Method and device for generating positioning beacon, method and device for determining arrival time

Abstract

The present invention provides a method and device for generating a positioning beacon, and a method and device for determining an arrival time, comprising: when a positioning request is received, controlling each pulse transmitting end to generate a positioning beacon in accordance with a preset pulse modulation rule; wherein each cycle of the positioning beacon contains at least two pulse signals, and the pulse intervals of the two pulse signals in the positioning beacon transmitted by each pulse transmitting end are different. The method and device for generating a positioning beacon, and the method and device for determining an arrival time of the present invention ensure that the positioning terminal can correspond the pulse signal to the pulse transmitting end one-to-one through different pulse intervals according to the pulse modulation rule, and at the same time, because the pulse width is wide enough and the pulse interval satisfies the coprime rule, the terminal device can identify a complete pulse signal transmitted by each pulse transmitting end, without the need for synchronization between the network device and the terminal device or synchronization between the beacons within the network device.

Description

Technical Field

[0001] The present invention relates to the field of pulse technology, and in particular to a positioning beacon generation method and device, and an arrival time determination method and device. Background Art

[0002] With the commercial use of wide-area wireless communication systems represented by the fifth-generation mobile communication network and various types of Internet of Things, a huge amount of connections and information flows are generated, among which the traffic in indoor scenes accounts for as much as 80%. This is because the core participants of economic activities, such as people, machines, equipment, and production process lines, are mostly in indoor environments. Position is one of the core information for electronic information systems to generate service efficiency and economic value. At present, the Global Navigation Satellite System (GNSS) is the most mainstream wide-area wireless positioning and navigation system. In open outdoor spaces, the positioning accuracy of common multi-mode GNSS receivers can reach a circular error probability of 2.5 meters. The use of dedicated positioning performance enhancement facilities can improve the positioning accuracy to the centimeter level. However, due to the complex propagation environment and the obstruction of GNSS signals, the positioning accuracy of GNSS indoors is not ideal.

[0003] Light-emitting diodes have absolutely dominated indoor lighting systems due to their extremely high luminous efficiency. Using LEDs as carriers, developing indoor positioning systems and technologies can solve the problems of poor indoor transmission quality and lack of positioning accuracy of the aforementioned wireless positioning systems during the lighting process, which is very suitable for enhancing the indoor positioning performance of 5G.

[0004] In the prior art, the generation of LED-based positioning beacons is a very hot research topic and the forefront of industry development. In the positioning system based on photodiode (PD), the positioning system is divided into a positioning terminal and a network device. The network device of the positioning system emits a visible beacon that meets specific rules, which is called a positioning beacon. Positioning beacons usually have time errors when they are transmitted, and there is mutual interference between beacons when multiple beacons are transmitted, resulting in poor positioning accuracy. The current positioning system controls the synchronization of positioning beacons between the transmitter and the receiver, or the network side or the terminal side of the positioning system is synchronized to overcome the influence of poor positioning accuracy caused by such time errors and mutual interference. However, the synchronization methods of the above two positioning systems both make the installation method of the positioning system complicated and costly. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a positioning beacon generation method, device, arrival time determination method and device to solve the problem that the synchronization method of the positioning system in the background technology leads to complex installation method and high cost of the positioning system.

[0006] The present invention provides a method for generating a positioning beacon. The method is implemented by a positioning system. The positioning system includes a positioning terminal and at least three pulse transmitting terminals. The pulse transmitting terminals are deployed at different positions indoors. The method is applied to the pulse transmitting terminals. The method includes:

[0007] When a positioning request is received, each of the pulse transmitting ends is controlled to generate a positioning beacon in accordance with a preset pulse modulation rule;

[0008] Each cycle of the positioning beacon contains at least two pulse signals, and the pulse widths of the pulse signals are the same. The pulse intervals between the two pulse signals in the positioning beacon transmitted by each pulse transmitting end are different, and the pulse interval is greater than the pulse width and is an integer multiple of the pulse width.

[0009] The above positioning beacon generation method receives a positioning request, and each pulse transmitter periodically transmits a corresponding preset pulse modulation rule to the positioning terminal to generate a positioning beacon. Each beacon includes two pulse signals transmitted at different pulse intervals. According to the pulse modulation rule, it is ensured that the positioning terminal can match the pulse signal with the pulse transmitter one by one through different pulse intervals. Because the pulse intervals are different, the pulse interval is greater than the pulse width, and is an integer multiple of the pulse width, it is ensured that the positioning terminal can identify a complete pulse signal transmitted by each pulse transmitter, and there will be no interference between the pulse signals. Therefore, the positioning terminal can be positioned without the need for synchronization between the network device and the terminal device or synchronization between the beacons inside the network device, thereby simplifying the installation of the indoor positioning system and reducing costs.

