Wireless positioning device and method, positioning follower vehicle, and positioning equipment

Abstract

The present invention discloses a wireless positioning device and method, a positioning follower vehicle, and a positioning device. The device includes: a controller and three positioning antennas, the three positioning antennas are all arranged on the controller, and are all perpendicular to the ground, and the connection lines between the three form a triangle; when the controller receives a positioning instruction for the first time after being turned on, it controls each positioning antenna to send a transmission signal to a target to be positioned; receives a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determines the target RSSI value corresponding to each feedback signal according to the feedback signal; determines the distance between the corresponding positioning antenna and the target to be positioned according to each target RSSI value; and determines the position of the target to be positioned according to the distance. The present invention has a simple structure, realizes accurate positioning of the target to be positioned through three positioning antennas, and has a simple positioning algorithm, is easy to implement, and requires low cost.

Description

Technical Field

[0001] The present invention relates to the field of positioning and following technology, and in particular to a wireless positioning device and method, a positioning and following trolley, and a positioning device. Background Art

[0002] With the development of social technology, the human-computer interactive following system is becoming more and more humanized, and the positioning following system is becoming more and more widely used and convenient.

[0003] At present, the positioning and following system mainly adopts wireless positioning technology for positioning, such as UWB (Ultra WideBand) technology, Bluetooth technology, laser and camera positioning technology. These positioning technologies are mainly implemented by dedicated positioning chips. However, the cost of dedicated positioning chips is high, and the positioning algorithms used are relatively complex and difficult to implement.

[0004] For example, the commonly used positioning algorithm of the current positioning chip is the TDOA (Time Difference of Arrival) algorithm, such as Figure 1 As shown in the figure, the algorithm mainly uses special directional antennas a and b to locate the target q. Specifically, the distance from point q to point a is calculated as R1, and the arrival time is t1; the distance from point q to point b is calculated as R2, and the arrival time is t2; according to the time difference between t1 and t2, the position of point q is obtained to achieve wireless positioning. However, the positioning result is not accurate enough by only using two antennas a and b, and it is impossible to determine which side of a and b point q is located, which is not conducive to accurate tracking.

[0005] To address this problem, it is generally necessary to add a special directional antenna c to cooperate with a and b to determine the specific location of point q. However, for the TDOA system, adding an antenna c will more than double the amount of calculation in the positioning process, making the calculation process complex and the cost multiplied. In addition, the TDOA system uses special directional antennas, which are relatively expensive. On the other hand, the distance between points a and b is generally in centimeters, and the distance of 1 nanosecond of light speed is 30 centimeters. Therefore, the TDOA system must use at least three high-performance chips and algorithms to calculate the time difference of light speed below 0.1 nanoseconds, thereby further increasing the positioning cost. Summary of the invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0007] To this end, an object of the present invention is to propose a wireless positioning device, which has a simple structure and wirelessly communicates with a target to be positioned through three positioning antennas, and obtains target RSSI (Received Signal Strength Indication) values ​​of feedback signals corresponding to the three positioning antennas respectively, and achieves accurate positioning of the target to be positioned according to the change between the target RSSI value and the distance, and the positioning algorithm is simple, easy to implement, and the required cost is low.

[0008] To this end, a second object of the present invention is to provide a positioning following vehicle.

[0009] To this end, the third objective of the present invention is to propose a wireless positioning method.

[0010] To this end, a fourth objective of the present invention is to provide a positioning device.

[0011] To this end, a fifth object of the present invention is to provide a computer-readable storage medium.

[0012] To achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention discloses a wireless positioning device, comprising: a controller and three positioning antennas, the three positioning antennas are arranged on the controller and are all perpendicular to the ground, and the lines connecting the three positioning antennas form a triangle; the controller is used to execute a preset first positioning strategy when receiving a positioning instruction for the first time after power-on to locate the target to be located; wherein the first positioning strategy includes: controlling each positioning antenna to send a transmission signal to the target to be located; receiving a feedback signal fed back by each positioning antenna, wherein the feedback signal fed back by each positioning antenna corresponds to the transmission signal sent by the positioning antenna to the target to be located; determining a target RSSI value corresponding to each feedback signal according to the feedback signal; determining the distance between the corresponding positioning antenna and the target to be located according to each target RSSI value; and determining the position of the target to be located according to the distance between each positioning antenna and the target to be located.

[0013] According to the wireless positioning device of the embodiment of the present invention, when the controller receives the positioning instruction for the first time after power-on, it controls each positioning antenna to send a transmission signal; receives a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determines the target RSSI value corresponding to each feedback signal according to the feedback signal; determines the distance between the corresponding positioning antenna and the target to be located according to each target RSSI value; and determines the position of the target to be located according to the distance. Thus, the wireless positioning device has a simple structure, wirelessly communicates with the target to be located through three positioning antennas, and obtains the target RSSI values ​​of the feedback signals corresponding to the three positioning antennas respectively. According to the change between the target RSSI value and the distance, the target to be located is accurately positioned, and the positioning algorithm is simple and easy to implement. The performance requirements for the chip are not high, and a general general chip can meet the requirements. Therefore, no complex process and calculation are required, and the required cost is low.

[0014] To achieve the above-mentioned purpose, a second aspect of the present invention discloses a positioning and following vehicle, which includes the wireless positioning device described in the first aspect of the present invention.

[0015] According to the positioning following car of the embodiment of the present invention, when the controller receives the positioning instruction for the first time after power-on, it controls each positioning antenna to send a transmission signal; receives a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determines the target RSSI value corresponding to each feedback signal according to the feedback signal; determines the distance between the corresponding positioning antenna and the target to be located according to each target RSSI value; and determines the position of the target to be located according to the distance. Thus, the positioning following car has a simple structure, wirelessly communicates with the target to be located through three positioning antennas, and obtains the target RSSI values ​​of the feedback signals corresponding to the three positioning antennas respectively. According to the change between the target RSSI value and the distance, the target to be located is accurately positioned, and the positioning algorithm is simple and easy to implement. The performance requirements for the chip are not high, and general general-purpose chips can meet the requirements. Therefore, no complex process and calculation are required, and the required cost is low.

[0016] To achieve the above-mentioned purpose, the third aspect of the embodiment of the present invention discloses a wireless positioning method for a controller, and the method includes the following steps: when the controller receives a positioning instruction for the first time after being powered on, it controls each of the three positioning antennas to send a transmission signal, wherein the three positioning antennas are arranged on the controller and are all perpendicular to the ground, and the lines between the three positioning antennas form a triangle; receiving a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determining a target RSSI value corresponding to each feedback signal according to the feedback signal; determining the distance between the corresponding positioning antenna and the target to be located according to each target RSSI value; and determining the position of the target to be located according to the distance.

[0017] According to the wireless positioning method of the embodiment of the present invention, it can be implemented by a controller. When the controller receives the positioning instruction for the first time after powering on, it controls each positioning antenna to send a transmission signal; receives a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determines the target RSSI value corresponding to each feedback signal according to the feedback signal; determines the distance between the corresponding positioning antenna and the target to be located according to each target RSSI value; and determines the position of the target to be located according to the distance. Therefore, the structure adopted in the implementation of this method is simple. Wireless communication is performed with the target to be located through three positioning antennas, and the target RSSI values ​​of the feedback signals corresponding to the three positioning antennas are obtained respectively. According to the change between the target RSSI value and the distance, the accurate positioning of the target to be located is achieved. The positioning algorithm is simple and easy to implement. The performance requirements for the chip are not high. A general general chip can meet the requirements. Therefore, no complex process and calculation are required, and the required cost is low.

[0018] To achieve the above-mentioned purpose, the fourth aspect of the present invention discloses a positioning device, including: a processor, a memory, and a wireless positioning program stored in the memory and executable on the processor, wherein the wireless positioning program, when executed by the processor, implements the wireless positioning method as described in the third aspect of the present invention.

