Positioning system, positioning method and mobile terminal

Abstract

The present invention discloses a positioning system, a positioning method and a mobile terminal. The positioning system includes: a first mobile terminal for transmitting a positioning signal; at least one second mobile terminal for receiving the positioning signal, and calculating the distance between each second mobile terminal and the first mobile terminal through the positioning signal, and calculating the direction of each second mobile terminal relative to the first mobile terminal through the positioning signal; and then confirming the position data of each second mobile terminal relative to the first mobile terminal; each second mobile terminal also transmits the confirmed position data to the first mobile terminal; wherein the first mobile terminal also stores the position data of each second mobile terminal. The present invention provides a positioning system, a positioning method and a mobile terminal when a traditional base station signal or a satellite signal is interrupted.

Description

Technical Field

[0001] The present invention relates to the field of communication technologies, and in particular to a positioning system, a positioning method and a mobile terminal. Background Art

[0002] Traditional positioning and communication methods usually rely on large base stations, optical fibers, satellites and other paths for transmission. Although these methods have advantages such as large capacity and long transmission distance, they also have the limitations of being dependent on equipment and networks. Therefore, in places such as indoors and mines where base station signals or satellite signals are interrupted, traditional positioning and communication methods are severely degraded or may even fail completely. Summary of the invention

[0003] In view of the above, it is necessary to provide a positioning system, a positioning method and a mobile terminal to achieve positioning and communication between mobile terminals when base station signals or satellite signals are interrupted.

[0004] A first aspect of the present invention provides a positioning system, the positioning system comprising:

[0005] A first mobile terminal, wherein the first mobile terminal is used to transmit a positioning signal;

[0006] at least one second mobile terminal, each of which is used to receive the positioning signal, and to calculate the distance between each of the second mobile terminals and the first mobile terminal through the positioning signal, and to calculate the direction of each of the second mobile terminals relative to the first mobile terminal through the positioning signal; confirm the location data of each of the second mobile terminals relative to the first mobile terminal according to the distance between each of the second mobile terminals and the first mobile terminal, and the direction of each of the second mobile terminals relative to the first mobile terminal; each of the second mobile terminals also transmits the confirmed location data to the first mobile terminal;

[0007] The first mobile terminal also stores the location data of each of the second mobile terminals.

[0008] Further, the positioning signal carries transmission time information, and the calculating the distance between each of the second mobile terminals and the first mobile terminal by using the positioning signal includes:

[0009] The reception time when the second mobile terminal confirms receiving the positioning signal;

[0010] The second mobile terminal calculates the distance between the second mobile terminal and the first mobile terminal according to the time difference between the receiving time and the transmitting time.

[0011] Furthermore, before the second mobile terminal confirms the reception time of the positioning signal, the first mobile terminal and each of the second mobile terminals perform clock synchronization.

[0012] Further, each of the second mobile terminals is provided with an array antenna, the array antenna includes at least 3 antennas, and the calculating the direction of each of the second mobile terminals relative to the first mobile terminal by the positioning signal includes:

[0013] The second mobile terminal receives the positioning signal through the array antenna to form at least two receiving phase differences;

[0014] The second mobile terminal calculates the incident angle of the positioning signal on the second mobile terminal through at least two of the receiving phase differences, and further determines the direction of the second mobile terminal relative to the first mobile terminal through the intersection of the two incident angles.

[0015] Furthermore, the location data of each second mobile terminal also carries self-identification information, wherein each second mobile terminal performs point-to-point communication according to the self-identification information and the location data stored in the first mobile terminal.

[0016] Further, the point-to-point communication by each of the second mobile terminals according to the self-identification information and the location data stored in the first mobile terminal includes:

[0017] The second mobile terminal transmits data carrying another identification information of the second mobile terminal to the first mobile terminal;

[0018] The first mobile terminal identifies the identification information, and sends the data to the other second mobile terminal according to the identification information, thereby realizing communication between the second mobile terminal and the other second mobile terminal.

[0019] Furthermore, the first terminal and the second mobile terminal are both equipped with a positioning chip.

[0020] A second aspect of the present invention provides a positioning method, the positioning method comprising:

[0021] Providing a first mobile terminal, wherein the first mobile terminal transmits a positioning signal;

[0022] At least one second mobile terminal is provided, the second mobile terminal receives the positioning signal, and calculates the distance between each second mobile terminal and the first mobile terminal through the positioning signal, and calculates the direction of each second mobile terminal relative to the first mobile terminal through the positioning signal; confirms the position data of each second mobile terminal relative to the first mobile terminal according to the distance between each second mobile terminal and the first mobile terminal, and the direction of each second mobile terminal relative to the first mobile terminal; each second mobile terminal also transmits the confirmed position data to the first mobile terminal;

[0023] The first mobile terminal also stores the location data of each of the second mobile terminals.

