directional antenna and the size of the ranging node itself; A directional antenna matching the target number is set on the ranging node itself.

10. A wireless direction finding method, characterized in that: include: In a current direction finding cycle, selecting one of a plurality of directional antenna arrays provided on the direction finding node as a target antenna array corresponding to the target node, wherein the orientations corresponding to the directional antenna arrays are different and each of the directional antenna arrays includes a plurality of directional antennas; Applying a preset wireless communication technology to control only the multiple directional antennas in the target antenna array to respectively communicate data with the target node; Acquire angle information of the direction finding node itself relative to the target node based on the result of the data communication; The step of selecting one of the plurality of directional antenna arrays provided on the direction-finding node as the target antenna array corresponding to the target node comprises: Determine whether the direction finding node itself has pre-stored angle information of the target node in the previous direction finding cycle. If so, select one of the directional antenna arrays set in the direction finding node itself as the current target antenna array based on the value corresponding to the angle information.

11. The wireless direction finding method according to claim 10, wherein: The step of selecting one of the plurality of directional antenna arrays provided on the direction-finding node as the target antenna array corresponding to the target node comprises: It is determined whether the direction finding node itself has pre-stored angle information of the target node in the previous direction finding cycle. If not, one of the multiple directional antenna arrays set in the direction finding node itself is randomly selected as the target antenna array corresponding to the target node.

12. The wireless direction finding method according to claim 10, wherein: The step of selecting one of the plurality of directional antenna arrays provided on the direction-finding node as the target antenna array corresponding to the target node comprises: Determine whether the direction finding node itself has pre-stored angle information of the target node in the previous direction finding cycle. If not, send a request to the corresponding solution node for obtaining the angle information of the target node in the previous direction finding cycle. Receive the angle information of the target node in the previous direction finding cycle sent back by the solving node according to the acquisition request, and select one of the directional antenna arrays set in the direction finding node itself as the current target antenna array according to the value corresponding to the angle information.

13. The wireless direction finding method according to claim 12, wherein: The step of selecting, according to a value corresponding to the angle information, one of the directional antenna arrays provided at the direction finding node itself as the current target antenna array includes: Determining the effective range of the target antenna array according to the angle between two adjacent antenna arrays; Determine the correspondence between the value corresponding to the angle information of the target node in the previous direction finding cycle and the effective range of the target antenna array. If the value corresponding to the angle information of the target node in the previous direction finding cycle falls within the effective range of the target antenna array, the target antenna array selected in the previous direction finding cycle is still used as the target antenna array in the current direction finding cycle.

14. The wireless direction finding method according to claim 13, wherein: Also includes: If the value corresponding to the angle information of the target node in the previous direction finding cycle is less than the lower limit of the effective range of the target antenna array, the antenna array adjacent to the target antenna array selected in the previous direction finding cycle is selected in the counterclockwise direction as the target antenna array in the current direction finding cycle.

15. The wireless direction finding method according to claim 13, wherein: Also includes: If the value corresponding to the angle information of the target node in the previous direction finding cycle is greater than the upper limit of the effective range of the target antenna array, the antenna array adjacent to the target antenna array selected in the previous direction finding cycle is selected in the clockwise direction as the target antenna array in the current direction finding cycle.

16. The wireless direction finding method according to claim 10, wherein: Also includes: The angle information of the direction-finding node itself relative to the target node is sent to the solving node, so that the solving node locates the target node according to the angle information and the angle information relative to the target node sent by at least one other direction-finding node, and obtains the position information of the target node in the current direction-finding cycle.

17. The wireless direction finding method according to claim 10, wherein: Before selecting one of the multiple directional antenna arrays provided on the direction-finding node itself as the target antenna array corresponding to the target node, the method further includes: The directional margin angles between adjacent directional antenna arrays are preset.

18. The wireless direction finding method according to claim 17, wherein: The direction margin angle is determined based on a pre-acquired maximum deviation estimate between an estimated position and an actual position of the target node, and a maximum positioning distance of the direction-finding node itself.

19. The wireless direction finding method according to claim 17, wherein: Before presetting the direction margin angles between adjacent directional antenna arrays, the method further includes: Determining the number of targets of the directional antenna array based on the size of the directional antenna array and the size of the direction finding node itself; A directional antenna array matching the target number is set on the direction finding node itself.

20. A wireless positioning method, characterized in that: include: receiving distance information relative to the target node obtained by at least three ranging nodes respectively applying the wireless ranging method according to any one of claims 1 to 9; Determine the current location of the target node by using the distance information of each of the ranging nodes relative to the target node; The position information of the target node in the current ranging period is sent to the corresponding at least three ranging nodes respectively, and / or the ranging control instruction containing the position information of the target node in the current ranging period is sent to the corresponding at least three ranging nodes so that the at least three ranging nodes obtain the distance information of the target node again based on the ranging control instruction.

21. A wireless positioning method, characterized in that: include: Receiving angle information of at least one direction finding node relative to the target node obtained by applying the wireless direction finding method according to any one of claims 10 to 19; The angle information of the direction-finding node relative to the target node is used to determine the current position information of the target node.

