Positioning base station, positioning method, positioning system, and storage medium

Abstract

The application relates to the technical field of positioning, and discloses a positioning base station applied to an overhauling system, a positioning method, a positioning system and a storage medium. The positioning base station comprises the following steps: a fixed seat and a movable mobile terminal pre-buried in a scene to be positioned are connected in communication through wired or wireless modes; when the positioning base station is deployed, the mobile terminal is used for receiving positioning configuration information sent by a positioning background and sending the positioning configuration information to the fixed seat through the communication connection; the fixed seat receives the positioning configuration information and configures positioning parameters of the fixed seat based on the positioning configuration information; when the positioning base station is operated, the mobile terminal is used for acquiring the positioning parameters and uploading the positioning parameters to the positioning background to perform positioning work. Since only the positioning base station needs to be deployed in the scene to be positioned, one mobile terminal of the positioning base station can be adapted to several fixed seats, and the mobile terminal is convenient to carry, so that the positioning base station can meet the demand of rapid deployment, the cost of installing the positioning base station is reduced, and the overall utilization rate of the positioning base station is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of positioning, in particular to a positioning base station, a positioning method, a positioning system and a storage medium. BACKGROUND

[0002] In the prior art related to the movable base station, a complete set of positioning system needs to be deployed in each positioning site, resulting in too many positioning base stations and high cost. However, only part of the sites have positioning needs when there is a task each time, and the remaining positioning base stations do not need to be in working state, which leads to low overall utilization rate. Moreover, the movable positioning base station in the industry is relatively bulky, which is inconvenient to carry and quickly deploy and install. SUMMARY

[0003] The main purpose of the present application is to solve the problems of the prior art positioning base station, such as bulky structure, inconvenience to carry and difficulty to quickly deploy.

[0004] The first aspect of the present application provides a positioning base station applied to a maintenance system, comprising: a fixed seat pre-buried in a to-be-positioned scene and a mobile end which is movable; a communication connection between the fixed seat and the mobile end is established in a wired or wireless manner; when the positioning base station is deployed, the mobile end is used to receive positioning configuration information sent by a positioning background, and the positioning configuration information is sent to the fixed seat through the communication connection; the fixed seat obtains the positioning configuration information through the mobile end, and configures positioning parameters of the fixed seat based on the positioning configuration information; when the positioning base station is running, the mobile end is used to obtain the positioning parameters, and upload the positioning parameters to the positioning background to perform positioning work.

[0005] Optionally, in the first implementation manner of the first aspect of the present application, the fixed seat comprises a data storage unit and a communication interface circuit connected with the data storage unit; the data storage unit receives the positioning configuration information through the communication interface circuit and saves the positioning configuration information.

[0006] Optionally, in the second implementation manner of the first aspect of the present application, when the communication interface circuit is a passive communication interface circuit, the fixed seat further comprises a power interface and a trigger circuit connected with the power interface; the power interface is used to provide working voltage for the data storage unit and the communication interface circuit; the trigger circuit is used to trigger the mobile end to work through the trigger circuit when the mobile end accesses the fixed seat; and the data storage unit is a readable and writable RFID chip.

[0007] Optionally, in the third implementation manner of the first aspect of the present application, when the communication interface circuit is an active communication interface circuit, the data storage unit is a flash memory.

[0008] Optionally, in a fourth implementation form of the first aspect of the present application, the mobile terminal comprises a data transmission module and a power supply interface connected to the data transmission module, wherein the power supply interface is matched with the communication interface circuit on the fixed base. The data transmission module is configured to write the positioning configuration information into the fixed base or read the positioning parameters on the fixed base.

[0009] Optionally, in a fifth implementation form of the first aspect of the present application, when the communication interface circuit is a passive communication interface circuit, the data transmission module is an RFID reader / writer.

[0010] Optionally, in a sixth implementation form of the first aspect of the present application, when the communication interface circuit is an active communication interface circuit, the data transmission module comprises a Bluetooth communication circuit and / or an NFC communication circuit.

[0011] Optionally, in a seventh implementation form of the first aspect of the present application, the mobile terminal further comprises a power supply battery and a trigger detection circuit; the power supply battery is connected to the power supply interface and configured to provide working voltage for the data transmission module and the trigger detection circuit; the trigger detection circuit is configured to write the positioning configuration information into the fixed base or read the positioning parameters on the fixed base through the data transmission module when detecting that the trigger circuit on the fixed base is triggered.

