Positioning method and apparatus

Abstract

The application provides a positioning method and device, and belongs to the technical field of positioning. The positioning method comprises the following steps: selecting a positioning module to be used according to a preset judgment condition, wherein the parameters of the judgment condition comprise at least one of the following: 5G room type, positioning accuracy, power consumption, cost, reliability requirement, and the positioning module comprises at least one of the following: an ultra-wideband (UWB) positioning module, a 5G positioning module and a Bluetooth positioning module; obtaining positioning measurement data returned by a corresponding positioning base station through the selected positioning module, wherein the positioning measurement data comprises the following: a to-be-positioned terminal identifier, a positioning base station identifier, a timestamp and a positioning measurement quantity; and performing position calculation on the positioning measurement data according to the base station parameters corresponding to the positioning base station identifier, so as to obtain the position information of the to-be-positioned terminal. The technical scheme of the application can meet the positioning requirements of multiple scenes.

Description

Technical Field

[0001] This invention relates to the field of positioning technology, and in particular to a positioning method and apparatus. Background Technology

[0002] Positioning technology based on global satellite navigation systems is widely used. However, it cannot meet the accuracy requirements for indoor positioning. According to statistics, people spend 80% of their time indoors, and with the rise and widespread application of location services, users' demand for indoor positioning is growing rapidly.

[0003] Currently, there are many indoor positioning technologies, such as 4G / 5G, Ultra Wideband (UWB), Bluetooth, and Wi-Fi. Positioning is mainly achieved through measurements of power, angle, and time. Power measurement includes triangulation and fingerprint database positioning, which are relatively simple to implement but easily affected by environmental factors. Angle measurement includes angle of arrival (AoA) and angle of departure (AoD). Considering scenarios with limited terminal power consumption, AoA mode is preferred, as transmission mode consumes less power. Time measurement mainly includes Time-of-Flight (TOF) and Time Difference of Arrival (TDOA) methods, which calculate the distance to the base station by measuring the time difference between transmission and reception, requiring high channel bandwidth.

[0004] Different indoor positioning technologies have their own advantages and disadvantages. At present, 5G positioning is only available in indoor distributed antenna systems, using licensed spectrum. It has meter-level positioning accuracy and high anti-interference capability, but the terminal cost and power consumption are high. There are currently no standalone 5G positioning terminals. Bluetooth uses unlicensed spectrum, which can provide meter-level and decimeter-level positioning accuracy. It has low cost and power consumption, and the industry is mature, but its reliability is relatively low. UWB uses unlicensed spectrum, which can provide decimeter-level positioning accuracy. It has low power consumption and the best anti-interference capability, but the cost is high, and the support of smart terminals is weak.

[0005] According to a survey of indoor positioning needs in vertical industries, there are multiple positioning scenarios with different needs in the same area. For example, in a factory workshop, there are positioning of bulk materials with high requirements for power consumption and cost, and positioning of equipment with high accuracy requirements. A single technology cannot meet the needs of multiple scenarios.

[0006] Existing positioning technologies such as UWB and Bluetooth adopt an independent deployment approach, which has high construction and transmission costs and cannot integrate multiple technologies for positioning, thus failing to meet the positioning needs of diverse scenarios such as factories. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a positioning method and device that can meet the needs of multiple scenarios.

[0008] To address the aforementioned technical problems, embodiments of the present invention provide the following technical solutions:

[0009] On the one hand, a positioning method is provided, including:

[0010] The positioning module to be used is selected based on preset judgment conditions;

[0011] The selected positioning module obtains the positioning measurement data returned by the corresponding positioning base station.

[0012] The location information of the terminal to be located is obtained by calculating the location measurement data based on the base station parameters corresponding to the positioning base station identifier.

[0013] The parameters of the judgment conditions include at least one of the following: 5G indoor distribution type, positioning accuracy, power consumption, cost, and reliability requirements; the positioning module includes at least one of the following: ultra-wideband (UWB) positioning module, 5G positioning module, and Bluetooth positioning module.

[0014] The positioning measurement data includes: the identifier of the terminal to be positioned, the identifier of the positioning base station, the timestamp, and the positioning measurement quantity.

[0015] In some embodiments, the step of selecting the positioning module to be used based on preset judgment conditions includes at least one of the following:

[0016] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is 5-10 meters, select the Bluetooth 4.2 positioning module;

[0017] When the 5G indoor distribution type is 5G passive indoor distribution coverage, the positioning accuracy requirement is 1 to 5 meters, and low power consumption or low cost is required, a Bluetooth 5.1 positioning module should be selected.

[0018] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is decimeter level, select the Bluetooth 5.1 positioning module;

[0019] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the scenario has high reliability requirements, select the UWB positioning module;

[0020] When the 5G indoor distribution type is 5G active indoor distribution coverage, the positioning accuracy requirement is 5-10 meters, and low power consumption is required, a Bluetooth 4.2 positioning module should be selected.

[0021] When the 5G indoor distribution type is 5G active indoor distribution coverage and low cost is required, choose the 5G positioning module.