[0019] According to the positioning device of the embodiment of the present invention, the controller executes the wireless positioning method. When the controller receives the positioning instruction for the first time after powering on, it controls each positioning antenna to send a transmission signal; receives a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determines the target RSSI value corresponding to each feedback signal according to the feedback signal; determines the distance between the corresponding positioning antenna and the target to be positioned according to each target RSSI value; and determines the position of the target to be positioned according to the distance. Thus, the positioning device has a simple structure, wirelessly communicates with the target to be positioned through three positioning antennas, and obtains the target RSSI values ​​of the feedback signals corresponding to the three positioning antennas respectively. According to the change between the target RSSI value and the distance, the target to be positioned is accurately positioned. The positioning algorithm is simple and easy to implement. The performance requirements for the chip are not high, and a general general chip can meet the requirements. Therefore, no complex process and calculation are required, and the required cost is low.

[0020] To achieve the above objectives, the fifth aspect of the present invention discloses a computer-readable storage medium, on which a wireless positioning program is stored. When the wireless positioning program is executed by a processor, the wireless positioning method as described in the third aspect of the present invention is implemented.

[0021] According to the computer-readable storage medium of the embodiment of the present invention, when the wireless positioning program stored thereon is executed by the processor, the wireless positioning method is executed by the controller, and when the controller receives the positioning instruction for the first time after powering on, it controls each positioning antenna to send a transmission signal; receives a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determines the target RSSI value corresponding to each feedback signal according to the feedback signal; determines the distance between the corresponding positioning antenna and the target to be located according to each target RSSI value; and determines the position of the target to be located according to the distance. Thus, wireless communication is performed with the target to be located through the three positioning antennas, and the target RSSI values ​​of the feedback signals corresponding to the three positioning antennas are obtained respectively. According to the change between the target RSSI value and the distance, the accurate positioning of the target to be located is achieved, and the positioning algorithm is simple and easy to implement. The performance requirements for the chip are not high, and general general-purpose chips can meet the requirements. Therefore, no complex process and calculation are required, and the required cost is low.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 This is a schematic diagram of the positioning process of the current TDOA system;

[0025] Figure 2 is a schematic diagram of the structure of a wireless positioning device according to an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of positioning antenna arrangement according to an embodiment of the present invention;

[0027] Figure 4 is a schematic diagram of signal transmission of a wireless positioning device according to a specific embodiment of the present invention;

[0028] Figure 5 is a curve diagram showing the relationship between RSSI and distance change according to a specific embodiment of the present invention;

[0029] Figure 6 is a schematic diagram of a positioning process of a wireless positioning device according to a specific embodiment of the present invention;

[0030] Figure 7 is a flow chart of a wireless positioning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0032] Reference below Figure 2-Figure 7 The present invention describes a wireless positioning device and method, a positioning follower vehicle, and a positioning equipment according to an embodiment of the present invention.

[0033] Figure 2 1 is a schematic diagram of the structure of a wireless positioning device according to an embodiment of the present invention. The wireless positioning device can be applied to a human-machine interactive following system or a positioning following system, such as being applied to a positioning following vehicle. The positioning following vehicle can accurately locate the target to be located through the wireless positioning device, thereby facilitating accurate following interaction, thereby improving the accuracy and reliability of the human-machine interactive following system or the positioning following system.

[0034] like Figure 2 As shown, the wireless positioning device 100 includes: a controller 110 and three positioning antennas. The three positioning antennas are arranged on the controller 110, and are all perpendicular to the ground, and the lines connecting the three positioning antennas form a triangle. Among them, the three positioning antennas specifically include: a first positioning antenna A, a second positioning antenna B, and a third positioning antenna C. That is, the first positioning antenna A, the second positioning antenna B, and the third positioning antenna C are arranged on the controller 110, and are all perpendicular to the ground, and the lines connecting the first positioning antenna A, the second positioning antenna B, and the third positioning antenna C form a triangle.

[0035] In a specific embodiment, the controller 110 may be disposed on a positioning follower vehicle, for example. Figure 3 As shown, the controller 110 can be configured as a control board, which is arranged on the positioning follower vehicle and parallel to the ground. Therefore, the first positioning antenna A, the second positioning antenna B and the third positioning antenna C can be vertically arranged on the control board, so as to be arranged vertically to the ground. As a result, the first to third positioning antennas C have less interference and obstruction during signal transmission, so that when positioning the target Q to be positioned, the positioning accuracy can be effectively improved, for example, the positioning accuracy can be increased to 10 cm.

[0036] In an embodiment of the present invention, the lines connecting the first positioning antenna A, the second positioning antenna B and the third positioning antenna C form a triangle, that is, the first positioning antenna A, the second positioning antenna B and the third positioning antenna C are not on the same straight line, so that the lines connecting the three can form a triangle, so that the target Q to be positioned can be accurately positioned. For example, the position of the target Q to be positioned can be determined by two of the first positioning antenna A, the second positioning antenna B and the third positioning antenna C, and then the third positioning antenna can be used to determine which side of the other two positioning antennas the target Q to be positioned is on. In practical applications, it can be helpful to determine whether the target Q to be positioned is located in front of or behind the positioning follower vehicle, thereby achieving accurate positioning of the target Q to be positioned and facilitating accurate follow-up interaction.

[0037] It can be understood that, in the embodiment of the present invention, the first positioning antenna A, the second positioning antenna B and the third positioning antenna C can all be the same antenna, and the arrangement positions of the antennas on the controller 110 are different. Figures 2 to 6 In the example shown, the first positioning antenna A and the second positioning antenna B are arranged at the right side of the controller 110, which corresponds to the head position of the positioning following vehicle; the third positioning antenna C is arranged at the left side of the controller 110, which corresponds to the tail position of the positioning following vehicle.

[0038] Specifically, the controller 110 is used to execute a preset first positioning strategy to locate the target Q when the controller 110 receives a positioning instruction sent by the target Q to be located for the first time after being powered on. Specifically, that is, after the controller 110 is powered on, if the controller 110 receives a positioning instruction sent by the target Q to be located for the first time, the controller 110 executes the first positioning strategy to locate the target Q to be located.

[0039] In a specific embodiment, the target Q to be located may send out a positioning instruction, such as a preset positioning signal, after being turned on. After the controller 110 receives the positioning signal for the first time after being turned on, it executes the first positioning strategy to locate the target Q to be located. It is understandable that the target Q to be located may be an object, which may be movable or fixed, and which may have a wireless communication module that may receive and send various types of signals. The target Q to be located may also be a person who carries a wireless communication device that may receive and send various types of signals.

[0040] Among them, the first positioning strategy includes: controlling each positioning antenna to send a transmission signal to the target to be located; receiving a feedback signal fed back by each positioning antenna, wherein the feedback signal received fed back by each positioning antenna corresponds to the transmission signal sent by the positioning antenna to the target to be located; determining the target RSSI value corresponding to each feedback signal according to the feedback signal; determining the distance between the corresponding positioning antenna and the target Q to be located according to each target RSSI value; and determining the position of the target Q to be located according to the distance between each positioning antenna and the target to be located.

[0041] In one embodiment of the present invention, the feedback signal is generated by the target to be located Q according to the received transmission signal, and the feedback signal includes at least an RSSI waveform; the controller 110 is used to determine the target RSSI value corresponding to the corresponding feedback signal according to the RSSI waveform. Specifically, after the target to be located Q receives the transmission signal, it generates a feedback signal according to the transmission signal and returns the feedback signal. After the corresponding positioning antenna receives the feedback signal, it feeds the feedback signal back to the controller 110. The controller can calculate the target RSSI value corresponding to the feedback signal according to the RSSI waveform in the feedback signal.