[0024] A third aspect of the present invention provides a mobile terminal, the mobile terminal comprising:

[0025] A signal transceiver unit, used to receive a positioning signal transmitted by another mobile terminal;

[0026] a distance measuring unit, configured to measure the distance between the mobile terminal and the other mobile terminal through the positioning signal;

[0027] a direction finding unit, configured to calculate the direction of the mobile terminal relative to the other mobile terminal through the positioning signal;

[0028] The positioning unit is used to confirm the position of the mobile terminal relative to the other mobile terminal according to the distance between the mobile terminal and the other mobile terminal and the direction of the mobile terminal relative to the other mobile terminal.

[0029] Furthermore, the signal transceiver unit is also used to transmit the positioning signal.

[0030] The positioning system, positioning method and mobile terminal provided by the present invention can realize positioning and communication between mobile terminals through the main device when the traditional macro base station or satellite positioning fails. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural block diagram of a positioning system in a preferred embodiment of the present invention.

[0032] Figure 2 The figure is a flow chart of a positioning method in a preferred embodiment of the present invention.

[0033] Main component symbols

[0034] First mobile terminal 100

[0035] The second mobile terminal 200

[0036] Positioning System 300

[0037] Signal transceiver unit 10

[0038] Distance measuring unit 20

[0039] Direction Finding Unit 30

[0040] Positioning unit 40

[0041] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0044] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0045] See also Figure 1 , Figure 1 The present invention provides a structural block diagram of a positioning system 300 according to the first aspect of the present invention. The positioning system 300 includes a first mobile terminal 100 and at least one second mobile terminal 200. The positioning system 300 is used to realize mutual positioning between the first mobile terminal 100 and the second mobile terminal 200, and then realize point-to-point communication between the second mobile terminals 200. The positioning system 300 provided by the present invention can be realized by ultra-wideband (Ultra Wide Band, UWB) wireless communication technology or Bluetooth technology, but is not limited thereto.

[0046] It can be understood that UWB wireless communication technology is a wireless technology that transmits data at high speed at low power within a short distance. The power of ordinary UWB devices is generally about 1 / 100 of the power required by traditional mobile phones and about 1 / 20 of the power required by Bluetooth devices. That is, it does not use a sinusoidal carrier, but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, so it occupies a wide spectrum range. UWB wireless communication technology has the advantages of strong anti-interference performance, high transmission rate and low power consumption, and is suitable for high-speed, short-distance wireless communication.

[0047] Bluetooth technology is a technology that uses low-power radio to transmit data between various electronic products. Bluetooth works in the globally used 2.4GHz ISM frequency band and uses the IEEE802.11 protocol. Bluetooth supports short-range communication between devices and can exchange wireless information between a wide range of devices including mobile phones, PDAs, wireless headsets, laptops, and related peripherals.

[0048] It can be understood that in this embodiment, when it comes to a system with a larger area radius, for example, a radius of 100 meters, the UWB wireless communication technology is selected to implement the present positioning method, and the cost is lower. When it comes to a system with a smaller area radius, for example, a radius of 10 meters, the Bluetooth technology is selected to implement the present positioning method, and the cost is lower.

[0049] The first mobile terminal 100 is used to transmit a positioning signal, and the second mobile terminal 200 is used to receive the positioning signal. It can be understood that the first mobile terminal 100 and the second mobile terminal 200 respectively have a signal transceiver unit 10. The first mobile terminal 100 transmits the positioning signal in all directions through the signal transceiver unit 10 within a preset time. The second mobile terminal 200 receives the positioning signal transmitted by the first mobile terminal 100 through the signal transceiver unit 10. The positioning signal can be a UWB signal or a Bluetooth signal, and the positioning signal carries information such as the transmission time.

[0050] The second mobile terminal 200 measures the distance between itself and the first mobile terminal 100 by using the received positioning signal.

[0051] The second mobile terminal 200 further includes a distance measuring unit 20, which calculates the distance between the second mobile terminal 200 and the first mobile terminal 100 by using the Time Difference of Arrival (TDOA) distance measuring method and formula (1). That is, the distance between the second mobile terminal 200 and the first mobile terminal 100 is calculated based on the time difference between the receiving time and the transmitting time. In formula (1), the parameter c is the speed of light, that is, the transmitting end (for example, the first mobile terminal 100) transmits the signal to the receiving end (for example, the second mobile terminal 200) at the speed of light c. Parameter T 1 is the time when the transmitting end (eg, the first mobile terminal 100) transmits a signal. Parameter T 2 is the time when the receiving end (eg, the second mobile terminal 200) receives the signal. Parameter D is the distance between the transmitting end and the receiving end (ie, the first mobile terminal 100 and the second mobile terminal 200).