[0010] Furthermore, the pulse interval satisfies the following condition:

[0011] T g >L×(dt+S / c) , where T g is the pulse interval, L is a real number greater than 1, S is the maximum size of the indoor space, c is the speed of light, dt The maximum possible timing error for the transmitter wiring and hardware.

[0012] Furthermore, the ratio of the pulse interval to the pulse width of the pulse signal T g / T w Satisfy mutual relationships;

[0013] in, T w is the pulse width of the pulse signal.

[0014] Furthermore, each cycle of the positioning beacon is the same, and the cycle and pulse interval satisfy the following conditional formula:

[0015] T I >n×m×T g ,

[0016] In the formula, T I is a period, n is a real number greater than 1, m is the number of pulses in each cycle.

[0017] The present application also provides a method for determining an arrival time, which is applied to a positioning terminal and includes:

[0018] Obtaining a receiving signal fed back by the positioning terminal, wherein each cycle of the receiving signal contains at least two pulse signals;

[0019] The received signal is judged according to the judgment rule, and the judged received signal is matched with the transmission pulse frame of each pulse transmitting end to obtain the matching value between the received signal and each pulse transmitting end;

[0020] The time when the matching value of the received signal and the corresponding pulse transmitting end exceeds the threshold is recorded, and the time when the positioning beacon reaches the positioning terminal is determined by the time when the positioning beacon exceeds the threshold.

[0021] In the above-mentioned arrival time determination method, the positioning terminal receives the receiving signal fed back by the positioning beacon transmitted by the pulse transmitter according to the preset rules, judges the received signal, and compares the judged received signal with each pulse transmitter frame to eliminate the time error in the received signal, and determines the arrival time of each received signal according to the arrival time after eliminating the time error, so that the positioning system can perform positioning according to the information of the positioning beacon without the need for synchronization between the network device and the terminal device or synchronization between the beacons inside the network device, and obtain the same positioning accuracy as the synchronous system.

[0022] The present application also provides a positioning beacon generation device, which is implemented by a positioning system. The positioning system includes a positioning terminal and at least three pulse transmitting ends. The pulse transmitting ends are deployed at different positions indoors. The device is applied to the pulse transmitting ends. The device includes:

[0023] A positioning beacon transmitting module, used for controlling each of the pulse transmitting ends to generate a positioning beacon in accordance with a preset pulse modulation rule when a positioning request is received, wherein each cycle of the positioning beacon includes two pulse signals;

[0024] The pulse pair transmitting module is used to control the pulse width of the pulse signal transmitted by each pulse transmitting end to be the same, and the pulse interval between the two pulse signals in the positioning beacon transmitted by each pulse transmitting end is different, and the pulse interval is greater than the pulse width and is an integer multiple of the pulse width.

[0025] The present application also provides a device for determining arrival time, which is applied to a positioning terminal and includes:

[0026] A receiving signal acquisition module is used to acquire a receiving signal fed back by the positioning terminal, wherein each cycle of the receiving signal contains at least two pulse signals;

[0027] A receiving signal matching value acquisition module is used to judge the receiving signal according to the judgment rule, match the judged receiving signal with the transmission pulse frame of each pulse transmitting end, and obtain the matching value between the receiving signal and each pulse transmitting end;

[0028] The arrival time determination module is used to record the time when the matching value of the received signal and the corresponding pulse transmitting end exceeds the threshold, and determine the arrival time of the positioning beacon to the positioning terminal based on the time when the threshold is exceeded.

[0029] The present application also provides a data processing device, including a pulse transmitting end and a positioning terminal, wherein the pulse transmitting end periodically transmits a positioning beacon to the positioning terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of a positioning system in a first embodiment of the present invention;

[0031] Figure 2 is a schematic diagram of a pulse modulation rule in a first embodiment of the present invention;

[0032] Figure 3 is a schematic diagram of a received signal in a second embodiment of the present invention;

[0033] Figure 4 is a block diagram of a positioning beacon generating device in a third embodiment of the present invention;

[0034] Figure 5 is a block diagram of an arrival time determination device in a fourth embodiment of the present invention;

[0035] Figure 6 A schematic diagram of matching a decision signal and a frame in a second embodiment of the present invention;