[0022] When the 5G indoor distribution type is 5G active indoor distribution coverage and the positioning accuracy requirement is 1 to 5 meters, select the Bluetooth 5.1 positioning module;

[0023] When the 5G indoor distribution type is 5G active indoor distribution coverage and the positioning accuracy requirement is decimeter level, select the Bluetooth 5.1 positioning module;

[0024] When the 5G indoor distribution type is 5G active indoor distribution coverage and the scenario has high reliability requirements, the UWB positioning module should be selected.

[0025] In some embodiments, the positioning measurement data further includes a technical flag indicating the type of positioning base station used; the step of calculating the location of the positioning measurement data based on the base station parameters corresponding to the positioning base station identifier includes:

[0026] The positioning measurement data is sent to the corresponding calculation module for position calculation based on the technical flag bits.

[0027] In some embodiments, if multiple positioning modules are selected, there are multiple corresponding positioning base stations. The positioning measurement data is calculated based on the base station parameters corresponding to the positioning base station identifier to obtain the location information of the terminal to be positioned.

[0028] The location measurement obtained from each positioning base station is calculated to obtain multiple first location information in the same coordinate system;

[0029] Each piece of the first location information is multiplied by the weighting coefficient corresponding to the positioning base station to obtain multiple pieces of second location information;

[0030] The location information of the terminal to be located is obtained by adding the multiple second location information.

[0031] The sum of the weighting coefficients for all positioning base stations is 1.

[0032] In some embodiments, before performing location calculation on the positioning measurement data based on the base station parameters corresponding to the positioning base station identifier to obtain the location information of the terminal to be located, the method further includes:

[0033] The weighting coefficients for each positioning base station are determined according to preset rules, including:

[0034] If the distance between any two of the plurality of first location information is less than a first preset threshold, then the weighting coefficients corresponding to the plurality of positioning base stations are all the same;

[0035] If the distance between any two of the plurality of first location information is greater than or equal to a preset first threshold, the farther the first location information is from the corresponding positioning base station, the smaller the weighting coefficient corresponding to the positioning base station; if the distance between a first location information and its corresponding positioning base station is less than a preset second threshold, the weighting coefficient corresponding to the positioning base station is 1, and the weighting coefficients corresponding to other positioning base stations are 0.

[0036] This invention also provides a positioning device, comprising:

[0037] The positioning technology selection module is used to select the positioning module to be used based on preset judgment conditions;

[0038] The acquisition module is used to acquire the positioning measurement data returned by the corresponding positioning base station through the selected positioning module;

[0039] The fusion location output module is used to perform location calculation on the positioning measurement data according to the base station parameters corresponding to the positioning base station identifier, and obtain the location information of the terminal to be located.

[0040] The parameters of the judgment conditions include at least one of the following: 5G indoor distribution type, positioning accuracy, power consumption, cost, and reliability requirements; the positioning module includes at least one of the following: ultra-wideband (UWB) positioning module, 5G positioning module, and Bluetooth positioning module.

[0041] The positioning measurement data includes: the identifier of the terminal to be positioned, the identifier of the positioning base station, the timestamp, and the positioning measurement quantity.

[0042] In some embodiments, the step of selecting the positioning module to be used based on preset judgment conditions includes at least one of the following:

[0043] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is 5-10 meters, select the Bluetooth 4.2 positioning module;

[0044] When the 5G indoor distribution type is 5G passive indoor distribution coverage, the positioning accuracy requirement is 1 to 5 meters, and low power consumption or low cost is required, a Bluetooth 5.1 positioning module should be selected.

[0045] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is decimeter level, select the Bluetooth 5.1 positioning module;

[0046] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the scenario has high reliability requirements, select the UWB positioning module;

[0047] When the 5G indoor distribution type is 5G active indoor distribution coverage, the positioning accuracy requirement is 5-10 meters, and low power consumption is required, a Bluetooth 4.2 positioning module should be selected.

[0048] When the 5G indoor distribution type is 5G active indoor distribution coverage and low cost is required, choose the 5G positioning module.

[0049] When the 5G indoor distribution type is 5G active indoor distribution coverage and the positioning accuracy requirement is 1 to 5 meters, select the Bluetooth 5.1 positioning module;

[0050] When the 5G indoor distribution type is 5G active indoor distribution coverage and the positioning accuracy requirement is decimeter level, select the Bluetooth 5.1 positioning module;

[0051] When the 5G indoor distribution type is 5G active indoor distribution coverage and the scenario has high reliability requirements, the UWB positioning module should be selected.

[0052] In some embodiments, the positioning measurement data further includes a technical flag bit, which indicates the type of positioning base station used; the fused location output module is specifically used to send the positioning measurement data to the corresponding calculation module for location calculation based on the technical flag bit.

[0053] In some embodiments, if multiple positioning modules are selected and multiple corresponding positioning base stations are selected, the fusion position output module is specifically used to perform position calculation on the positioning measurement obtained by each positioning base station to obtain multiple first position information in the same coordinate system; multiply each first position information by the weighting coefficient corresponding to the positioning base station to obtain multiple second position information; and add the multiple second position information to obtain the position information of the terminal to be positioned.