[0042] In a specific embodiment, the process of the controller 110 executing the first positioning strategy can be described in detail as follows:

[0043] 1. The controller 110 can sequentially control one of the first positioning antenna A, the second positioning antenna B and the third positioning antenna C to send one of the first transmission signal, the second transmission signal and the third transmission signal to the target Q to be positioned, wherein the first transmission signal at least includes: the identity information of the first positioning antenna A (such as the ID code of the first positioning antenna A, used to identify the identity of the first positioning antenna A), the second transmission signal at least includes: the identity information of the second positioning antenna B (such as the ID code of the second positioning antenna B, used to identify the identity of the second positioning antenna B), and the third transmission signal at least includes: the identity information of the third positioning antenna C (such as the ID code of the third positioning antenna C, used to identify the identity of the third positioning antenna). Specifically, that is, one of the first to third positioning antennas is sequentially controlled to send a corresponding transmission signal to the target Q to be positioned, and the transmission signal contains the identity information of the current positioning antenna, such as the ID code. In other words, the controller 110 controls only one positioning antenna at a time to send a transmission signal to the target Q to be located. After the positioning antenna completes the transmission, the second positioning antenna is controlled to send a transmission signal. After the second positioning antenna completes the transmission, the third positioning antenna is controlled to send a transmission signal. In this way, the first positioning antenna A, the second positioning antenna B and the third positioning antenna C are controlled in turn to send a corresponding transmission signal to the target Q to be located, wherein the first positioning antenna A corresponds to sending a first transmission signal, the third positioning antenna C corresponds to sending a second transmission signal, and the third positioning antenna C corresponds to sending a third transmission signal.

[0044] 2. Receive one of the first feedback signal, the second feedback signal and the third feedback signal sent by the target to be positioned Q in sequence, wherein the first feedback signal at least includes: a first RSSI waveform corresponding to the first positioning antenna A, the second feedback signal at least includes: a second RSSI waveform corresponding to the second positioning antenna B, and the third feedback signal at least includes: a third RSSI waveform corresponding to the third positioning antenna C. Specifically, after receiving the first transmission signal sent by the first positioning antenna A, the target to be positioned Q determines the identity of the first positioning antenna A according to the identity information of the first positioning antenna A in the first transmission signal, and returns the first RSSI waveform corresponding to the first positioning antenna A; after receiving the second transmission signal sent by the second positioning antenna B, the target to be positioned Q determines the identity of the second positioning antenna B according to the identity information of the second positioning antenna B in the second transmission signal, and returns the second RSSI waveform corresponding to the second positioning antenna B. After receiving the third transmission signal sent by the third positioning antenna C, the target to be positioned Q determines the identity of the third positioning antenna C according to the identity information of the third positioning antenna C in the third transmission signal, and returns the third RSSI waveform corresponding to the third positioning antenna C. Therefore, after the controller 110 sequentially controls the first positioning antenna A, the second positioning antenna B and one of the third positioning antenna C to send one of the first transmission signal, the second transmission signal and the third transmission signal to the target Q to be positioned, the target Q to be positioned correspondingly receives one of the first transmission signal, the second transmission signal and the third transmission signal in sequence, and generates corresponding first feedback signal, second feedback signal and third feedback signal according to the first transmission signal, the second transmission signal and the third transmission signal, and correspondingly returns one of the first feedback signal, the second feedback signal and the third feedback signal in sequence.

[0045] 3. Determine the first target RSSI value according to the first RSSI waveform in the first feedback signal, determine the second target RSSI value according to the second RSSI waveform in the second feedback signal, and determine the third target RSSI value according to the third RSSI waveform in the third feedback signal. Specifically, the controller 110 can calculate the first target RSSI value corresponding to the first feedback signal according to the first RSSI waveform in the first feedback signal; calculate the second target RSSI value corresponding to the second feedback signal according to the second RSSI waveform in the second feedback signal, and calculate the third target RSSI value corresponding to the third feedback signal according to the third RSSI waveform in the third feedback signal.

[0046] 4. Determine the first distance, the second distance and the third distance between the target to be located Q and the first positioning antenna A, the second positioning antenna B and the third positioning antenna C according to the first target RSSI value, the second target RSSI value and the third target RSSI value. Specifically, the controller 110 determines the distance between the first positioning antenna A and the target to be located Q according to the first target RSSI value, that is, the first distance; determines the distance between the second positioning antenna B and the target to be located Q according to the second target RSSI value, that is, the second distance; determines the distance between the third positioning antenna C and the target to be located Q according to the third target RSSI value, that is, the third distance.

[0047] 5. Locate the target Q to be located according to the first target RSSI value, the second target RSSI value, the third target RSSI value, the first distance, the second distance and the third distance. Specifically, the controller 110 accurately locates the target Q to be located according to the change relationship between the target RSSI value corresponding to each positioning antenna and the distance between the target Q to be located. For example, the position of the target Q to be located can be determined by the first target RSSI, the second target RSSI value, the first distance and the second distance, and the specific side of the first positioning antenna A and the second positioning antenna B on which the target Q to be located can be determined according to the third target RSSI value and the third distance.

[0048] For example, combined with Figure 2-Figure 6 In the example shown, the first positioning antenna A and the second positioning antenna B are arranged at the right end of the controller 110, which corresponds to the front position of the positioning and following trolley; the third positioning antenna C is arranged at the left end of the controller 110, which corresponds to the rear position of the positioning and following trolley. Thus, when the third target RSSI value is less than the first RSSI value, and the third target RSSI value is less than the second RSSI value, it is considered that the target Q to be positioned is located on the right side of the first positioning antenna A and the second positioning antenna B, that is, it is considered that the target Q to be positioned is located in front of the front of the positioning and following trolley, which is conducive to the positioning and following trolley to achieve precise following. When the third target RSSI value is greater than the first RSSI value, and the third target RSSI value is greater than the second RSSI value, it is considered that the target Q to be positioned is located on the left side of the first positioning antenna A and the second positioning antenna B, specifically on the left side of the third positioning antenna C, that is, it is considered that the target Q to be positioned is located behind the rear of the positioning and following trolley, which is conducive to the positioning and following trolley to achieve precise following.

[0049] Alternatively, when the third distance is greater than the first distance, and the third distance is greater than the second distance, it is considered that the target Q to be located is located on the right side of the first positioning antenna A and the second positioning antenna B, that is, it is considered that the target Q to be located is located in front of the front of the positioning and following trolley, which is conducive to the positioning and following trolley to achieve precise following. When the third distance is less than the first distance, and the third distance is less than the second distance, it is considered that the target Q to be located is located on the left side of the first positioning antenna A and the second positioning antenna B, specifically on the left side of the third positioning antenna C, that is, it is considered that the target Q to be located is located behind the rear of the positioning and following trolley, which is conducive to the positioning and following trolley to achieve precise following. Therefore, in combination with the first positioning antenna A, the second positioning antenna B and the third positioning antenna C, it is possible to achieve precise positioning of the target Q to be located, which is conducive to subsequent precise following.

[0050] Therefore, in combination with the first positioning antenna A, the second positioning antenna B and the third positioning antenna C, according to the target RSSI value of the corresponding feedback signal and the change relationship of the distance, the target Q to be positioned can be accurately positioned, which is conducive to the subsequent accurate tracking.

[0051] Thus, in the wireless positioning device 100, when the controller 110 receives the positioning instruction for the first time after being powered on, it controls each positioning antenna to send a transmission signal; receives a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determines the target RSSI value corresponding to each feedback signal according to the feedback signal; determines the distance between the corresponding positioning antenna and the target Q to be located according to each target RSSI value; and determines the position of the target Q to be located according to the distance. Thus, the wireless positioning device 100 has a simple structure, and wirelessly communicates with the target Q to be located through three positioning antennas, and obtains the target RSSI values ​​of the feedback signals corresponding to the three positioning antennas respectively. According to the change between the target RSSI value and the distance, the target Q to be located is accurately located, and the positioning algorithm is simple and easy to implement. The performance requirements for the chip are not high, and a general general chip can meet the requirements. Therefore, no complicated process and calculation are required, and the required cost is low.