22. A wireless positioning method, characterized in that: include: Receiving distance information relative to the target node obtained by at least one ranging node respectively applying the wireless ranging method according to any one of claims 1 to 9, and angle information relative to the target node obtained by at least one other direction finding node applying the wireless direction finding method according to any one of claims 10 to 19, wherein the direction finding period is the same as the ranging period; Determine current location information of the target node by applying distance information of at least one ranging node relative to the target node and angle information of at least one other direction-finding node relative to the target node; The current location information of the target node is sent to at least one corresponding ranging node.

23. A ranging node, characterized in that: include: a ranging antenna selection module, configured to select, within a current ranging cycle, one of a plurality of directional antennas provided on the ranging node itself as a target antenna corresponding to the target node, wherein the corresponding directions of the directional antennas are different; a ranging communication module, configured to control data communication between the target antenna and the target node using a preset wireless communication technology; a distance determination module, configured to obtain distance information of the ranging node itself relative to the target node based on a result of the data communication; The ranging antenna selection module is specifically used for: Determine whether the ranging node itself has pre-stored location information of the target node in the previous ranging cycle. If so, select one of the directional antennas set in the ranging node itself as the current target antenna based on the location information of the target node in the previous ranging cycle.

24. A direction finding node, characterized in that: include: a direction-finding antenna selection module, configured to select, within a current direction-finding cycle, one of a plurality of directional antenna arrays provided on the direction-finding node itself as a target antenna array corresponding to the target node, wherein each of the directional antenna arrays has a different corresponding orientation and each of the directional antenna arrays includes a plurality of directional antennas; a direction-finding communication module, configured to apply a preset wireless communication technology to control only the multiple directional antennas in the target antenna array to perform data communication with the target node respectively; An angle determination module, configured to obtain angle information of the direction finding node itself relative to the target node based on a result of the data communication; The direction-finding antenna selection module is specifically used for: Determine whether the direction finding node itself has pre-stored angle information of the target node in the previous direction finding cycle. If so, select one of the directional antenna arrays set in the direction finding node itself as the current target antenna array based on the value corresponding to the angle information.

25. A solution node, characterized in that: include: a distance information receiving module, configured to receive distance information relative to the target node obtained by at least three ranging nodes respectively applying the wireless ranging method according to any one of claims 1 to 9; A distance positioning module, configured to determine the current location information of the target node by using the distance information of each of the ranging nodes relative to the target node; A positioning data sending module is used to send the location information of the target node in the current direction finding period to the corresponding at least three ranging nodes, and / or send a ranging control instruction containing the location information of the target node in the current ranging period to the corresponding at least three ranging nodes so that the at least three ranging nodes obtain the distance information of the target node again based on the ranging control instruction.

26. A solution node, characterized in that: include: An angle information receiving module, configured to receive angle information of at least one direction finding node relative to the target node obtained by applying the wireless direction finding method according to any one of claims 10 to 19; The direction positioning module is used to determine the current position information of the target node by using the angle information of the direction finding node relative to the target node.

27. A solution node, characterized in that: include: a comprehensive data receiving module, configured to receive distance information relative to the target node obtained by at least one ranging node using the wireless ranging method according to any one of claims 1 to 9, and angle information relative to the target node obtained by at least one other direction-finding node using the wireless direction-finding method according to any one of claims 10 to 19; a comprehensive positioning module, configured to determine current position information of the target node by applying distance information of at least one ranging node relative to the target node and angle information of at least one other direction-finding node relative to the target node; The location information sending module is used to send the current location information of the target node to the corresponding at least one ranging node.

28. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the wireless ranging method according to any one of claims 1 to 9 are implemented.

29. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the wireless direction finding method according to any one of claims 10 to 19 are implemented.

30. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the wireless positioning method described in claim 20 are implemented.

31. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the wireless positioning method described in claim 21 are implemented.

32. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the wireless positioning method described in claim 22 are implemented.

33. A base station for wireless ranging, characterized in that: The base station is equipped with a wireless ranging controller, a radio frequency switching module and multiple directional antennas; The base station is communicatively connected to the solution node according to claim 25 and / or the solution node according to claim 27; The wireless ranging controller is connected to the radio frequency switching module, and the wireless ranging controller is used to implement the wireless ranging method according to any one of claims 1 to 9; The radio frequency switching module is connected to each of the directional antennas respectively for correspondingly switching each of the directional antennas according to an instruction of the wireless ranging controller, wherein the corresponding directions of each of the directional antennas are different.

34. A base station for wireless direction finding, characterized in that: The base station is equipped with a wireless direction-finding controller, a radio frequency switching module, and multiple directional antennas; The base station is communicatively connected to the solution node according to claim 26 and / or the solution node according to claim 27; The wireless direction finding controller is connected to the radio frequency switching module, and the wireless direction finding controller is used to implement the wireless direction finding method according to any one of claims 10 to 19; The radio frequency switching module is respectively connected to each of the directional antenna arrays to switch each of the directional antenna arrays according to the instruction of the wireless ranging controller, wherein the corresponding directions of each of the directional antenna arrays are different.

35. A wireless positioning system, characterized in that: include: A plurality of base stations for wireless ranging according to claim 33, and / or a plurality of base stations for wireless direction finding according to claim 34; The wireless positioning system further includes a plurality of target nodes and a server respectively connected to each of the base stations in communication, wherein the target nodes are tags; The server is used to implement the wireless positioning method according to any one of claims 20 to 22, wherein each of the base stations and each of the tags are located in the same positioning area.

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