[0054] In some embodiments, the fused location output module is further configured to determine the weighting coefficient corresponding to each positioning base station according to a preset rule, the preset rule including:

[0055] If the distance between any two of the plurality of first location information is less than a first preset threshold, then the weighting coefficients corresponding to the plurality of positioning base stations are all the same;

[0056] If the distance between any two of the plurality of first location information is greater than or equal to a preset first threshold, the farther the first location information is from the corresponding positioning base station, the smaller the weighting coefficient corresponding to the positioning base station; if the distance between a first location information and its corresponding positioning base station is less than a preset second threshold, the weighting coefficient corresponding to the positioning base station is 1, and the weighting coefficients corresponding to other positioning base stations are 0.

[0057] This invention also provides a positioning device, including a memory, a processor, and a computer program stored in the memory and executable on the processor; when the processor executes the program, it implements the positioning method described above.

[0058] In some embodiments, the processor is configured to select the positioning module to be used based on preset judgment conditions. The parameters of the judgment conditions include at least one of the following: 5G indoor distribution type, positioning accuracy, power consumption, cost, and reliability requirements. The positioning module includes at least one of the following: ultra-wideband (UWB) positioning module, 5G positioning module, and Bluetooth positioning module. The processor obtains positioning measurement data returned by the corresponding positioning base station through the selected positioning module. The positioning measurement data includes: the identifier of the terminal to be positioned, the identifier of the positioning base station, a timestamp, and positioning measurement. The processor performs position calculation on the positioning measurement data based on the base station parameters corresponding to the identifier of the positioning base station to obtain the location information of the terminal to be positioned.

[0059] In some embodiments, the step of selecting the positioning module to be used based on preset judgment conditions includes at least one of the following:

[0060] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is 5-10 meters, select the Bluetooth 4.2 positioning module;

[0061] When the 5G indoor distribution type is 5G passive indoor distribution coverage, the positioning accuracy requirement is 1 to 5 meters, and low power consumption or low cost is required, a Bluetooth 5.1 positioning module should be selected.

[0062] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is decimeter level, select the Bluetooth 5.1 positioning module;

[0063] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the scenario has high reliability requirements, select the UWB positioning module;

[0064] When the 5G indoor distribution type is 5G active indoor distribution coverage, the positioning accuracy requirement is 5-10 meters, and low power consumption is required, a Bluetooth 4.2 positioning module should be selected.

[0065] When the 5G indoor distribution type is 5G active indoor distribution coverage and low cost is required, choose the 5G positioning module.

[0066] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is 1 to 5 meters, select the Bluetooth 5.1 positioning module;

[0067] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is decimeter level, select the Bluetooth 5.1 positioning module;

[0068] When the 5G indoor distribution type is 5G active indoor distribution coverage and the scenario has high reliability requirements, the UWB positioning module should be selected.

[0069] In some embodiments, the positioning measurement data further includes a technical flag bit indicating the type of positioning base station used; the processor is specifically used to send the positioning measurement data to the corresponding calculation module for location calculation based on the technical flag bit.

[0070] In some embodiments, if multiple positioning modules are selected and multiple corresponding positioning base stations are selected, the processor is specifically used to perform position calculation on the positioning measurement obtained by each positioning base station to obtain multiple first position information in the same coordinate system; multiply each first position information by the weighting coefficient corresponding to the positioning base station to obtain multiple second position information; and add the multiple second position information to obtain the position information of the terminal to be positioned.

[0071] In some embodiments, the processor is further configured to determine the weighting coefficient corresponding to each positioning base station according to a preset rule, the preset rule including:

[0072] If the distance between any two of the plurality of first location information is less than a first preset threshold, then the weighting coefficients corresponding to the plurality of positioning base stations are all the same;

[0073] If the distance between any two of the plurality of first location information is greater than or equal to a preset first threshold, the farther the first location information is from the corresponding positioning base station, the smaller the weighting coefficient corresponding to the positioning base station; if the distance between a first location information and its corresponding positioning base station is less than a preset second threshold, the weighting coefficient corresponding to the positioning base station is 1, and the weighting coefficients corresponding to other positioning base stations are 0.

[0074] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps in the positioning method described above.

[0075] The embodiments of the present invention have the following beneficial effects:

[0076] In the above scheme, the positioning module to be used is selected according to preset judgment conditions. The positioning measurement data returned by the corresponding positioning base station is obtained through the selected positioning module. The location is calculated based on the base station parameters corresponding to the positioning base station identifier to obtain the location information of the terminal to be located. This embodiment can select the most suitable positioning scheme according to the specific needs of the scenario, meeting the positioning needs of multiple scenarios. Attached Figure Description

[0077] Figure 1 This is a flowchart illustrating the positioning method according to an embodiment of the present invention;

[0078] Figure 2 This is a schematic diagram of the positioning device according to an embodiment of the present invention;

[0079] Figure 3 This is a schematic diagram of the composition of the positioning device according to an embodiment of the present invention. Detailed Implementation

[0080] To make the technical problems, technical solutions and advantages of the embodiments of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0081] This invention provides a positioning method and apparatus that can meet positioning needs in multiple scenarios.