[0012] The second aspect of the present application provides a positioning method based on the positioning base station provided above, comprising: after the mobile terminal accesses the fixed base, obtaining the positioning parameters pre-stored in the fixed base through the mobile terminal and transmitting the positioning parameters to a positioning background; extracting the positioning configuration information stored in the positioning background; comparing and analyzing the positioning configuration information with the positioning parameters to obtain an analysis result; judging whether there is an abnormality in the analysis result; and if there is no abnormality, performing a positioning operation based on the positioning parameters.

[0013] Optionally, in a first implementation form of the second aspect of the present application, if there is no abnormality, performing a positioning operation based on the positioning parameters comprises: if there is no abnormality, analyzing the positioning parameters to obtain a positioning mode of the positioning base station; obtaining an algorithm formula corresponding to the positioning mode and performing a positioning operation based on the algorithm formula.

[0014] Optionally, in the second implementation of the second aspect of the present application, the acquiring the algorithm formula corresponding to the positioning mode and performing the positioning operation based on the algorithm formula comprises: if the positioning mode is a TDoA positioning mode, acquiring an algorithm formula for calculating an actual receiving signal time point and a calculated receiving signal time point based on an antenna feeder length connected to the mobile terminal and the actual receiving signal time point; calculating the calculated receiving signal time point based on the antenna feeder length, the actual receiving signal time point and the algorithm formula, and performing the positioning operation based on the calculated receiving signal time point; if the positioning mode is a ToF positioning mode, acquiring a preset ranging mode, wherein the ranging mode comprises a one-way ranging mode or a two-way ranging mode; acquiring a first antenna feeder length connected to the object to be measured, a second antenna feeder length connected to the mobile terminal, a plurality of time points of receiving signals corresponding to the ranging mode and an algorithm formula corresponding to the ranging mode, and performing the positioning operation based on the first antenna feeder length, the second antenna feeder length, the plurality of time points and the algorithm formula.

[0015] Optionally, in the third implementation of the second aspect of the present application, the acquiring the first antenna feeder length connected to the object to be measured, the second antenna feeder length connected to the mobile terminal, the plurality of time points of receiving signals corresponding to the ranging mode and the algorithm formula corresponding to the ranging mode, and performing the positioning operation based on the first antenna feeder length, the second antenna feeder length, the plurality of time points and the algorithm formula comprises: if the ranging mode is a one-way ranging mode, acquiring a time point of a signal sent by the object to be measured, a time point of the signal received by the mobile terminal, a time point of the signal responded by the mobile terminal, a time point of the response signal sent by the mobile terminal received by the object to be measured, and a first algorithm formula corresponding to the one-way ranging mode for calculating an actual distance between the positioning base station and the object to be measured, and calculating the actual distance between the positioning base station and the object to be measured; acquiring the first antenna feeder length connected to the object to be measured, the second antenna feeder length connected to the mobile terminal and a second algorithm formula for calculating the distance between the positioning base station and the object to be measured considering the antenna feeder length, respectively; calculating the distance between the positioning base station and the object to be measured considering the antenna feeder length based on the first antenna feeder length, the second antenna feeder length, the actual distance between the positioning base station and the object to be measured and the second algorithm formula, and then performing the positioning operation.

[0016] Optionally, in the fourth implementation manner of the second aspect of the present application, the first antenna feeder length connected with the object to be measured, the second antenna feeder length connected with the mobile terminal, the time points of the plurality of received signals corresponding to the ranging mode, and the algorithm formula corresponding to the ranging mode are used for the positioning operation, and the positioning operation further comprises: if the ranging mode is a double-side ranging mode, the time point at which the object to be measured sends a signal, the time point at which the mobile terminal receives the signal, the time point at which the mobile terminal responds to the signal, the time point at which the object to be measured receives the response signal sent by the mobile terminal, the time point at which the object to be measured responds to the response signal sent by the mobile terminal, the time point at which the mobile terminal receives the response signal, and a third algorithm formula corresponding to the double-side ranging mode for calculating the actual distance between the positioning base station and the object to be measured are obtained, and the actual distance between the positioning base station and the object to be measured is calculated; the first antenna feeder length connected with the object to be measured, the second antenna feeder length connected with the mobile terminal, and a fourth algorithm formula for calculating the distance between the positioning base station and the object to be measured considering the antenna feeder length are obtained respectively; and the distance between the positioning base station and the object to be measured considering the antenna feeder length is calculated based on the first antenna feeder length, the second antenna feeder length, the actual distance between the positioning base station and the object to be measured, and the fourth algorithm formula, and then the positioning operation is performed.