[0052] D=c*(T 2 -T 1 ) (1)

[0053] Obviously, according to the above formula (1), when it is necessary to measure the distance between the second mobile terminal 200 and the first mobile terminal 100, it is only necessary to measure the time difference of signal propagation (T 2 -T 1 ) is sufficient. In this embodiment, T 1 The first mobile terminal 100 records the location information and transmits it to the second mobile terminal 200 through the positioning signal. 2 The second mobile terminal 200 is confirmed when receiving the positioning signal through the distance measuring unit 20. Therefore, the distance measuring unit 20 can measure the distance between the second mobile terminal 200 and the first mobile terminal 100 by formula (1).

[0054] It can be understood that in this embodiment, when the TDOA ranging method is used, since the clocks between the first mobile terminal 100 and the second mobile terminal 200 are independent of each other, clock deviation may occur, thereby causing timing error. Therefore, the method can be performed before ranging, that is, the receiving time T when the second mobile terminal 200 confirms receiving the positioning signal 2 Before that, a clock synchronization step is performed on the second mobile terminal 200 and the first mobile terminal 100. That is, the clocks of the first mobile terminal 100 and the second mobile terminal 200 are first synchronized and then the distance between them is tested.

[0055] Of course, in other embodiments, the distance measurement unit 20 is not limited to using the TDOA distance measurement method, and it can also adopt other distance measurement methods, such as the time of flight method (Time Of Flight, TOF) and the like.

[0056] The second mobile terminal 200 also calculates the direction of the second mobile terminal 200 relative to the first mobile terminal 100 through the received positioning signal.

[0057] In this embodiment, the second mobile terminal 200 further includes a direction finding unit 30, which uses a Phase Difference Of Arrival (PDOA) method and uses formula (2) to measure the direction of the second mobile terminal 200 relative to the first mobile terminal 100. In formula (2), parameter c is the speed of light, that is, the transmitting end (for example, the first mobile terminal 100) transmits a signal (for example, a positioning signal) to the receiving end (for example, the second mobile terminal 200) at the speed of light c. Parameter is the receiving phase difference when two antennas receive the same signal (for example, a positioning signal). Parameter L is the distance between the two antennas. Parameter f is the frequency of the positioning signal. θ is the incident angle formed by the positioning signal and any of the antennas.

[0058]

[0059] It can be understood that, in three-dimensional space, for the same point, the incident angle with a specific angle size may have multiple directions. Therefore, in three-dimensional space, the intersection of at least two incident angles formed by the signal (e.g., positioning signal) sent by the same transmitting end (e.g., the first mobile terminal 100) to the same receiving end (e.g., the second mobile terminal 200) is required to determine the direction of the receiving end relative to the transmitting end.

[0060] Therefore, it can be understood that in this embodiment, the second mobile terminal 200 is provided with an array antenna, and the array antenna includes at least three antennas. The second mobile terminal 200 receives the positioning signal through the array antenna to form at least two receiving phase differences. The second mobile terminal 200 uses the direction finding unit 30 to calculate the two incident angles formed by the positioning signal on the second mobile terminal 200 using formula (2), so as to determine the direction of the second mobile terminal 200 relative to the first mobile terminal 100 by calculating the intersection of the two incident angles.

[0061] The second mobile terminal 200 further includes a positioning unit 40, which confirms the location data of each second mobile terminal 200 relative to the first mobile terminal 100 and completes positioning according to the distance between each second mobile terminal 200 and the first mobile terminal 100, and the direction of each second mobile terminal 200 relative to the first mobile terminal 100. Each second mobile terminal 200 also transmits the confirmed location data to the first mobile terminal 100, and the first mobile terminal 100 also stores the location data of each second mobile terminal 200.

[0062] It can be understood that each of the position data is relative position data of each of the second mobile terminals 200 relative to the first mobile terminal 100 .

[0063] The location data of each second mobile terminal 200 also carries its own identification information. According to the own identification information and the location data stored in the first mobile terminal 100, each second mobile terminal 200 performs point-to-point communication.