[0052] In one embodiment of the present invention, the controller 110 controls each positioning antenna to transmit multiple transmission signals. Therefore, the corresponding feedback signals received are also multiple, and then the target RSSI value can be calculated based on the corresponding multiple RSSI waveforms in the multiple feedback signals, for example, the average of the multiple RSSI waveforms is calculated to obtain the target RSSI value, thereby improving the accuracy of the target RSSI.

[0053] In a specific embodiment, the controller 110 is specifically used to: control the first positioning antenna A to send multiple first transmission signals to the target Q to be positioned, and after receiving multiple first feedback signals returned by the target Q to be positioned based on the multiple first transmission signals, obtain the first target RSSI value by averaging the multiple first RSSI waveforms correspondingly contained in the multiple first feedback signals; and control the second positioning antenna B to send multiple second transmission signals to the target Q to be positioned, and after receiving multiple second feedback signals returned by the target Q to be positioned based on the multiple second transmission signals, obtain the second target RSSI value by averaging the multiple second RSSI waveforms correspondingly contained in the multiple second feedback signals; and control the third positioning antenna C to send multiple third transmission signals to the target Q to be positioned, and after receiving multiple third feedback signals returned by the target Q to be positioned based on the multiple third transmission signals, obtain the third target RSSI value by averaging the multiple third RSSI waveforms correspondingly contained in the multiple third feedback signals.

[0054] Specifically, the controller 110 controls one of the first positioning antenna A, the second positioning antenna B and the third positioning antenna C in sequence to send a first transmission signal, a second transmission signal and a third transmission signal to the target Q to be located, including: the controller 110 controls the first positioning antenna A, the second positioning antenna B and the third positioning antenna C to send corresponding transmission signals to the target Q to be located multiple times.

[0055] That is, the first positioning antenna A is controlled to send the first transmission signal to the target Q to be positioned multiple times, so that the target Q to be positioned can receive multiple first transmission signals, and then generate multiple first feedback signals according to the multiple first transmission signals, and return multiple first feedback signals, and the controller 110 can calculate the first target RSSI value according to the multiple first RSSI waveforms corresponding to the multiple first feedback signals. Specifically, a low-pass filtering average algorithm is used to average the multiple first RSSI waveforms to obtain the first target RSSI value, thereby improving the accuracy of the first target RSSI value, making it closer to the true value, and thus helping to improve the positioning accuracy of the target Q to be positioned.

[0056] And, the controller 110 controls the second positioning antenna B to send the second transmission signal to the target Q to be positioned multiple times, so that the target Q to be positioned can receive multiple second transmission signals, and then generate multiple second feedback signals according to the multiple second transmission signals, and return multiple second feedback signals, and the controller 110 can calculate the second target RSSI value according to the multiple second RSSI waveforms corresponding to the multiple second feedback signals. Specifically, a low-pass filtering average algorithm is used to average the multiple second RSSI waveforms to obtain the second target RSSI value, so that the accuracy of the second target RSSI value is closer to the true value, which is conducive to improving the positioning accuracy of the target Q to be positioned.

[0057] And, the controller 110 controls the third positioning antenna C to send the third transmission signal to the target Q to be positioned multiple times, so that the target Q to be positioned can receive multiple third transmission signals, and then generate multiple third feedback signals according to the multiple third transmission signals, and return multiple third feedback signals, and the controller 110 can calculate the third target RSSI value according to the multiple third RSSI waveforms corresponding to the multiple third feedback signals. Specifically, a low-pass filtering average algorithm is used to average the multiple third RSSI waveforms to obtain the third target RSSI value, so that the accuracy of the third target RSSI value is closer to the true value, which is conducive to improving the positioning accuracy of the target Q to be positioned.

[0058] It should be noted that when the controller 110 controls the first positioning antenna A to send the first transmission signal multiple times, controls the second positioning antenna B to send the second transmission signal multiple times, and controls the third positioning antenna C to send the third transmission signal multiple times, there is no restriction on the control order, which can be random, as long as multiple first transmission signals, multiple second transmission signals, and multiple third transmission signals can be sent, there is no restriction on the order of signal transmission or the control order of the positioning antennas. For example, the first positioning antenna A can be controlled to send multiple first transmission signals in sequence, and then the second positioning antenna B or the third positioning antenna C can be controlled to send the corresponding transmission signals in sequence; or the second positioning antenna B can be controlled to send the second transmission signal in sequence, and then the first positioning antenna A or the third positioning antenna C can be controlled to send the corresponding transmission signal in sequence; or the third positioning antenna C can be controlled to send the second transmission signal in sequence, and then the first positioning antenna A or the second positioning antenna B can be controlled to send the corresponding transmission signal in sequence.

[0059] Further, the controller 110 first controls the first positioning antenna A to send the first transmission signal, then controls the second positioning antenna B to send the second transmission signal, and finally controls the third positioning antenna C to send the third transmission signal as an example for explanation. The controller 110 may first control the first positioning antenna A to send multiple first transmission signals, and after the multiple first transmission signals are sent, control the second positioning antenna B to send multiple second transmission signals, and after the multiple second transmission signals are sent, control the third positioning antenna C to send multiple third transmission signals, until the multiple third transmission signals are sent. Alternatively, the controller 110 may control the first positioning antenna A to send part of the multiple first transmission signals (such as 1 or 2, etc.), and then control the second positioning antenna B to send part of the multiple second transmission signals or control the third positioning antenna C to send part of the multiple third transmission signals (such as 1 or 2, etc.), and after the parts of the multiple first transmission signals, the parts of the multiple second transmission signals, and the parts of the multiple third transmission signals are all sent, then send the remaining parts of the multiple first transmission signals, the multiple second transmission signals, and the multiple third transmission signals alternately or randomly in sequence. That is, the process of controlling the first to third positioning antennas to send corresponding transmission signals is random. For example, the first positioning antenna A is controlled to send the first transmission signal in the previous time, and the first positioning antenna A may be controlled to send the first transmission signal in the next time, or the second positioning antenna B may be controlled to send the second transmission signal or the third positioning antenna C may be controlled to send the third transmission signal. To reduce redundancy, they are not listed one by one here. It can be understood that in the embodiments of the present invention, as long as multiple first transmission signals, multiple second transmission signals and multiple third transmission signals can be sent, there is no restriction on the order of signal transmission or the control order of positioning antennas.

[0060] In one embodiment of the present invention, the controller 110 is also used to: execute a preset second positioning strategy after executing the first positioning strategy; wherein the second positioning strategy includes: controlling the third positioning antenna C to stop sending the third transmission signal, and controlling the first positioning antenna A and the second positioning antenna B to continue to send the first transmission signal and the second transmission signal to the target Q to be located, so as to locate the target Q to be located.

[0061] Specifically, when the controller 110 receives the positioning instruction sent by the target Q to be positioned for the first time after being powered on, the first positioning strategy is executed to locate the target Q to be positioned through the first positioning antenna A, the second positioning antenna B and the third positioning antenna C. After the first positioning is completed, the accurate positioning of the target Q to be positioned has been achieved, and it is determined on which side of the first positioning antenna A and the second positioning antenna B the target Q to be positioned is specifically located, and then the second positioning control strategy is executed. In the second positioning strategy, the controller 110 controls the third positioning antenna C to stop sending the third transmission signal, and controls the first positioning antenna A and the second positioning antenna B to continue to send the first transmission signal and the second transmission signal to the target Q to be positioned, so as to locate the target Q to be positioned. In other words, in the second positioning strategy, the third positioning antenna C is controlled to exit positioning, and the target Q to be positioned is positioned only through the first positioning antenna A and the second positioning antenna B, thereby reducing energy consumption and saving costs. Furthermore, since a communication cycle of each positioning antenna takes tens of milliseconds, reducing one communication cycle can enable more accurate, rapid and real-time positioning. Therefore, after the third positioning antenna C exits positioning, the positioning time can be effectively reduced, the positioning efficiency and real-time performance can be improved, and the subsequent following process can be facilitated.