[0017] Optionally, in the fifth implementation manner of the second aspect of the present application, before the positioning parameter pre-stored in the fixed seat is acquired by the mobile terminal after the mobile terminal accesses the fixed seat, and the positioning parameter is transmitted to the positioning background, the method further comprises: acquiring coordinate information of the fixed seat; and transmitting the corresponding relationship between the coordinate information and the fixed seat to the positioning background for storage.

[0018] The third aspect of the present application provides a positioning system, comprising: a server and at least one positioning base station as described above, wherein the server is connected with the positioning base station through a network, and the positioning base station comprises at least two fixed seats and at least one mobile terminal.

[0019] The fourth aspect of the present application provides a computer readable storage medium, wherein instructions are stored in the computer readable storage medium, and when the instructions are run on a computer, the computer executes the positioning method based on the positioning base station as described above.

[0020] In the technical solution of the present application, only the positioning base station needs to be deployed in the site where positioning is required, and a complete set of positioning system does not need to be deployed in each positioning site. The mobile end of the positioning base station is not only convenient to carry, but also one mobile end can be adapted to several fixed seats, so that the positioning base station can meet the requirement of rapid deployment, reduce the cost of installing the positioning base station, and improve the overall utilization rate of the positioning base station. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the positioning base station in the embodiment of the present application.

[0022] Figure 2 It is a first embodiment schematic diagram of the positioning method based on the positioning base station in the embodiment of the present application.

[0023] Figure 3 It is a second embodiment schematic diagram of the positioning method based on the positioning base station in the embodiment of the present application.

[0024] Figure 4 It is a third embodiment schematic diagram of the positioning method based on the positioning base station in the embodiment of the present application.

[0025] Figure 5 It is a module frame schematic diagram of the positioning system in the embodiment of the present application. DETAILED DESCRIPTION

[0026] The terms "first", "second", "third", "fourth" and the like (if any) in the description, claims and above drawings of the present application are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the term "comprise" or "have" and any variation thereof is intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] For the convenience of understanding, the specific flow of the embodiment of the present application is described below, Figure 1 A positioning base station 100 provided in the present specification is applied to a maintenance system of a substation, and the positioning base station 100 comprises a fixed seat 101 pre-buried in a scene to be positioned and a mobile end 102 which is movable.

[0028] The fixed seat 101 establishes a communication connection with the mobile terminal 102 through wired or wireless mode; when deploying the positioning base station 100, the mobile terminal 102 is used to receive the positioning configuration information sent by the positioning background, and sends it to the fixed seat 101 through the communication connection; the fixed seat 101 obtains the positioning configuration information through the mobile terminal 102, and configures the positioning parameters of the fixed seat 101 based on the positioning configuration information; when running the positioning base station 100, the mobile terminal 102 is used to obtain the positioning parameters, and uploads the positioning parameters to the positioning background to perform positioning work.

[0029] The fixed seat 101 is at least two, and the number of the mobile terminal 102 is at least one, that is, the mobile terminal 102 is not only convenient to carry, but also can adapt to several fixed seats, and can be reused, that is, taken and used, and returned after use, so as to send positioning data according to the received signal of the object to be detected or determine the position information of the object to be detected according to the signal reflected back by the object to be detected in a plurality of different positioning scenes. Therefore, only the mobile terminal 102 needs to be deployed in the site where positioning is required, and a set of mobile terminal can realize the positioning function in a plurality of positioning sites. Of course, this specification does not limit that more fixed seats 101 and more mobile terminals 102 are arranged in the positioning base station 100, or more fixed seats 101 can be arranged, and only one mobile terminal 102 is arranged, which can be arranged according to actual needs.

[0030] Further, the fixed seat 101 includes a data storage unit and a communication interface circuit connected with the data storage unit; the data storage unit receives the positioning configuration information through the communication interface circuit and saves it.