[0064] It can be understood that each of the second mobile terminals 200 performs point-to-point communication including:

[0065] The second mobile terminal 200 transmits data carrying another identification information of the second mobile terminal 200 to the first mobile terminal 100;

[0066] The first mobile terminal 100 identifies the identification information, and sends the data to the other second mobile terminal 200 according to the identification information, thereby realizing communication between the second mobile terminal 200 and the other second mobile terminal 200 .

[0067] It can be understood that the communication process of the positioning system 300 is as follows:

[0068] When multiple second mobile terminals 200 need to communicate, each second mobile terminal 200 receives the positioning signal transmitted by the first mobile terminal 100, and calculates the distance between each second mobile terminal 200 and the first mobile terminal 100 through the positioning signal, and calculates the direction of each second mobile terminal 200 relative to the first mobile terminal 100 through the positioning signal; according to the distance between each second mobile terminal 200 and the first mobile terminal 100, and the direction of each second mobile terminal 200 relative to the first mobile terminal 100, confirm the location data of each second mobile terminal 200 relative to the first mobile terminal 100; and realize the positioning between the second mobile terminal 200 and the first mobile terminal 100. After the positioning is completed, each second mobile terminal 200 transmits the location data carrying its own identification information to the first mobile terminal 100, and the first mobile terminal 100 stores the location data of each second mobile terminal 200. The first mobile terminal 100 then builds a location network based on the location data of each second mobile terminal 200. After the location network is established, the second mobile terminal 200 can communicate with another second mobile terminal 200 point-to-point through the first mobile terminal 100. For example, a second mobile terminal A and a second mobile terminal B are both located with the first mobile terminal, and the second mobile terminal A can further transmit data carrying the identification information of the second mobile terminal B to the first mobile terminal. The first mobile terminal receives the data and identifies the identification information, and then sends the data transmitted by the second mobile terminal A to the second mobile terminal B according to the identification information.

[0069] It can be understood that both the first mobile terminal 100 and the second mobile terminal 200 are equipped with a positioning chip. For example, the first mobile terminal 100 and the second mobile terminal 200 are mobile terminals equipped with a UWB chip or a mobile terminal with a Bluetooth chip.

[0070] It can be understood that when the first mobile terminal 100 has precise location coordinates, the second mobile terminal 200 can calculate its own precise location coordinates based on the precise location of the first mobile terminal 100 .

[0071] See also Figure 2 The second aspect of the present invention further provides a positioning method, the positioning method comprising:

[0072] Step S01: providing a first mobile terminal, wherein the first mobile terminal transmits a positioning signal;

[0073] Step S02: providing at least one second mobile terminal, the second mobile terminal receiving the positioning signal, and calculating the distance between each second mobile terminal and the first mobile terminal through the positioning signal, and calculating the direction of each second mobile terminal relative to the first mobile terminal through the positioning signal; confirming the position data of each second mobile terminal relative to the first mobile terminal according to the distance between each second mobile terminal and the first mobile terminal, and the direction of each second mobile terminal relative to the first mobile terminal; each second mobile terminal also transmits the confirmed position data to the first mobile terminal;

[0074] The first mobile terminal also stores the location data of each of the second mobile terminals.

[0075] It can be understood that the first mobile terminal 100 also includes the distance measuring unit 20, the direction finding unit 30 and the positioning unit 40. In another embodiment, the second mobile terminal 200 transmits a positioning signal through the signal transceiver unit 10, the first mobile terminal 100 receives the positioning signal through the signal transceiver unit 10, and completes mutual positioning with the second mobile terminal 200 through the distance measuring unit 20, the direction finding unit 30 and the positioning unit 40.

[0076] It can be understood that the first mobile terminal 100 and the second mobile terminal 200 can be mobile phones, tablet computers, smart watches, smart bracelets or smart home devices equipped with communication modules and array antennas, but are not limited thereto.

[0077] It can be understood that the above positioning method and positioning system can realize point-to-point communication between multiple second mobile terminals in a local area by combining positioning signals with the arrival time difference method and the reception phase difference method when the traditional base station fails.

[0078] The above embodiments are only used to illustrate the technical solution of the present invention and are not intended to limit it. Although the present invention is described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention. Those skilled in the art may also make other changes within the spirit of the present invention and apply them to the design of the present invention, as long as they do not deviate from the technical effects of the present invention. These changes made according to the spirit of the present invention should be included in the scope of protection claimed by the present invention.