[0036] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0037] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0038] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0040] Embodiment 1

[0041] In this embodiment, a method for generating a positioning beacon is provided. The method is implemented by a positioning system. The positioning system includes a positioning terminal and a positioning network. The positioning network includes at least three LEDs, a controller, and a power supply and a power switch. Each LED is provided with a corresponding controller. The LEDs are deployed at different positions indoors. The controller can be a timer. For example, a circuit with a 555 timer as the core is installed at the bias current control end of the LED to perform OOK modulation on the driving current of the LED, thereby controlling the LED to adjust the light according to a preset pulse modulation rule. Among them, the LED and the corresponding controller form a pulse transmitting end. A pulse signal with a preset modulation rule is formed by adjusting the light, and the combination of each pulse signal forms a positioning beacon.

[0042] like Figure 1 As shown, in this embodiment, there are four LEDs, controllers corresponding to the four LEDs, and a switch. The four LEDs form a quadrilateral and are arranged at the top of the room, and the positioning terminal moves at the bottom of the room. The positioning terminal observes the visible light signal emitted by the LED and receives the positioning beacon emitted by the pulse transmitting end, thereby locating the positioning terminal. The entire positioning system is simple to install. When the switch is turned on, the LED emits a visible light signal in the room, and the indoor positioning terminal can be located.

[0043] This method is applied to the pulse transmitter, such as Figure 2 The figure shows the pulse emission rules of the four LEDs. When a positioning request is received, each LED controls each pulse emission end according to the preset light adjustment time to generate a positioning beacon corresponding to the preset pulse modulation rule. Each cycle of the positioning beacon contains at least two pulse signals. The more pulse signals in each cycle, the higher the positioning accuracy of the positioning beacon. In this embodiment, each cycle of the positioning beacon contains two pulse signals.

[0044] Specifically, the LED lighting adjustment sequence is:

[0045] 1. Each period of LED light adjustment time is one cycle, and each cycle is a pulse pair interval. T I express.

[0046] 2. Within a pulse pair interval, the brightness of the LED is adjusted twice. The interval between the two brightness adjustments is called the pulse interval. T g ;

[0047] 3. Each time the LED brightness is adjusted, the time to maintain the brightness is called pulse width. T w Indicates that the pulse interval and pulse pair interval are integer multiples of the pulse width.

[0048] The pulse widths emitted by the four LEDs are the same, and the pulse intervals and pulse pair intervals are integer multiples of the pulse widths. The pulse intervals of the two pulse signals in the positioning beacon emitted by each pulse transmitter are different, and the pulse intervals of each pulse pair correspond to the pulse transmitter one by one. The dimmers of each LED adjust the illumination in a time sequence, taking each pulse pair interval as a period, and periodically adjust the illumination. During the pulse duration, the LED is turned off, or the brightness of the LED is increased, or the brightness of the LED is decreased. Outside the pulse duration, the brightness of the LED is restored, forming a pulse signal that meets the preset pulse modulation rules.

[0049] The preset pulse modulation rules include:

[0050] Rule 1: T g >L×(dt+S / c) , where L is a real number greater than 1, S is the maximum size of the indoor space, and c is the speed of light. dt The maximum possible time error of the transmitter wiring and hardware. Rule 1 ensures that the pulse interval is much larger than the sum of the maximum propagation delay and the maximum time error in the room, so that the first pulse of each LED pulse pair received by the positioning terminal does not overlap with the second pulse emitted by other LEDs.

[0051] Rule 2: Ratio of pulse interval to pulse width T g / T w Rule 2 satisfies the coprime relationship by making the ratio of each pulse interval to the pulse width satisfy the coprime relationship, so that the second pulse in each LED corresponding pulse pair received by the positioning terminal will not overlap and will not cause mutual interference.

[0052] Rule 3: The pulse pair interval of each positioning beacon is the same, and the pulse pair interval and the pulse interval satisfy the following condition:

[0053] T I >n×m×T g ,

[0054] In the formula, n is a real number greater than 1, m is the number of pulses in each pulse pair interval. Rule 3 controls the pulse pair interval to be much larger than the pulse interval, so that the positioning beacon currently received by the positioning terminal is radiated by each LED in the same pulse pair interval.