[0062] In one embodiment of the present invention, when executing the second positioning strategy, the controller 110 is also used to: when it is determined that the positioning of the target Q to be positioned is abnormal, re-execute the first positioning strategy. For example, when an abnormal situation such as power failure or failure of the controller 110 or loss of the target Q to be positioned occurs, the target Q to be positioned cannot be positioned normally. At this time, it is considered that the positioning of the target Q to be positioned is abnormal, and the first positioning strategy is re-executed, that is, the third positioning antenna C is controlled to re-participate in the positioning process, and the first positioning antenna A, the second positioning antenna B and the third positioning antenna C jointly accurately locate the target Q to be positioned, until the first positioning strategy is executed, and then enter the second positioning strategy. In this way, the reliability of wireless positioning can be improved.

[0063] As a specific embodiment, the process of the controller 110 executing the first positioning strategy is described below with a specific example.

[0064] In this embodiment, the controller 110 is arranged on the positioning following vehicle. After the controller 110 and the target Q to be positioned are turned on, the controller 110 and the target Q to be positioned complete self-test. After the controller 110 receives the positioning instruction sent by the target Q to be positioned for the first time, the controller 110 first controls the first positioning antenna A to communicate with the target Q to be positioned, specifically including: controlling the first positioning antenna A to send a first transmission signal, the target Q to be positioned receives the first transmission signal, and returns a corresponding first feedback signal, the controller 110 receives the first feedback signal, and obtains a first RSSI waveform; controlling the first positioning antenna A to send the first transmission signal again, and repeating the above communication process multiple times, for example, after 3 times, 3 first RSSI waveforms are obtained, and a low-pass filtering average algorithm is used to calculate the average value of the 3 first RSSI waveforms to obtain the first target RSSI value.

[0065] After the first positioning antenna A completes the communication with the target Q to be positioned, that is, controls the first positioning antenna A to perform 3 cycles of communication to obtain the first target RSSI value, the controller 110 controls the second positioning antenna B to communicate with the target Q to be positioned, specifically including: controlling the second positioning antenna B to send a second transmission signal, the target Q to be positioned receives the second transmission signal, returns a corresponding second feedback signal, the controller 110 receives the second feedback signal, and obtains a second RSSI waveform; controlling the second positioning antenna B to send the second transmission signal again, and repeating the above communication process multiple times, for example, after 3 times, to obtain 3 second RSSI waveforms, and using a low-pass filtering average algorithm to average the 3 second RSSI waveforms to obtain the second target RSSI value.

[0066] After the second positioning antenna B completes the communication with the target Q to be positioned, that is, controls the second positioning antenna B to perform 3 cycles of communication to obtain the second target RSSI value, the controller 110 controls the third positioning antenna C to communicate with the target Q to be positioned, specifically including: controlling the third positioning antenna C to send a third transmission signal, the target Q to be positioned receives the third transmission signal, returns a corresponding third feedback signal, the controller 110 receives the third feedback signal, and obtains a third RSSI waveform; controlling the third positioning antenna C to send the third transmission signal again, and repeating the above communication process multiple times, for example, after 3 times, to obtain 3 third RSSI waveforms, and using a low-pass filtering average algorithm to average the 3 third RSSI waveforms to obtain the third target RSSI value.

[0067] Combination Figure 6 As shown, the first target RSSI value is recorded as RSSI A , the second target RSSI value is recorded as RSSI B , the first target RSSI value is recorded as RSSI C , according to the first target RSSI value RSSI A The first distance determined is denoted as RA , according to the second target RSSI value RSSI B The first distance determined is denoted as R B , according to the first target RSSI value RSSI C The first distance determined is denoted as R C Therefore, according to RSSI A 、RSSI B 、RSSI C , R A , R B , R C The target Q to be positioned can be accurately positioned. After the position of the target Q to be positioned is determined for the first time, the controller 110 controls the third positioning antenna C to exit positioning, and only the first positioning antenna A and the second positioning antenna B are used to position the target Q to be positioned, so as to achieve follow-up interaction. Until the positioning of the target Q to be positioned is abnormal, the third positioning antenna C is controlled to participate in positioning, and the first positioning antenna A, the second positioning antenna B and the third positioning antenna C jointly position the target Q to be positioned.

[0068] In other words, for the first positioning, that is, the first positioning after power-on, the first to third positioning antennas (i.e. A, B, C) must all participate. After determining that the target Q to be positioned is on the left or right side of the line connecting points A and B, the third positioning antenna C exits positioning. Subsequently, only the first and second positioning antennas (i.e. A and B) follow the positioning, unless the positioning is abnormal, in which case the third positioning antenna C participates in positioning again.

[0069] In one embodiment of the present invention, the wireless positioning device 100 further includes a mobile unit (not shown in the figure). The mobile unit is connected to the controller 110 and is used to move under the control of the controller 110 to drive the controller 110 to move. Specifically, the mobile unit is, for example, a positioning and following trolley, and the controller 110 can be set on the positioning and following trolley. The controller 110 can control the positioning and following trolley to move, thereby driving the controller 110 to move, so as to achieve the following of the target Q to be positioned.

[0070] The controller 110 is also used to: control the mobile unit according to the positioning result of the target Q to be positioned, so as to adjust the relative position of the controller 110 and the target Q to be positioned, so that the target Q to be positioned is located on the perpendicular bisector of the line between the first positioning antenna A and the second positioning antenna B. Specifically, the controller 110 can control the mobile unit according to the positioning result of the target Q to be positioned, that is, according to the real-time position of the target Q to be positioned, and the mobile unit drives the controller 110 to move, thereby adjusting the relative position between the controller 110 and the target to be positioned, so that the target Q to be positioned is located on the perpendicular bisector of the line between the first positioning antenna A and the second positioning antenna B. At this time, the target Q to be positioned is located in front of the right side of the controller 110, and is also located in front of the front of the positioning follower vehicle, so as to facilitate the accurate tracking of the target Q to be positioned.

[0071] In one embodiment of the present invention, after the target Q to be positioned is located on the perpendicular bisector of the line between the first positioning antenna A and the second positioning antenna B, the controller 110 is further used to: obtain the target distance, which is the vertical distance between the target Q to be positioned and the line between the first positioning antenna A and the second positioning antenna B; and control the movement of the mobile unit according to the target distance so that the target distance remains within a preset distance range. In a specific embodiment, the target distance means the distance between the controller 110 or the positioning follower car and the target Q to be positioned, that is, the positioning follower car is controlled to move according to the distance, and then the position of the controller 110 or the positioning follower car is adjusted so that the distance between the controller 110 or the positioning follower car and the target Q to be positioned is always maintained within a suitable following distance range, thereby achieving accurate following interaction.

[0072] In one embodiment of the present invention, the controller 110 is specifically configured to: when the target distance is greater than the upper limit of the preset distance range, control the mobile unit to accelerate the movement in the direction close to the target to be located Q. When the target distance is less than the lower limit of the preset distance range, control the mobile unit to move in the direction away from the target to be located Q. When the target distance is within the preset distance range, control the mobile unit to move at a constant speed in the direction close to the target to be located Q.

[0073] In a specific embodiment, the preset distance range is, for example, [0.8, 1] meters. That is, when the target distance is greater than the upper limit of the preset distance range, i.e., 1 meter, at this time, the controller 110 is far away from the target Q to be located and has exceeded the appropriate following distance, and the mobile unit is controlled to accelerate in the direction of approaching the target Q to be located, so that the controller 110 quickly approaches the target Q to be located, and the target distance is reduced until the target distance returns to the preset distance range.

[0074] When the target distance is less than the lower limit of the preset distance range, i.e. 0.8 meters, at this time, the controller 110 is close to the target Q to be located and has exceeded the appropriate following distance, so the mobile unit is controlled to move away from the target Q to be located, i.e. the mobile unit is controlled to retreat, so that the controller 110 quickly moves away from the target Q to be located, increasing the target distance until the target distance returns to the preset distance range.