[0082] Embodiments of the present invention provide a positioning method, such as... Figure 1 As shown, it includes:

[0083] Step 101: Select the positioning module to use based on the preset judgment conditions;

[0084] Step 102: Obtain the positioning measurement data returned by the corresponding positioning base station through the selected positioning module;

[0085] Step 103: Perform position calculation on the positioning measurement data according to the base station parameters corresponding to the positioning base station identifier to obtain the location information of the terminal to be located.

[0086] In this embodiment, a positioning module is selected based on preset judgment conditions. The selected positioning module then obtains positioning measurement data returned by the corresponding positioning base station. The positioning measurement data is then used to calculate the location based on the base station parameters corresponding to the base station identifier, thus obtaining the location information of the terminal to be located. This embodiment can select the most suitable positioning scheme according to the specific needs of the scenario, meeting the positioning requirements of multiple scenarios.

[0087] The parameters of the judgment conditions include at least one of the following: 5G indoor distribution type, positioning accuracy, power consumption, cost, and reliability requirements; the positioning module includes at least one of the following: ultra-wideband (UWB) positioning module, 5G positioning module, and Bluetooth positioning module.

[0088] The positioning measurement data includes: the identifier of the terminal to be positioned, the identifier of the positioning base station, the timestamp, and the positioning measurement quantity.

[0089] like Figure 2 As shown, the overall architecture of this embodiment includes: a fusion positioning and calculation platform, a 5G BBU (indoor baseband processing unit), a hub, a 5G PRRU (radio remote unit), UWB, Bluetooth and other general wireless base stations, and a positioning terminal. The fusion positioning and calculation platform includes a positioning technology selection module, a positioning module, and a fusion location output module. The positioning module includes Bluetooth 4.2 positioning, Bluetooth 5.1 positioning, UWB positioning, and 5G positioning modules. The 5G BBU hub PRRU provides a data backhaul path for UWB, Bluetooth and other general wireless positioning data. The PRRU provides power to the general wireless base stations. Simultaneously, the 5G PRRU provides 5G positioning capabilities. The BBU transmits all positioning data to the fusion positioning and calculation platform.

[0090] In some embodiments, the step of selecting the positioning module to be used based on preset judgment conditions includes at least one of the following:

[0091] When the 5G indoor distribution type is 5G passive indoor distribution coverage (i.e., 5G has no positioning capability and needs to provide positioning capability through technologies such as Bluetooth and UWB), and the positioning accuracy requirement is 5 to 10 meters, Bluetooth 4.2 positioning module can be selected because Bluetooth 5.1 positioning module and UWB positioning module are expensive.

[0092] When the 5G indoor distribution type is 5G passive indoor distribution coverage, the positioning accuracy requirement is 1 to 5 meters, and low power consumption or low cost is required, a Bluetooth 5.1 positioning module can be selected.

[0093] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is decimeter level, a Bluetooth 5.1 positioning module can be selected;

[0094] When the 5G indoor distribution type is 5G passive indoor distribution coverage, the positioning accuracy requirement is decimeter level, and the scenario reliability requirement is high, a UWB positioning module can be selected.

[0095] When the 5G indoor distribution type is 5G active indoor distribution coverage (i.e. 5G can provide positioning capability), the positioning accuracy requirement is 5 to 10 meters, and low power consumption is required, a Bluetooth 4.2 positioning module can be selected.

[0096] When the 5G indoor distribution type is 5G active indoor distribution coverage, the positioning accuracy requirement is 5-10 meters, and the cost requirement is low, a 5G positioning module can be selected.

[0097] When the 5G indoor distribution type is 5G active indoor distribution coverage and the positioning accuracy requirement is 1 to 5 meters, if low power consumption and low cost are required, a Bluetooth 5.1 positioning module can be selected. If multiple uses of one network are required, a 5G positioning module can also be selected. When the scenario has high reliability requirements, a UWB positioning module can also be selected.

[0098] When the 5G indoor distribution type is 5G active indoor distribution coverage and the positioning accuracy requirement is decimeter level, if low power consumption and low cost are required, a Bluetooth 5.1 positioning module can be selected.

[0099] When the 5G indoor distribution type is 5G active indoor distribution coverage, the positioning accuracy requirement is decimeter level. If the environment is complex and the scenario has high reliability requirements, a UWB positioning module can be selected.

[0100] There are many indoor positioning technologies, each with its own advantages and disadvantages. This embodiment can select the most suitable positioning scheme according to the specific needs of the scenario. Specific judgment conditions include 5G indoor distribution type, positioning accuracy, power consumption, cost, reliability requirements, etc. For example, if low cost is required, a 5G positioning module can be selected; if the scenario has high reliability requirements, a UWB positioning module can be selected.

[0101] In some embodiments, the positioning measurement data further includes a technical flag indicating the type of positioning base station used; the step of calculating the location of the positioning measurement data based on the base station parameters corresponding to the positioning base station identifier includes:

[0102] The positioning measurement data is sent to the corresponding calculation module for position calculation based on the technical flag bits.