[0055] The above three rules ensure that under possible time errors, within the same pulse pair interval, when the positioning beacons arrive at the positioning terminal, there is no mutual interference between the beacons, and the terminal can at least identify one complete pulse signal in the pulse pair radiated by each LED, and thus extract the combined pulse information emitted by the four pulse transmitters based on the second complete pulse signal in the pulse pair emitted by each pulse transmitter, and then obtain the arrival time of the pulse signal based on the pulse information, and use a positioning algorithm based on time, intensity, or time and intensity to perform high-precision indoor positioning.

[0056] In addition, since the pulse duration is very short, the LED brightness changes very quickly and cannot be perceived by the human eye. Therefore, the human eye still feels stable lighting.

[0057] In summary, the positioning beacon generation method in this embodiment receives a positioning request, and each pulse transmitter periodically transmits a corresponding preset pulse modulation rule to the positioning terminal to generate a positioning beacon. Each beacon includes two pulse signals transmitted at different pulse intervals. According to the pulse modulation rule, it is ensured that the positioning terminal can match the pulse signal with the pulse transmitter one by one through different pulse intervals. Because the pulse intervals are different, the pulse interval is greater than the pulse width, and is an integer multiple of the pulse width, it is ensured that the positioning terminal can identify a complete pulse signal transmitted by each pulse transmitter, and there will be no interference between the pulse signals. Therefore, the positioning terminal can be positioned without the need for synchronization between the network device and the terminal device or synchronization between the beacons inside the network device, thereby simplifying the installation of the indoor positioning system and reducing costs.

[0058] Embodiment 2

[0059] This embodiment provides a method for determining the arrival time, which is based on the positioning beacon emitted in the first embodiment and is applied to the positioning terminal. Specifically, after the LED light source is turned on, the positioning terminal will receive a positioning request, and the LED light source will periodically radiate the positioning beacon to the positioning area in the form of pulses. At this time, the positioning terminal in the positioning area will receive each positioning beacon emitted by each LED light source, and obtain multiple actual receiving signals, which will eventually form the following: Figure 3 The waveform diagram shown in the figure. The first pulse signals in each positioning beacon overlap each other, and the second beacon in each positioning beacon has inconsistent pulse transmission intervals and a coprime relationship, so the positioning terminal can receive the complete information of the second pulse alone.

[0060] There is a time error between the two pulse intervals of each received signal and the pulse interval of the corresponding positioning beacon. The time error experienced by each pulse transmitting end in the same terminal is the same. Therefore, each received signal is compared with the transmitted pulse frame to eliminate the time error.

[0061] Specifically, the received signal is judged according to the judgment rule, and the judgment rule is to compare the received signal with the constant A. If it is greater than A, it is assigned a value of 1; if it is less than or equal to A, it is assigned a value of 0. Wherein, A represents the background light intensity received by the terminal when there is no pulse.

[0062] like Figure 6 As shown, the judged received signal is matched with the transmission pulse frame of each pulse transmitting end to obtain the matching value between the received signal and each pulse transmitting end. While matching the received signal with the transmission pulse frame of each pulse transmitting end, each received signal is also matched with each pulse transmitting end one by one.

[0063] Among them, the transmission pulse frame of each pulse transmitting end is defined as:

[0064]

[0065] in, Represents the time set of the transmitted pulse signal of each pulse transmitting end.

[0066] The matching value between the received signal and each pulse transmitting end is compared with the preset threshold, and the time when the matching value between the received signal and each pulse transmitting end exceeds the threshold is recorded, that is, the arrival time of the positioning beacon corresponding to the received signal arriving at the positioning terminal is determined.

[0067] In other optional embodiments, based on the positioning beacon in the first embodiment, the time error can be eliminated according to an algorithm or other method, the arrival time of the received signal can be determined, and the positioning terminal can be located.

[0068] In summary, in the arrival time determination method of this embodiment, the positioning terminal receives the receiving signal fed back by the positioning beacon transmitted by the pulse transmitter according to the preset rules, judges the received signal, and compares the judged received signal with each pulse transmitter frame to eliminate the time error in the received signal, and determines the arrival time of each received signal according to the arrival time after eliminating the time error, so that the positioning system can perform positioning according to the information of the positioning beacon without the need for synchronization between the network device and the terminal device or synchronization between the beacons inside the network device, and can achieve the same positioning accuracy as the synchronous positioning system.