[0075] When the target distance is within the preset distance range, that is, the target distance is greater than or equal to 0.8 meters and less than or equal to 1 meter, at this time, the following distance between the controller 110 and the target to be located Q is just right, and the distance between the mobile unit and the target to be located Q is controlled to remain unchanged. In this process, the mobile unit adjusts its instantaneous speed according to the instantaneous speed of the target to be located Q at all times. When the target to be located Q accelerates, the controller 110 controls the mobile unit to accelerate. When the target to be located Q suddenly decelerates, the controller 110 controls the mobile unit to decelerate. In the above process, the controller always controls the distance between the mobile unit and the target to be located to remain unchanged.

[0076] In one embodiment of the present invention, the controller 110 is used to: input each target RSSI value into a pre-trained distance calculation model to obtain the distance between the corresponding positioning antenna and the target Q to be located, wherein the distance calculation model is trained based on multiple groups of RSSI values ​​and their corresponding distance data. Specifically, the first target RSSI value, the second target RSSI value and the third target RSSI value are input into the pre-trained distance calculation model to obtain the first distance, the second distance and the third distance correspondingly, wherein the distance calculation model is trained based on multiple groups of RSSI values ​​and their corresponding distance data. Specifically, the distance calculation model contains the correspondence between multiple groups of RSSI values ​​and distances, and an RSSI value is input into the distance calculation model to obtain the distance corresponding to the RSSI value. Thus, the first target RSSI value is input into the distance calculation model to obtain the corresponding first distance; the second target RSSI value is input into the distance calculation model to obtain the corresponding second distance; the third target RSSI value is input into the distance calculation model to obtain the corresponding third distance.

[0077] In a specific embodiment, Figure 5 This is an example of a curve mapping of the correspondence between multiple groups of RSSI values ​​and distances included in the distance calculation model, where the horizontal axis is the distance and the vertical axis is the RSSI value. By inputting the corresponding target RSSI value, the distance corresponding to the target RSSI value can be obtained, that is, the distance between the corresponding positioning antenna and the target Q to be positioned. Figure 5 The curve graph shown can also intuitively observe the changing relationship between RSSI value and distance. That is, Figure 5The changing trend between RSSI value and distance is demonstrated. In actual application, the area with relatively high accuracy can be intercepted, and the distance range required by product development can be met, such as the area range of 0.3m-5m with high interception accuracy, which is conducive to improving positioning accuracy.

[0078] In one embodiment of the present invention, the transmission signal is a low-frequency signal, and the feedback signal is a high-frequency signal. Specifically, the first transmission signal, the second transmission signal, and the third transmission signal are all low-frequency signals. Figure 4 As shown, the signal frequency range is, for example, 125K / 134KHZ. The first feedback signal, the second feedback signal and the third feedback signal are all high frequency signals. Figure 4 As shown, its signal frequency range is, for example, 315K / 434KHZ. That is to say, the first positioning antenna A, the second positioning antenna B and the third positioning antenna C are all low-frequency antennas, which transmit low-frequency signals, thereby effectively reducing costs and having strong anti-interference capabilities. For example, low-frequency signals are less affected by human interference. On the other hand, the signal sent by the target Q to be positioned is a high-frequency signal, thereby shortening the positioning time and improving the positioning efficiency.

[0079] In a specific embodiment, the transmission signals sent by the first positioning antenna A, the second positioning antenna B and the third positioning antenna C all include the following data: a preamble code, a synchronization code, an RSSI waveform, an ID code (i.e., the identity information of the corresponding positioning antenna) and a check code. Among them, the preamble code and the synchronization code are used to confirm that it is a signal sent by the controller 110, which is a prelude to the reception of a low-frequency signal; the RSSI waveform is a continuous and stable low-frequency waveform within a set time, which is convenient for the stable reception of the target Q to be positioned at a low frequency, and the feedback signal is returned through a high frequency. The controller 110 can calculate the target RSSI value based on the RSSI waveform contained in the feedback signal; the ID code is used to identify the identity of the positioning antenna so that the controller 110 can identify which positioning antenna the feedback signal corresponds to; the check code is mainly used to verify the previous data. Generally speaking, when the target Q to be positioned receives the transmission signal at a low frequency, the RSSI waveform and the corresponding ID code are saved together, and then the feedback signal is sent back to the controller 110 through a high frequency. The controller 110 obtains the target RSSI value of the feedback signal corresponding to each antenna based on the received high-frequency data through a low-pass filtering average algorithm, such as RSSI A , RSSI B , RSSI C , and then input them into the distance calculation model to obtain the distance R between each positioning antenna and the target Q to be positioned. A , R B , R C, and then through three-point positioning, the position of the target Q to be positioned relative to the controller 110 can be calculated. It can be understood that the low-frequency transmission signal, such as the first transmission signal, the second transmission signal and the third transmission signal, contains a sine wave with a certain frequency and amplitude (peaks and valleys). The controller 110 can convert the amplitude of the sine wave into a voltage value according to the waveform vector calculation formula, that is, the corresponding target RSSI value.

[0080] In summary, in the embodiment of the present invention, three low-frequency antennas A, B, and C are used to communicate with the target Q to be located, and the target RSSI values ​​of the three antennas are obtained respectively. According to the changing relationship between the target RSSI value and the corresponding distance, the position of Q relative to the three points A, B, and C is accurately determined. In addition, the low-frequency antennas A, B, and C are placed vertically to the ground, so that when the human-machine following is realized, the accuracy will be higher, which can reach 10cm. At the same time, the positioning solution has low requirements for circuits and chips. No special directional antenna is required. It can be implemented using universal chips, which will not increase the circuit and computing costs.

[0081] According to the wireless positioning device 100 of the embodiment of the present invention, when the controller 110 receives the positioning instruction for the first time after power-on, it controls each positioning antenna to send a transmission signal; receives a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determines the target RSSI value corresponding to each feedback signal according to the feedback signal; determines the distance between the corresponding positioning antenna and the target Q to be located according to each target RSSI value; and determines the position of the target Q to be located according to the distance. Thus, the wireless positioning device 100 has a simple structure, wirelessly communicates with the target Q to be located through three positioning antennas, and obtains the target RSSI values ​​of the feedback signals corresponding to the three positioning antennas respectively. According to the change between the target RSSI value and the distance, the target Q to be located is accurately located, and the positioning algorithm is simple and easy to implement. The performance requirements for the chip are not high, and a general general chip can meet the requirements. Therefore, no complex process and calculation are required, and the required cost is low.

[0082] A further embodiment of the present invention provides a positioning and following vehicle, which includes the wireless positioning device 100 described in any one of the above embodiments of the present invention.

[0083] It should be noted that when performing positioning and following after the positioning target, the specific implementation method of the positioning and following vehicle is similar to the specific implementation method of the wireless positioning device 100 of any one of the above-mentioned embodiments of the present invention. Therefore, for a detailed exemplary description of the positioning and following vehicle, please refer to the aforementioned relevant description part of the wireless positioning device 100. In order to reduce redundancy, it will not be repeated here.

[0084] According to the positioning following car of the embodiment of the present invention, when the controller receives the positioning instruction for the first time after power-on, it controls each positioning antenna to send a transmission signal; receives a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determines the target RSSI value corresponding to each feedback signal according to the feedback signal; determines the distance between the corresponding positioning antenna and the target to be located according to each target RSSI value; and determines the position of the target to be located according to the distance. Thus, the positioning following car has a simple structure, wirelessly communicates with the target to be located through three positioning antennas, and obtains the target RSSI values ​​of the feedback signals corresponding to the three positioning antennas respectively. According to the change between the target RSSI value and the distance, the target to be located is accurately positioned, and the positioning algorithm is simple and easy to implement. The performance requirements for the chip are not high, and general general-purpose chips can meet the requirements. Therefore, no complex process and calculation are required, and the required cost is low.