[0103] In this embodiment, each type of positioning base station corresponds to a corresponding calculation module, which can perform location calculation on the positioning measurement data of the corresponding positioning base station. The fusion positioning calculation platform in this embodiment needs to receive positioning measurement data from multiple positioning technologies such as 5G, UWB, and Bluetooth. Therefore, it is necessary to classify different data and send them to different calculation modules for location information calculation. A flag bit is added to the data packet transmitted from the positioning base station to the positioning calculation platform to identify different positioning technologies. A possible embodiment is as follows: Therefore, the data packet content transmitted from the positioning base station to the positioning calculation platform should include: terminal ID, base station ID, timestamp, positioning measurement data, and technology flag bit, etc.

[0104] Table 1 shows the technical markers for positioning technology.

[0105] Table 1

[0106] 5G 00 UWB 01 BLE4.2 10 BLE5.1 11

[0107] The positioning and calculation platform sends data packets to the corresponding calculation modules for location calculation using technical flags of different data packets. Different positioning technologies can use the base station ID to look up parameter information of different base stations in a unified database for location calculation. After obtaining the location data, the positioning and calculation module outputs information including: terminal ID, timestamp, and location information to the fusion location output module. In the fusion location output module, different positioning and calculation technologies use the same map location coordinates, which can complete the coordinate deviation correction between different systems.

[0108] In some embodiments, if multiple positioning modules are selected, there are multiple corresponding positioning base stations. The positioning measurement data is calculated based on the base station parameters corresponding to the positioning base station identifier to obtain the location information of the terminal to be positioned.

[0109] The location measurement obtained from each positioning base station is calculated to obtain multiple first location information in the same coordinate system;

[0110] Each piece of the first location information is multiplied by the weighting coefficient corresponding to the positioning base station to obtain multiple pieces of second location information;

[0111] The multiple second location information are added together to obtain the location information of the terminal to be located.

[0112] In some embodiments, before performing location calculation on the positioning measurement data based on the base station parameters corresponding to the positioning base station identifier to obtain the location information of the terminal to be located, the method further includes:

[0113] The weighting coefficients for each positioning base station are determined according to preset rules, including:

[0114] If the distance between any two of the plurality of first location information is less than a first preset threshold, then the weighting coefficients corresponding to the plurality of positioning base stations are all the same;

[0115] If the distance between any two of the plurality of first location information is greater than or equal to a preset first threshold, the farther the first location information is from the corresponding positioning base station, the smaller the weighting coefficient corresponding to the positioning base station; if the distance between a first location information and its corresponding positioning base station is less than a preset second threshold, the weighting coefficient corresponding to the positioning base station is 1, and the weighting coefficients corresponding to other positioning base stations are 0.

[0116] The integrated positioning platform needs to pre-store the guaranteed positioning accuracy ranges of different base stations for subsequent weight selection. The guaranteed positioning accuracy range can be determined based on the distance to the base station or signal strength. In a specific example, the positioning accuracy range can be divided into three levels: range 1 is a high-precision positioning area; range 2 is a medium-precision positioning area; and range 3 is a low-precision positioning area. For example, for Bluetooth AOA positioning, a distance of 1H from base station is range 1, a distance of 2H from base station is range 2, and all others are range 3, where H is a set value. The terminal's location information can be determined based on the terminal's previous positioning location. For 5G and UWB positioning, it can be determined based on signal strength.

[0117] Location information obtained from different technologies by the same terminal is fused. Weighting coefficients are selected by comprehensively considering factors such as terminal-supported technologies, terminal location, and positioning accuracy. The final location data is W = aX + bY + cZ (where X, Y, and Z are the location data obtained from different technologies, and a, b, and c are the weighting coefficients, summing to 1; a, b, and c can be adjusted as needed). For example, for a terminal with only one positioning technology outputting location data, no fusion calculation is performed. For a terminal with location output from two or more positioning technologies, the difference between the locations is first determined. If the difference is less than a threshold D, the calculated location information is basically the same, and the weighting coefficients can be evenly distributed. If the difference is greater than or equal to the threshold D, the calculated location information differs significantly and needs to be processed. The processing principle is as follows: when a technology is in range 1, its weight is 1, and other technologies are 0. When no technology is in range 1, a weight of a1 is assigned to technologies in range 2, and a weight of b1 (a1 > b1) is assigned to technologies in range 3. For example, for terminals that support both 5G and Bluetooth, if the Bluetooth signal strength weakens to below a certain threshold or the AOA positioning exceeds the 2H range, the coefficient ratio of 5G is increased; otherwise, the location information calculated by Bluetooth technology has a greater weight. By fusing location calculations, the positioning accuracy of the terminal is improved.

[0118] This invention also provides a positioning device, such as... Figure 2 As shown, it includes:

[0119] The positioning technology selection module is used to select the positioning module to be used according to preset judgment conditions. The parameters of the judgment conditions include at least one of the following: 5G indoor distribution type, positioning accuracy, power consumption, cost, and reliability requirements. The positioning module includes at least one of the following: ultra-wideband (UWB) positioning module, 5G positioning module, and Bluetooth positioning module. The module obtains positioning measurement data returned by the corresponding positioning base station through the selected positioning module. The positioning measurement data includes: the identifier of the terminal to be positioned, the identifier of the positioning base station, the timestamp, and the positioning measurement quantity.