[0069] Embodiment 3

[0070] Another aspect of the present invention provides a positioning beacon generating device, see Figure 4 , which is a device block diagram, wherein the device is implemented by a positioning system, wherein the positioning system includes a positioning terminal and at least three pulse transmitting terminals, wherein the pulse transmitting terminals are deployed at different positions indoors, and the device is applied to the pulse transmitting terminals, wherein the device includes:

[0071] A positioning beacon transmitting module, used for controlling each of the pulse transmitting ends to generate a positioning beacon in accordance with a preset pulse modulation rule when a positioning request is received, wherein each cycle of the positioning beacon includes two pulse signals;

[0072] The pulse pair transmitting module is used to control the pulse width of the pulse signal transmitted by each pulse transmitting end to be the same, and the pulse interval between the two pulse signals in the positioning beacon transmitted by each pulse transmitting end is different, and the pulse interval is greater than the pulse width and is an integer multiple of the pulse width.

[0073] Furthermore, in some other optional embodiments, the device further includes:

[0074] The first modulation module is used to control the pulse interval to satisfy the following condition:

[0075] T g >L×(dt+S / c) , where T g is the pulse interval, L is a real number greater than 1, S is the maximum size of the indoor space, c is the speed of light, dt The maximum possible timing error for the transmitter wiring and hardware.

[0076] Furthermore, in some other optional embodiments, the device further includes:

[0077] A second modulation module is used to control the ratio of the pulse interval to the pulse width of the pulse signal T g / T w Satisfy mutual relationships;

[0078] in, T w is the pulse width of the pulse signal.

[0079] Furthermore, in some other optional embodiments, the device further includes:

[0080] The third modulation module is used to control each cycle of the positioning beacon to be the same, and the cycle and the pulse interval satisfy the following conditional formula:

[0081] T I >n×m×T g ,

[0082] In the formula, T I is the period, n is a real number greater than 1, m is the number of pulses in each cycle.

[0083] The functions or operation steps implemented when the above modules and units are executed are generally the same as those in the above method embodiments, and will not be repeated here.

[0084] In summary, the positioning beacon generating device in the above-mentioned embodiment of the present invention receives a positioning request, and each pulse transmitting end periodically transmits a corresponding preset pulse modulation rule to the positioning terminal to generate a positioning beacon. Each beacon includes two pulse signals transmitted at different pulse intervals. According to the pulse modulation rule, it is ensured that the positioning terminal can match the pulse signal with the pulse transmitting end one by one through different pulse intervals. Because the pulse intervals are different, the pulse interval is greater than the pulse width, and is an integer multiple of the pulse width, it is ensured that the positioning terminal can identify a complete pulse signal transmitted by each pulse transmitting end, and there will be no interference between the pulse signals. Therefore, the positioning terminal can be positioned without the need for synchronization between the network device and the terminal device or synchronization between the beacons inside the network device, thereby simplifying the installation of the indoor positioning system and reducing the cost.

[0085] Embodiment 4

[0086] This embodiment provides a device for determining arrival time, which is applied to a positioning terminal and includes:

[0087] A receiving signal acquisition module, used to acquire a receiving signal fed back by the positioning terminal, wherein each cycle of the receiving signal contains at least two pulse signals;

[0088] A receiving signal acquisition module, used to acquire a receiving signal fed back by the positioning terminal, wherein each cycle of the receiving signal contains at least two pulse signals;

[0089] A receiving signal matching value acquisition module is used to judge the receiving signal according to the judgment rule, match the judged receiving signal with the transmission pulse frame of each pulse transmitting end, and obtain the matching value between the receiving signal and each pulse transmitting end;

[0090] The arrival time determination module is used to record the time when the matching value of the received signal and the corresponding pulse transmitting end exceeds the threshold, and determine the arrival time of the positioning beacon to the positioning terminal based on the time of exceeding the threshold.

[0091] In the arrival time determination device of this embodiment, the positioning terminal receives the receiving signal fed back by the positioning beacon transmitted by the pulse transmitting end according to the preset rule, judges the receiving signal, and compares the judged receiving signal with each pulse transmitting end frame to eliminate the time error in the receiving signal, and determines the arrival time of each receiving signal according to the arrival time after eliminating the time error, so that the positioning system can perform positioning according to the information of the positioning beacon without the need for synchronization between the network device and the terminal device or synchronization between the beacons inside the network device, and can achieve the same positioning accuracy as the synchronous positioning system.

[0092] Embodiment 5

[0093] Another aspect of the present invention further provides a data processing device, comprising a pulse transmitting end and a positioning terminal, wherein the pulse transmitting end periodically transmits a positioning beacon to the positioning terminal.