[0031] When the communication interface circuit is a passive communication interface circuit, the fixed seat 101 further includes a power interface and a trigger circuit connected with the power interface. The power interface is used to provide working voltage for the data storage unit and the communication interface circuit; the trigger circuit is used to trigger the mobile terminal 102 to work through the trigger circuit when the mobile terminal 102 accesses the fixed seat 101; the data storage unit is a readable and writable RFID (Radio Frequency Identification, Radio Frequency Identification Technology) chip.

[0032] Only when the mobile terminal 102 is powered by a battery, the trigger circuit of the fixed seat 101 is used for triggering.

[0033] When the communication interface circuit of the fixed seat 101 is passive, the data storage unit is a readable and writable RFID chip, the positioning parameters are saved in the RFID chip, and the fixed seat 101 is pre-buried with a 220V line to provide a power supply interface for the mobile terminal 102. When the mobile terminal 102 is powered by a battery, it is in a sleep state when not working, and is awakened when a trigger circuit on the fixed seat 101 is detected, performs the functions of the mobile terminal 102, transmits positioning data by using a wireless network, and enters the sleep state again when the mobile terminal 102 leaves the fixed seat 101. RFID technology is used to write and read information, and manual intervention is not required for identification work, and RFID technology can identify multiple tags at the same time, and is fast and convenient to operate.

[0034] When the communication interface circuit is an active communication interface circuit, the data storage unit is a flash memory.

[0035] When the communication interface circuit of the fixed seat 101 is active, the positioning parameters are saved in the local flash, the mobile terminal 102 and the fixed seat 101 use communication technologies such as Bluetooth and NFC (near field communication technology) to realize writing and reading of information, and at the same time ensure the power supply interface and the network interface through the pre-buried network line. The use of Bluetooth, NFC and other near field wireless communication technologies has low cost, no physical line, and strong environmental adaptability.

[0036] Further, the mobile terminal 102 includes a data transmission module and a power supply interface connected to the data transmission module, wherein the power supply interface is matched with the communication interface circuit on the fixed seat 101. The data transmission module is used to write positioning configuration information into the fixed seat 101 or read the positioning parameters on the fixed seat 101.

[0037] The mobile terminal 102 can be powered by a battery, complete positioning data reporting by a wireless mode, or use the power supply and network provided by the fixed seat 101 to complete positioning data reporting by a wired mode. When the mobile terminal 102 is powered by POE (active Ethernet) or 220V, the interface provided by the fixed seat 101 is used to obtain power and network.

[0038] When the communication interface circuit is a passive communication interface circuit, the data transmission module is an RFID reader.

[0039] At this time, the information of the fixed seat 101 is saved in the RFID chip.

[0040] When the communication interface circuit is an active communication interface circuit, the data transmission module includes a Bluetooth communication circuit and / or an NFC communication circuit.

[0041] At this time, the information of the fixed seat 101 is saved in the local flash.

[0042] The power supply battery is connected with the power supply interface, and is used for providing working voltage for the data transmission module and the trigger detection circuit.

[0043] The trigger detection circuit is used for writing the positioning configuration information into the fixed seat 101 or reading the positioning parameters on the fixed seat 101 through the data transmission module when the trigger circuit on the fixed seat 101 is triggered.

[0044] The trigger circuit on the fixed seat 101 can be a magnetic steel on the fixed seat 101.

[0045] Further, in order to be more accurate when the positioning background determines the position information subsequently, the distance between each fixed seat 101 in the specification should be at least not less than a preset fixed distance. If the positional relationship between the fixed seats 101 is too close, it will mislead the time when the signal is detected. Therefore, the distance between each fixed seat 101 in the specification should not be less than the preset interval to avoid affecting the positioning accuracy.

[0046] Please refer to Figure 2 The second embodiment of the positioning method of the positioning base station provided in the embodiment of the application comprises:

[0047] 201. After the mobile terminal accesses the fixed seat, the positioning parameters pre-stored in the fixed seat are acquired by the mobile terminal, and the positioning parameters are transmitted to the positioning background.

[0048] It can be understood that the embodiment of the application takes the positioning base station as an example for description.

[0049] Before the positioning function is realized based on the positioning base station, an engineer needs to deploy and debug the positioning base station.

[0050] The specific debugging process is that the engineer installs the fixed seat on the specified position according to the positioning base station deployment scheme, and then installs the mobile terminal on the fixed seat. Based on the different power supply modes of the mobile terminal, the corresponding mode is selected to establish contact with the background, and the active or passive fixed seat is selected to connect with the fixed seat through the communication connection mode corresponding to the active or passive fixed seat.