[0120] The fusion location output module is used to perform location calculation on the positioning measurement data according to the base station parameters corresponding to the positioning base station identifier, and obtain the location information of the terminal to be located.

[0121] In this embodiment, a positioning module is selected based on preset judgment conditions. The selected positioning module obtains positioning measurement data returned by the corresponding positioning base station. The positioning measurement data is then used to calculate the location based on the base station parameters corresponding to the base station identifier, thus obtaining the location information of the terminal to be located. This embodiment can select the most suitable positioning scheme according to the specific needs of the scenario, meeting the positioning requirements of multiple scenarios.

[0122] like Figure 2 As shown, the overall architecture of this embodiment includes: a fusion positioning and calculation platform, a 5G BBU (indoor baseband processing unit), a hub, a 5G PRRU (radio remote unit), UWB, Bluetooth and other general wireless base stations, and a positioning terminal. The fusion positioning and calculation platform includes a positioning technology selection module, a positioning module, and a fusion location output module. The positioning module includes Bluetooth 4.2 positioning, Bluetooth 5.1 positioning, UWB positioning, and 5G positioning modules. The 5G BBU hub PRRU provides a data backhaul path for UWB, Bluetooth and other general wireless positioning data. The PRRU provides power to the general wireless base stations. Simultaneously, the 5G PRRU provides 5G positioning capabilities. The BBU transmits all positioning data to the fusion positioning and calculation platform.

[0123] In some embodiments, the step of selecting the positioning module to be used based on preset judgment conditions includes at least one of the following:

[0124] When the 5G indoor distribution type is 5G passive indoor distribution coverage (i.e., 5G has no positioning capability and needs to provide positioning capability through technologies such as Bluetooth and UWB), and the positioning accuracy requirement is 5 to 10 meters, Bluetooth 4.2 positioning module can be selected because Bluetooth 5.1 positioning module and UWB positioning module are expensive.

[0125] When the 5G indoor distribution type is 5G passive indoor distribution coverage, the positioning accuracy requirement is 1 to 5 meters, and low power consumption or low cost is required, a Bluetooth 5.1 positioning module can be selected.

[0126] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is decimeter level, a Bluetooth 5.1 positioning module can be selected;

[0127] When the 5G indoor distribution type is 5G passive indoor distribution coverage, the positioning accuracy requirement is decimeter level, and the scenario reliability requirement is high, a UWB positioning module can be selected.

[0128] When the 5G indoor distribution type is 5G active indoor distribution coverage (i.e. 5G can provide positioning capability), the positioning accuracy requirement is 5 to 10 meters, and low power consumption is required, a Bluetooth 4.2 positioning module can be selected.

[0129] When the 5G indoor distribution type is 5G active indoor distribution coverage, the positioning accuracy requirement is 5-10 meters, and the cost requirement is low, a 5G positioning module can be selected.

[0130] When the 5G indoor distribution type is 5G active indoor distribution coverage and the positioning accuracy requirement is 1 to 5 meters, if low power consumption and low cost are required, a Bluetooth 5.1 positioning module can be selected. If multiple uses of one network are required, a 5G positioning module can also be selected. When the scenario has high reliability requirements, a UWB positioning module can also be selected.

[0131] When the 5G indoor distribution type is 5G active indoor distribution coverage and the positioning accuracy requirement is at the decimeter level, if low power consumption and low cost are required, a Bluetooth 5.1 positioning module can be selected.

[0132] When the 5G indoor distribution type is 5G active indoor distribution coverage, the positioning accuracy requirement is decimeter level. If the environment is complex and the scenario has high reliability requirements, a UWB positioning module can be selected.

[0133] There are many indoor positioning technologies, each with its own advantages and disadvantages. This embodiment can select the most suitable positioning scheme according to the specific needs of the scenario. Specific judgment conditions include 5G indoor distribution type, positioning accuracy, power consumption, cost, reliability requirements, etc. For example, if low cost is required, a 5G positioning module can be selected; if the scenario has high reliability requirements, a UWB positioning module can be selected.

[0134] In some embodiments, the positioning measurement data further includes a technical flag bit, which indicates the type of positioning base station used; the fused location output module is specifically used to send the positioning measurement data to the corresponding calculation module for location calculation based on the technical flag bit.

[0135] In some embodiments, if multiple positioning modules are selected and multiple corresponding positioning base stations are selected, the fusion position output module is specifically used to perform position calculation on the positioning measurement obtained by each positioning base station to obtain multiple first position information in the same coordinate system; multiply each first position information by the weighting coefficient corresponding to the positioning base station to obtain multiple second position information; and add the multiple second position information to obtain the position information of the terminal to be positioned.

[0136] In some embodiments, the fused location output module is further configured to determine the weighting coefficient corresponding to each positioning base station according to a preset rule, the preset rule including:

[0137] If the distance between any two of the plurality of first location information is less than a first preset threshold, then the weighting coefficients corresponding to the plurality of positioning base stations are all the same;

[0138] If the distance between any two of the plurality of first location information is greater than or equal to a preset first threshold, the farther the first location information is from the corresponding positioning base station, the smaller the weighting coefficient corresponding to the positioning base station; if the distance between a first location information and its corresponding positioning base station is less than a preset second threshold, the weighting coefficient corresponding to the positioning base station is 1, and the weighting coefficients corresponding to other positioning base stations are 0.