[0085] A further embodiment of the present invention provides a wireless positioning method. The wireless positioning method can be applied to a controller, which can be arranged on a positioning follower vehicle. The controller is, for example, the controller 110 described in any of the above embodiments of the present invention. Therefore, for a detailed description of the controller, reference can be made to the above description of the controller 110. To reduce redundancy, it will not be repeated here.

[0086] Figure 7 FIG. 1 is a flow chart of a wireless positioning method according to an embodiment of the present invention. Figure 7 As shown, the wireless positioning method comprises the following steps:

[0087] Step S1: When the controller receives the positioning instruction for the first time after being powered on, it controls each of the three positioning antennas to send a transmission signal to the target to be positioned, wherein the three positioning antennas are arranged on the controller and are all perpendicular to the ground, and the lines connecting the three positioning antennas form a triangle. The three positioning antennas specifically include: a first positioning antenna, a second positioning antenna, and a third positioning antenna. That is, the first positioning antenna, the second positioning antenna, and the third positioning antenna are arranged on the controller and are all perpendicular to the ground, and the lines connecting the first positioning antenna, the second positioning antenna, and the third positioning antenna form a triangle.

[0088] Step S2: receiving a feedback signal fed back by each positioning antenna, wherein the received feedback signal fed back by each positioning antenna corresponds to a transmission signal sent by the positioning antenna to the target to be positioned.

[0089] Step S3: Determine a target RSSI value corresponding to each feedback signal according to the feedback signal.

[0090] Step S4: Determine the distance between the corresponding positioning antenna and the target to be positioned according to each target RSSI value.

[0091] Step S5: Determine the position of the target to be located according to the distance between each positioning antenna and the target to be located.

[0092] In one embodiment of the present invention, the feedback signal is generated by the target to be positioned according to the received transmission signal, and the feedback signal includes at least an RSSI waveform; the controller can determine the target RSSI value corresponding to the corresponding feedback signal according to the RSSI waveform. Specifically, after the target to be positioned receives the transmission signal, it generates a feedback signal according to the transmission signal and returns the feedback signal. After the corresponding positioning antenna receives the feedback signal, it feeds the feedback signal back to the controller 110. The controller can calculate the target RSSI value corresponding to the feedback signal according to the RSSI waveform in the feedback signal.

[0093] In one embodiment of the present invention, in step S1, the controller controls each positioning antenna to transmit multiple transmission signals. Therefore, the corresponding feedback signals received are also multiple, and then the target RSSI value can be calculated based on the corresponding multiple RSSI waveforms in the multiple feedback signals, for example, the average of the multiple RSSI waveforms is calculated to obtain the target RSSI value, thereby improving the accuracy of the target RSSI.

[0094] In a specific embodiment, that is, the controller may control the first positioning antenna to send a plurality of first transmission signals to the target to be positioned, and after receiving a plurality of first feedback signals returned by the target to be positioned according to the plurality of first transmission signals, obtain a first target RSSI value by averaging a plurality of first RSSI waveforms correspondingly contained in the plurality of first feedback signals; and

[0095] Controlling the second positioning antenna to send multiple second transmission signals to the target to be positioned, and after receiving multiple second feedback signals returned by the target to be positioned according to the multiple second transmission signals, averaging the multiple second RSSI waveforms correspondingly contained in the multiple second feedback signals to obtain a second target RSSI value; and

[0096] Control the third positioning antenna to send multiple third transmission signals to the target to be positioned, and after receiving multiple third feedback signals returned by the target to be positioned according to the multiple third transmission signals, obtain the third target RSSI value by averaging the multiple third RSSI waveforms corresponding to the multiple third feedback signals.

[0097] In one embodiment of the present invention, after executing the first positioning strategy (i.e., steps S1-S5), the wireless positioning method also includes: executing a preset second positioning strategy; wherein the second positioning strategy includes: controlling the third positioning antenna to stop sending the third transmission signal, and controlling the first positioning antenna and the second positioning antenna to continue to send the first transmission signal and the second transmission signal to the target to be located respectively, so as to locate the target to be located.

[0098] In one embodiment of the present invention, when executing the second positioning strategy, the wireless positioning method further includes: when it is determined that the positioning of the target to be positioned is abnormal, re-executing the first positioning strategy.

[0099] In one embodiment of the present invention, the wireless positioning method further includes: controlling the mobile unit according to the positioning result of the target to be positioned to adjust the relative position of the controller and the target to be positioned so that the target to be positioned is located on the perpendicular bisector of the line between the first positioning antenna and the second positioning antenna. The mobile unit is connected to the controller and is used to move under the control of the controller to drive the controller to move. In a specific embodiment, the mobile unit is, for example, a positioning follower car.

[0100] In one embodiment of the present invention, after the target to be located is located on the perpendicular bisector of the line between the first positioning antenna and the second positioning antenna, the wireless positioning method also includes: obtaining the target distance, the target distance is the vertical distance between the target to be located and the line between the first positioning antenna and the second positioning antenna; controlling the movement of the mobile unit according to the target distance so that the target distance is kept within a preset distance range.

[0101] In one embodiment of the present invention, controlling the movement of the mobile unit according to the target distance so that the target distance is kept within a preset distance range includes: when the target distance is greater than the upper limit of the preset distance range, controlling the mobile unit to accelerate the movement in the direction close to the target to be located. When the target distance is less than the lower limit of the preset distance range, controlling the mobile unit to move in the direction away from the target to be located. When the target distance is within the preset distance range, controlling the mobile unit to move at a constant speed in the direction close to the target to be located.

[0102] In one embodiment of the present invention, a method for calculating a first distance, a second distance, and a third distance includes: inputting each target RSSI value into a pre-trained distance calculation model to obtain the distance between the corresponding positioning antenna and the target Q to be positioned, wherein the distance calculation model is trained based on multiple sets of RSSI values ​​and their corresponding distance data. Specifically, the first target RSSI value, the second target RSSI value, and the third target RSSI value are input into a pre-trained distance calculation model to obtain the first distance, the second distance, and the third distance, wherein the distance calculation model is trained based on multiple sets of RSSI values ​​and their corresponding distance data.

[0103] In one embodiment of the present invention, the transmission signal is a low-frequency signal, and the feedback signal is a high-frequency signal. Specifically, the first transmission signal, the second transmission signal, and the third transmission signal are all low-frequency signals, and the first feedback signal, the second feedback signal, and the third feedback signal are all high-frequency signals.

[0104] It should be noted that when performing positioning and following the target to be positioned, the specific implementation method of the wireless positioning method is similar to the specific implementation method of the wireless positioning device 100 of any one of the above-mentioned embodiments of the present invention. Therefore, for a detailed exemplary description of the wireless positioning method, please refer to the aforementioned relevant description part of the wireless positioning device 100. In order to reduce redundancy, it will not be repeated here.

[0105] According to the wireless positioning method of the embodiment of the present invention, it can be implemented by a controller. When the controller receives the positioning instruction for the first time after powering on, it controls each positioning antenna to send a transmission signal; receives a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determines the target RSSI value corresponding to each feedback signal according to the feedback signal; determines the distance between the corresponding positioning antenna and the target to be located according to each target RSSI value; and determines the position of the target to be located according to the distance. Therefore, the structure adopted in the implementation of this method is simple. Wireless communication is performed with the target to be located through three positioning antennas, and the target RSSI values ​​of the feedback signals corresponding to the three positioning antennas are obtained respectively. According to the change between the target RSSI value and the distance, the accurate positioning of the target to be located is achieved. The positioning algorithm is simple and easy to implement. The performance requirements for the chip are not high. A general general chip can meet the requirements. Therefore, no complex process and calculation are required, and the required cost is low.

[0106] A further embodiment of the present invention also discloses a positioning device, which includes: a processor, a memory, and a wireless positioning program stored in the memory and executable on the processor, and when the wireless positioning program is executed by the processor, it implements the wireless positioning method described in any one of the above embodiments of the present invention.