[0051] The positioning system is debugged, the configuration information after debugging is saved to the positioning system, the configuration information is transmitted to the fixed seat based on the mobile terminal, and the positioning parameters saved in the fixed seat are obtained by configuring the fixed seat based on the positioning configuration information.

[0052] The positioning parameters include information such as IP of the positioning base station, port number, positioning mode, clock reference base station, base station coordinates, communication parameters, etc.

[0053] The power supply mode of the mobile terminal is a battery power supply mode or a power supply mode by a POE network cable or 220V embedded in the fixed seat.

[0054] The power supply mode of the mobile terminal is determined by observing whether the trigger detection circuit on the fixed seat is triggered. Specifically, the current change trend of the trigger detection circuit can be observed to determine whether it is triggered. If it is triggered, the power supply mode of the mobile terminal is the battery power supply mode.

[0055] If the power supply mode is the battery power supply mode, the mobile terminal is triggered by connecting with the trigger circuit on the fixed seat, which can be a magnetic steel provided on the fixed seat. When the mobile terminal is powered by the battery, it sleeps when not working. When the magnetic steel on the fixed seat is detected, it wakes up and performs the duties of the mobile terminal. When the mobile terminal leaves the fixed seat, it enters sleep again. At this time, it establishes contact with the positioning background through wireless means.

[0056] If the power supply mode is the power supply mode by a POE network cable or 220V embedded in the fixed seat, the mobile terminal is connected to the fixed seat by using the power supply interface or network interface provided by the fixed seat. It establishes contact with the positioning background through wired means.

[0057] Further, the positioning system is debugged by measuring the coordinate information of the fixed seat, transmitting the coordinate information and the corresponding relationship of the fixed seat to the positioning background for saving, and obtaining the positioning configuration information.

[0058] The positioning configuration information refers to the debugging configuration information of the entire positioning system, not only the coordinate information, but also the communication parameters of the positioning background. The communication parameters of the positioning background generally refer to the connection maintenance time, the upper limit of the number of data retransmissions, etc. In addition to the above parameters, the communication parameters of the base station also include the parameters of wireless communication, such as radio frequency power, message timing, clock synchronization period, etc.

[0059] 202, extract the positioning configuration information saved in the positioning background;

[0060] Obtain the current task information and parse it to obtain the coordinates of the fixed seat in the to-be-positioned scene. Based on the coordinates, query the positioning configuration information in the corresponding relationship between the coordinate information and the fixed seat pre-saved in the positioning background, and extract the corresponding positioning configuration information.

[0061] 203, compare and analyze the positioning configuration information with the positioning parameters to obtain an analysis result;

[0062] Compare and analyze the positioning configuration information with the positioning parameters to determine whether the similarity of the positioning configuration information and the positioning parameter information reaches a preset threshold. If the preset threshold is reached, it is determined that there is an abnormality in the analysis result. If the preset threshold is not reached, it is determined that there is no abnormality in the analysis result.

[0063] 204, judging whether there is an exception in the analysis result;

[0064] 205, if there is no exception, performing positioning operation based on the positioning parameter.

[0065] If there is an exception in the analysis result, an alarm is sent to remind that the positioning base station mobile terminal is installed incorrectly and needs to be reinstalled to the correct position. The alarm can be alarm information generated based on the positioning parameter, or the alarm device set by the mobile terminal can send an alarm to remind.

[0066] If there is no exception in the analysis result, the positioning mode of the positioning base station is obtained by analyzing the positioning parameter, the algorithm formula corresponding to the positioning mode is obtained, and the positioning operation is performed based on the algorithm formula and the positioning parameter.

[0067] In the embodiment of the application, after the mobile terminal accesses the fixed seat, the positioning parameter pre-stored in the fixed seat is obtained by the mobile terminal, and the positioning parameter is transmitted to the positioning background; the positioning configuration information stored in the positioning background is extracted; the positioning configuration information is compared and analyzed with the positioning parameter to obtain an analysis result; it is judged whether there is an exception in the analysis result; if there is no exception, the positioning operation is performed based on the positioning parameter to realize the function of positioning based on the positioning base station. Since only the positioning base station needs to be deployed in the site where positioning is required, a complete set of positioning system does not need to be deployed in each positioning site, and the mobile terminal of the positioning base station is not only convenient to carry, but also one mobile terminal can be adapted to several fixed seats, so that the positioning base station can meet the demand of rapid deployment, reduce the cost of installing the positioning base station, and improve the overall utilization rate of the positioning base station. Moreover, the positioning method effectively improves the accuracy of positioning.