[0139] This invention also provides a positioning device, such as... Figure 3 As shown, it includes a memory 21, a processor 22, and a computer program stored in the memory 21 and executable on the processor 22; when the processor 22 executes the program, it implements the positioning method described above.

[0140] In some embodiments, the processor 22 is configured to select the positioning module to be used according to preset judgment conditions. The parameters of the judgment conditions include at least one of the following: 5G indoor distribution type, positioning accuracy, power consumption, cost, and reliability requirements. The positioning module includes at least one of the following: ultra-wideband (UWB) positioning module, 5G positioning module, and Bluetooth positioning module. The processor obtains positioning measurement data returned by the corresponding positioning base station through the selected positioning module. The positioning measurement data includes: the identifier of the terminal to be positioned, the identifier of the positioning base station, a timestamp, and positioning measurement. The processor performs position calculation on the positioning measurement data according to the base station parameters corresponding to the identifier of the positioning base station to obtain the location information of the terminal to be positioned.

[0141] In some embodiments, the step of selecting the positioning module to be used based on preset judgment conditions includes at least one of the following:

[0142] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is 5-10 meters, select the Bluetooth 4.2 positioning module;

[0143] When the 5G indoor distribution type is 5G passive indoor distribution coverage, the positioning accuracy requirement is 1 to 5 meters, and low power consumption or low cost is required, a Bluetooth 5.1 positioning module should be selected.

[0144] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is decimeter level, select the Bluetooth 5.1 positioning module;

[0145] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the scenario has high reliability requirements, select the UWB positioning module;

[0146] When the 5G indoor distribution type is 5G active indoor distribution coverage, the positioning accuracy requirement is 5-10 meters, and low power consumption is required, a Bluetooth 4.2 positioning module should be selected.

[0147] When the 5G indoor distribution type is 5G active indoor distribution coverage and low cost is required, choose the 5G positioning module.

[0148] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is 1 to 5 meters, select the Bluetooth 5.1 positioning module;

[0149] When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is decimeter level, select the Bluetooth 5.1 positioning module;

[0150] When the 5G indoor distribution type is 5G active indoor distribution coverage and the scenario has high reliability requirements, the UWB positioning module should be selected.

[0151] In some embodiments, the positioning measurement data further includes a technical flag bit, which indicates the type of positioning base station used; the processor 22 is specifically used to send the positioning measurement data to the corresponding calculation module for position calculation based on the technical flag bit.

[0152] In some embodiments, if multiple positioning modules are selected and multiple corresponding positioning base stations are selected, the processor 22 is specifically used to perform position calculation on the positioning measurement obtained by each positioning base station to obtain multiple first position information in the same coordinate system; multiply each first position information by the weighting coefficient corresponding to the positioning base station to obtain multiple second position information; and add the multiple second position information to obtain the position information of the terminal to be positioned.

[0153] In some embodiments, the processor 22 is further configured to determine the weighting coefficient corresponding to each positioning base station according to a preset rule, the preset rule including:

[0154] If the distance between any two of the plurality of first location information is less than a first preset threshold, then the weighting coefficients corresponding to the plurality of positioning base stations are all the same;

[0155] If the distance between any two of the plurality of first location information is greater than or equal to a preset first threshold, the farther the first location information is from the corresponding positioning base station, the smaller the weighting coefficient corresponding to the positioning base station; if the distance between a first location information and its corresponding positioning base station is less than a preset second threshold, the weighting coefficient corresponding to the positioning base station is 1, and the weighting coefficients corresponding to other positioning base stations are 0.

[0156] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps in the positioning method described above.

[0157] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage, or any other non-transferable medium that can be used to store information accessible to the computer-readable terminal device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0158] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A positioning method, characterized in that, include: The positioning module to be used is selected based on preset judgment conditions; The selected positioning module obtains the positioning measurement data returned by the corresponding positioning base station. The location measurement data is calculated based on the base station parameters corresponding to the positioning base station identifier to obtain the location information of the terminal to be located. If multiple positioning modules are selected, there are multiple corresponding positioning base stations. The positioning measurement data is then used to calculate the location based on the base station parameters corresponding to the positioning base station identifier to obtain the location information of the terminal to be positioned. The location measurement obtained from each positioning base station is calculated to obtain multiple first location information in the same coordinate system; Each piece of the first location information is multiplied by the weighting coefficient corresponding to the positioning base station to obtain multiple pieces of second location information; The location information of the terminal to be located is obtained by adding the multiple second location information. The sum of the weighting coefficients of all positioning base stations is 1. The weighting coefficients are determined by the terminal support technology, terminal location, and positioning accuracy. The method further includes: The weighting coefficients for each positioning base station are determined according to preset rules, including: If the distance between any two of the plurality of first location information is less than a first preset threshold, then the weighting coefficients corresponding to the plurality of positioning base stations are all the same; If the distance between any two of the plurality of first location information is greater than or equal to a preset first threshold, the farther the first location information is from the corresponding positioning base station, the smaller the weighting coefficient corresponding to the positioning base station; if the distance between a first location information and its corresponding positioning base station is less than a preset second threshold, the weighting coefficient corresponding to the positioning base station is 1, and the weighting coefficients corresponding to other positioning base stations are 0. The weighting coefficients are determined based on the positioning accuracy guarantee range, which is determined according to the distance between the terminal and the base station or the signal strength. The positioning measurement data also includes a technical flag bit, which indicates the type of positioning base station used; the step of calculating the location of the positioning measurement data based on the base station parameters corresponding to the positioning base station identifier includes: sending the positioning measurement data to the corresponding calculation module for location calculation based on the technical flag bit.