[0094] In summary, the positioning beacon generating device in the above-mentioned embodiment of the present invention receives a positioning request, and each pulse transmitter periodically transmits a corresponding preset pulse modulation rule to the positioning terminal to generate a positioning beacon. Each beacon includes two pulse signals transmitted at different pulse intervals. According to the pulse modulation rule, it is ensured that the positioning terminal can match the pulse signal with the pulse transmitter one by one through different pulse intervals. Due to the different pulse intervals, a complete pulse signal transmitted by each pulse transmitter can be identified, and there will be no interference between the pulse signals, so there is no need for synchronization between the network device and the terminal device or synchronization between the beacons inside the network device, which simplifies the installation of the indoor positioning system and reduces the cost.

[0095] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with these instruction execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0096] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0097] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0098] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for generating a positioning beacon, characterized in that: The method is implemented by a positioning system, the positioning system includes a positioning terminal and at least three pulse transmitting ends, the pulse transmitting ends are deployed at different positions indoors, the method is applied to the pulse transmitting ends, and the method includes: When a positioning request is received, each of the pulse transmitting ends is controlled to generate a positioning beacon in accordance with a preset pulse modulation rule; Wherein, each cycle of the positioning beacon contains at least two pulse signals, and the pulse widths of the pulse signals are the same; the pulse intervals between the two pulse signals in the positioning beacon transmitted by each of the pulse transmitting ends are different, and the pulse intervals are greater than the pulse width and are integer multiples of the pulse width; The pulse interval satisfies the following condition: T g >L×(dt+S / c) , where T g is the pulse interval, L is a real number greater than 1, S is the maximum size of the indoor space, c is the speed of light, dt The maximum possible time error for the transmitter wiring and hardware; The ratio of the pulse interval to the pulse width of the pulse signal T g / T w Satisfy the coprime relationship, where T w is the pulse width of the pulse signal; Each cycle of the positioning beacon is the same, and the cycle and the pulse interval satisfy the following conditional formula: T I >n×m×T g ， In the formula, T I is the period, n is a real number greater than 1, m is the number of pulses in each cycle.

2. A method for determining arrival time, the method being applied to a positioning terminal, characterized in that: The positioning beacon in the method is generated by the positioning beacon generation method according to claim 1, and the method comprises: Acquire a receiving signal fed back by the positioning terminal, wherein each cycle of the receiving signal contains at least two pulse signals; The received signal is judged according to the judgment rule, and the judged received signal is matched with the transmission pulse frame of each pulse transmitting end to obtain the matching value between the received signal and each pulse transmitting end; Record the time when the received signal and the matching value of the corresponding pulse transmitting end cross the threshold, and determine the arrival time of the positioning beacon at the positioning terminal according to the time when the threshold is crossed; The decision rule is to compare the received signal with a constant A. If it is greater than A, a value of 1 is assigned; if it is less than or equal to A, a value of 0 is assigned; wherein A represents the background light intensity received by the terminal when there is no pulse; Among them, the transmission pulse frame of each pulse transmitting end is defined as: in, Represents the time set of the transmitted pulse signal of each pulse transmitting end.

3. A positioning beacon generating device, characterized in that: The positioning beacon generation method according to claim 1 is applied to the device implemented by a positioning system, the positioning system includes a positioning terminal and at least three pulse transmitting ends, the pulse transmitting ends are deployed at different positions indoors, the device is applied to the pulse transmitting end, and the device includes: A positioning beacon transmitting module, used for controlling each of the pulse transmitting ends to generate a positioning beacon in accordance with a preset pulse modulation rule when a positioning request is received, wherein each cycle of the positioning beacon includes two pulse signals; The pulse pair transmitting module is used to control the pulse width of the pulse signal transmitted by each pulse transmitting end to be the same, and the pulse interval between the two pulse signals in the positioning beacon transmitted by each pulse transmitting end is different, and the pulse interval is greater than the pulse width and is an integer multiple of the pulse width.

4. A device for determining arrival time, characterized in that: The method for determining the arrival time according to claim 2 is applied to a positioning terminal, and the device comprises: A receiving signal acquisition module, used to acquire a receiving signal fed back by the positioning terminal, wherein each cycle of the receiving signal contains at least two pulse signals; A receiving signal matching value acquisition module is used to judge the receiving signal according to the judgment rule, match the judged receiving signal with the transmission pulse frame of each pulse transmitting end, and obtain the matching value between the receiving signal and each pulse transmitting end; The arrival time determination module is used to record the time when the matching value of the received signal and the corresponding pulse transmitting end exceeds the threshold, and determine the arrival time of the positioning beacon to the positioning terminal based on the time of exceeding the threshold.

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