Claims

1. A positioning system, characterized in that: The positioning system comprises: A first mobile terminal, wherein the first mobile terminal is used to transmit a positioning signal; at least one second mobile terminal, the second mobile terminal is used to receive the positioning signal, and calculate the distance between the second mobile terminal and the first mobile terminal through the positioning signal, and calculate the direction of the second mobile terminal relative to the first mobile terminal through the positioning signal; confirm the position data of the second mobile terminal relative to the first mobile terminal according to the distance between the second mobile terminal and the first mobile terminal, and the direction of the second mobile terminal relative to the first mobile terminal; each second mobile terminal also transmits the confirmed position data to the first mobile terminal; The first mobile terminal further stores the location data of each of the second mobile terminals, and the location data of each of the second mobile terminals also carries its own identification information; When the second mobile terminal transmits data carrying identification information of another second mobile terminal to the first mobile terminal, the first mobile terminal identifies the identification information of the other second mobile terminal, and sends the data carrying identification information of the other second mobile terminal to the other second mobile terminal based on the identification information of the other second mobile terminal and the location data stored in the first mobile terminal, thereby realizing point-to-point communication between the second mobile terminal and the other second mobile terminal.

2. The positioning system according to claim 1, characterized in that: The positioning signal carries transmission time information, and the calculating the distance between the second mobile terminal and the first mobile terminal by using the positioning signal includes: The reception time when the second mobile terminal confirms receiving the positioning signal; The second mobile terminal calculates the distance between the second mobile terminal and the first mobile terminal according to the time difference between the receiving time and the transmitting time.

3. The positioning system according to claim 2, characterized in that: Before the second mobile terminal confirms the reception time of the positioning signal, the first mobile terminal and each of the second mobile terminals perform clock synchronization.

4. The positioning system according to claim 1, characterized in that: Each of the second mobile terminals is provided with an array antenna, the array antenna includes at least three antennas, and the calculating the direction of the second mobile terminal relative to the first mobile terminal by using the positioning signal includes: The second mobile terminal receives the positioning signal through the array antenna to form at least two receiving phase differences; The second mobile terminal calculates the incident angle of the positioning signal on the second mobile terminal through at least two of the receiving phase differences, and further determines the direction of the second mobile terminal relative to the first mobile terminal through the intersection of the two incident angles.

5. The positioning system according to claim 1, characterized in that: The first terminal and the second mobile terminal are both equipped with a positioning chip.

6. A positioning method, characterized in that: The positioning method comprises: Providing a first mobile terminal, wherein the first mobile terminal transmits a positioning signal; At least one second mobile terminal is provided, the second mobile terminal receives the positioning signal, and calculates the distance between the second mobile terminal and the first mobile terminal through the positioning signal, and calculates the direction of the second mobile terminal relative to the first mobile terminal through the positioning signal; confirms the position data of the second mobile terminal relative to the first mobile terminal according to the distance between the second mobile terminal and the first mobile terminal, and the direction of the second mobile terminal relative to the first mobile terminal; each second mobile terminal also transmits the confirmed position data to the first mobile terminal; The first mobile terminal further stores the location data of each of the second mobile terminals, and the location data of each of the second mobile terminals also carries its own identification information; When the second mobile terminal transmits data carrying identification information of another second mobile terminal to the first mobile terminal, the first mobile terminal identifies the identification information of the other second mobile terminal, and sends the data carrying identification information of the other second mobile terminal to the other second mobile terminal based on the identification information of the other second mobile terminal and the location data stored in the first mobile terminal, thereby realizing point-to-point communication between the second mobile terminal and the other second mobile terminal.

7. A mobile terminal, comprising: A signal transceiver unit, used to receive a positioning signal transmitted by the first mobile terminal; a distance measuring unit, configured to measure the distance between the mobile terminal and the first mobile terminal through the positioning signal; a direction finding unit, configured to calculate the direction of the mobile terminal relative to the first mobile terminal through the positioning signal; a positioning unit, configured to confirm the position data of the mobile terminal relative to the first mobile terminal according to the distance between the mobile terminal and the first mobile terminal and the direction of the mobile terminal relative to the first mobile terminal; The signal transceiver unit further transmits the confirmed location data to the first mobile terminal, wherein the location data also carries its own identification information, wherein the first mobile terminal stores location data of a plurality of the mobile terminals; The signal transceiver unit is also used to transmit data carrying identification information of another mobile terminal to the first mobile terminal. When the first mobile terminal receives the data carrying identification information of another mobile terminal, the first mobile terminal identifies the identification information of the other mobile terminal and sends the data carrying identification information of the other mobile terminal to the other mobile terminal based on the identification information of the other mobile terminal and the location data stored in the first mobile terminal, thereby realizing point-to-point communication between the mobile terminal and the other mobile terminal.

8. The mobile terminal according to claim 7, characterized in that: The signal transceiver unit is also used to transmit the positioning signal.

Images