[0107] In a specific embodiment, the positioning device is, for example but not limited to, a positioning following vehicle or a controller disposed on the positioning following vehicle.

[0108] It should be noted that when the positioning device performs positioning and following of the target to be located, its specific implementation method is similar to the specific implementation method of the wireless positioning method of any one of the above-mentioned embodiments of the present invention. Therefore, for a detailed exemplary description of the positioning device, please refer to the aforementioned relevant description part of the wireless positioning method. In order to reduce redundancy, it will not be repeated here.

[0109] According to the positioning device of the embodiment of the present invention, the controller executes the wireless positioning method. When the controller receives the positioning instruction for the first time after powering on, it controls each positioning antenna to send a transmission signal; receives a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determines the target RSSI value corresponding to each feedback signal according to the feedback signal; determines the distance between the corresponding positioning antenna and the target to be positioned according to each target RSSI value; and determines the position of the target to be positioned according to the distance. Thus, the positioning device has a simple structure, wirelessly communicates with the target to be positioned through three positioning antennas, and obtains the target RSSI values ​​of the feedback signals corresponding to the three positioning antennas respectively. According to the change between the target RSSI value and the distance, the target to be positioned is accurately positioned. The positioning algorithm is simple and easy to implement. The performance requirements for the chip are not high, and a general general chip can meet the requirements. Therefore, no complex process and calculation are required, and the required cost is low.

[0110] A further embodiment of the present invention also discloses a computer-readable storage medium, on which a wireless positioning program is stored. When the wireless positioning program is executed by a processor, the wireless positioning method described in any one of the above embodiments of the present invention is implemented.

[0111] According to the computer-readable storage medium of the embodiment of the present invention, when the wireless positioning program stored thereon is executed by the processor, the wireless positioning method is executed by the controller, and when the controller receives the positioning instruction for the first time after powering on, it controls each positioning antenna to send a transmission signal; receives a feedback signal corresponding to the transmission signal fed back by each positioning antenna; determines the target RSSI value corresponding to each feedback signal according to the feedback signal; determines the distance between the corresponding positioning antenna and the target to be located according to each target RSSI value; and determines the position of the target to be located according to the distance. Thus, wireless communication is performed with the target to be located through the three positioning antennas, and the target RSSI values ​​of the feedback signals corresponding to the three positioning antennas are obtained respectively. According to the change between the target RSSI value and the distance, the accurate positioning of the target to be located is achieved, and the positioning algorithm is simple and easy to implement. The performance requirements for the chip are not high, and general general-purpose chips can meet the requirements. Therefore, no complex process and calculation are required, and the required cost is low.

[0112] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative 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.

[0113] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A wireless positioning device, characterized in that: include: A controller and three positioning antennas, wherein the three positioning antennas are arranged on the controller and are perpendicular to the ground, and the lines connecting the three positioning antennas form a triangle, and the three positioning antennas include: a first positioning antenna, a second positioning antenna and a third positioning antenna; The controller is used to execute a preset first positioning strategy to locate the target to be located when receiving a positioning instruction for the first time after power-on, and execute a preset second positioning strategy after the execution of the first positioning strategy is completed; The first positioning strategy includes: Controlling each positioning antenna to send a transmission signal to the target to be positioned; Receiving a feedback signal fed back by each positioning antenna, wherein the received feedback signal fed back by each positioning antenna corresponds to a transmission signal sent by the positioning antenna to the target to be positioned; Determine a target RSSI value corresponding to each feedback signal according to the feedback signal; Determine the distance between the corresponding positioning antenna and the target to be positioned according to each target RSSI value; Determine the position of the target to be located according to the distance between each positioning antenna and the target to be located; The second positioning strategy includes: controlling the third positioning antenna to stop sending a transmission signal, and controlling the first positioning antenna and the second positioning antenna to continue sending a transmission signal, so as to locate the target to be located.

2. The wireless positioning device according to claim 1, characterized in that: The feedback signal is generated by the target to be located according to the received transmission signal, and the feedback signal at least includes an RSSI waveform; The controller is used to determine a target RSSI value corresponding to a corresponding feedback signal according to the RSSI waveform.

3. The wireless positioning device according to claim 1 or 2, characterized in that: The controller controls each positioning antenna to transmit a plurality of transmission signals.

4. The wireless positioning device according to claim 1, characterized in that: When executing the second positioning strategy, the controller is further configured to: When it is determined that the positioning of the target to be positioned is abnormal, the first positioning strategy is re-executed.

5. The wireless positioning device according to claim 1 or 4, characterized in that: Also includes: A moving unit, the moving unit is connected to the controller and is used to move under the control of the controller to drive the controller to move; The controller is also used to: control the mobile unit according to the positioning result of the target to be positioned, so as to adjust the relative position of the controller and the target to be positioned, so that the target to be positioned is located on the perpendicular bisector of the line between the first positioning antenna and the second positioning antenna.

6. The wireless positioning device according to claim 5, characterized in that: After the target to be located is located on a perpendicular bisector of a line connecting the first positioning antenna and the second positioning antenna, the controller is further configured to: Acquire a target distance, where the target distance is a vertical distance between the target to be located and a line connecting the first positioning antenna and the second positioning antenna; The movement of the mobile unit is controlled according to the target distance, so that the target distance is kept within a preset distance range.

7. The wireless positioning device according to claim 6, characterized in that: The controller is specifically used for: When the target distance is greater than the upper limit of the preset distance range, controlling the mobile unit to accelerate and move toward the direction of the target to be located; When the target distance is less than the lower limit of the preset distance range, controlling the mobile unit to move in a direction away from the target to be located; When the target distance is within the preset distance range, the distance between the mobile unit and the target to be located is controlled to remain unchanged.

8. The wireless positioning device according to claim 1, characterized in that: The controller is specifically used for: Each target RSSI value is input into a pre-trained distance calculation model to obtain the distance between the corresponding positioning antenna and the target to be positioned, wherein the distance calculation model is trained based on multiple groups of RSSI values ​​and their corresponding distance data.

9. The wireless positioning device according to claim 1, characterized in that: The transmission signal is a low-frequency signal, and the feedback signal is a high-frequency signal.

10. A positioning following vehicle, characterized in that: Comprising a wireless positioning device as described in any one of claims 1-9.

11. A wireless positioning method, characterized in that: Used for a controller, wherein three positioning antennas are arranged on the controller, the three positioning antennas are all perpendicular to the ground, and the lines connecting the three positioning antennas form a triangle, the three positioning antennas include: a first positioning antenna, a second positioning antenna and a third positioning antenna, and the method includes the following steps: When the controller receives a positioning instruction for the first time after being powered on, the controller executes a preset first positioning strategy to locate the target to be positioned, and after the execution of the first positioning strategy is completed, the controller executes a preset second positioning strategy; The first positioning strategy includes: Controlling each positioning antenna to send a transmission signal to the target to be positioned; Receiving a feedback signal fed back by each positioning antenna, wherein the received feedback signal fed back by each positioning antenna corresponds to a transmission signal sent by the positioning antenna to the target to be positioned; Determine a target RSSI value corresponding to each feedback signal according to the feedback signal; Determine the distance between the corresponding positioning antenna and the target to be positioned according to each target RSSI value; Determine the position of the target to be located according to the distance between each positioning antenna and the target to be located; The second positioning strategy includes: controlling the third positioning antenna to stop sending a transmission signal, and controlling the first positioning antenna and the second positioning antenna to continue sending a transmission signal, so as to locate the target to be located.

12. A positioning device, characterized in that: include: A processor, a memory, and a wireless positioning program stored in the memory and executable on the processor, wherein the wireless positioning program implements the wireless positioning method as claimed in claim 11 when executed by the processor.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a wireless positioning program, and when the wireless positioning program is executed by the processor, the wireless positioning method as claimed in claim 11 is implemented.

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