2. The positioning method according to claim 1, characterized in that, The parameters of the judgment conditions include at least one of the following: 5G indoor distribution type, positioning accuracy, power consumption, cost, and reliability requirements; the positioning module includes at least one of the following: ultra-wideband (UWB) positioning module, 5G positioning module, and Bluetooth positioning module. The positioning measurement data includes: the identifier of the terminal to be positioned, the identifier of the positioning base station, the timestamp, and the positioning measurement quantity.

3. The positioning method according to claim 2, characterized in that, The judgment criteria include at least one of the following: When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is 5~10 meters, select the Bluetooth 4.2 positioning module; When the 5G indoor distribution type is 5G passive indoor distribution coverage, the positioning accuracy requirement is 1~5 meters, and low power consumption or low cost is required, choose Bluetooth 5.1 positioning module; When the 5G indoor distribution type is 5G passive indoor distribution coverage and the positioning accuracy requirement is decimeter level, select the Bluetooth 5.1 positioning module; When the 5G indoor distribution type is 5G passive indoor distribution coverage and the scenario has high reliability requirements, select the UWB positioning module; When the 5G indoor distribution type is 5G active indoor distribution coverage, the positioning accuracy requirement is 5~10 meters, and low power consumption is required, a Bluetooth 4.2 positioning module should be selected. When the 5G indoor distribution type is 5G active indoor distribution coverage and low cost is required, choose the 5G positioning module. When the 5G indoor distribution type is 5G active indoor distribution coverage and the positioning accuracy requirement is 1~5 meters, select the Bluetooth 5.1 positioning module; When the 5G indoor distribution type is 5G active indoor distribution coverage and the positioning accuracy requirement is decimeter level, select the Bluetooth 5.1 positioning module; When the 5G indoor distribution type is 5G active indoor distribution coverage and the scenario has high reliability requirements, the UWB positioning module should be selected.

4. A positioning device, characterized in that, include: The positioning technology selection module is used to select the positioning module to be used based on preset judgment conditions; The acquisition module is used to acquire the positioning measurement data returned by the corresponding positioning base station through the selected positioning module; The fusion location output module is used to perform location calculation on the positioning measurement data according to the base station parameters corresponding to the positioning base station identifier, and obtain the location information of the terminal to be located. If multiple positioning modules are selected, and multiple corresponding positioning base stations are selected, the fusion position output module is specifically used to perform position calculation on the positioning measurement obtained by each positioning base station to obtain multiple first position information in the same coordinate system; multiply each first position information by the weighting coefficient corresponding to the positioning base station to obtain multiple second position information; and add the multiple second position information to obtain the position information of the terminal to be positioned. The sum of the weighting coefficients of all positioning base stations is 1. The weighting coefficients are determined by the terminal support technology, terminal location, and positioning accuracy. The fused location output module is further configured to determine the weighting coefficient corresponding to each positioning base station according to preset rules, the preset rules including: If the distance between any two of the plurality of first location information is less than a first preset threshold, then the weighting coefficients corresponding to the plurality of positioning base stations are all the same; If the distance between any two of the plurality of first location information is greater than or equal to a preset first threshold, the farther the first location information is from the corresponding positioning base station, the smaller the weighting coefficient corresponding to that positioning base station; if the distance between a first location information and its corresponding positioning base station is less than a preset second threshold, the weighting coefficient corresponding to that positioning base station is 1, and the weighting coefficients corresponding to other positioning base stations are 0; the weighting coefficients are determined based on the positioning accuracy guarantee range, which is determined according to the distance between the terminal and the base station or the signal strength. The positioning measurement data also includes a technical flag bit, which indicates the type of positioning base station used; the step of calculating the location of the positioning measurement data based on the base station parameters corresponding to the positioning base station identifier includes: sending the positioning measurement data to the corresponding calculation module for location calculation based on the technical flag bit.

5. The positioning device according to claim 4, characterized in that, The parameters of the judgment conditions include at least one of the following: 5G indoor distribution type, positioning accuracy, power consumption, cost, and reliability requirements; the positioning module includes at least one of the following: ultra-wideband (UWB) positioning module, 5G positioning module, and Bluetooth positioning module. The positioning measurement data includes: the identifier of the terminal to be positioned, the identifier of the positioning base station, the timestamp, and the positioning measurement quantity.

6. A positioning device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor; characterized in that, When the processor executes the program, it implements the positioning method as described in any one of claims 1-3.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the positioning method as described in any one of claims 1-3.

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