[0068] Please refer to Figure 3 The third embodiment of the positioning method of the positioning base station provided in the above embodiment includes:

[0069] 301, after the mobile terminal accesses the fixed seat, the positioning parameter pre-stored in the fixed seat is obtained by the mobile terminal, and the positioning parameter is transmitted to the positioning background;

[0070] 302, the positioning configuration information stored in the positioning background is extracted;

[0071] 303, the positioning configuration information is compared and analyzed with the positioning parameter to obtain an analysis result;

[0072] 304, it is judged whether there is an exception in the analysis result;

[0073] 305, if there is no exception, the positioning mode of the positioning base station is obtained by analyzing the positioning parameter;

[0074] The positioning mode includes a TDoA positioning mode (Time Difference of Arrival) and a ToF positioning mode (Time of flight).

[0075] 306、If the positioning mode is the TDoA positioning mode, the length of an antenna feeder connected to the mobile terminal, an actual received signal time point, and an algorithm formula for calculating a received signal time point are obtained.

[0076] 307、Based on the length of the antenna feeder, the actual received signal time point, and the algorithm formula for calculating the received signal time point, a positioning operation is performed based on the received signal time point.

[0077] To reduce the shielding between the mobile terminal and the measured object, the mobile terminal antenna may need to be higher from the ground (at least 1.2 meters or more), so the length of the mobile terminal antenna feeder is longer. To reduce the error introduced by the length of the antenna feeder, the mobile terminal needs to compensate for the length L of the antenna feeder when calculating the positioning data.

[0078] For the TDoA positioning mode, the length L of the antenna feeder connected to the mobile terminal, the actual received signal time point t1, and the algorithm formula for calculating the received signal time point are obtained, where the algorithm formula for calculating the received signal time point is t is the received signal time point, t1 is the actual received signal time point, L is the length of the antenna feeder, and c is the speed of light.

[0079] 308、If the positioning mode is the ToF positioning mode, a preset ranging mode is obtained, where the ranging mode includes a one-way ranging mode or a two-way ranging mode.

[0080] If the positioning mode is the ToF positioning mode, the positioning parameters are analyzed to obtain the preset ranging mode.

[0081] 309、The length of a first antenna feeder connected to the measured object, the length of a second antenna feeder connected to the mobile terminal, a plurality of time points of received signals corresponding to the ranging mode, and an algorithm formula corresponding to the ranging mode are obtained, and a positioning operation is performed based on the length of the first antenna feeder, the length of the second antenna feeder, the plurality of time points, and the algorithm formula.

[0082] I. If the ranging mode is one-way ranging, the measured object sends a signal, the time point t1 at which the measured object sends the signal, the time point t2 at which the mobile terminal receives the signal, the time point t3 at which the mobile terminal responds to the signal, and the time point t4 at which the measured object receives the response signal sent by the mobile terminal are obtained, T1-T4 is the time calculated by the chip, t'4-t'1 is the actual time at which the mobile terminal and the measured object receive and send signals, L1 is the length of the first antenna feeder connected to the measured object, and L2 is the length of the second antenna feeder connected to the mobile terminal.

[0083] The algorithm formula for calculating the time difference between the time point t4 when the measured object receives the response signal sent by the mobile terminal and the time point t1 when the measured object sends the signal and the time point t3 when the mobile terminal responds to the signal and the time point t2 when the mobile terminal receives the signal is respectively: 41 t4-t1; t 32 =t3-t2;

[0084] The first algorithm formula for calculating the actual distance l between the positioning base station and the measured object corresponding to the single-side ranging mode is:

[0085] The calculation formula for the actual time difference between the actual time point t’4 when the measured object receives the response signal sent by the mobile terminal and the actual time point t’1 when the measured object sends the signal is: 41 t 41 -2×T1;

[0086] The calculation formula for the actual time difference between the actual time point t’3 when the mobile terminal responds to the signal and the actual time point t’2 when the mobile terminal receives the signal is: 32 t 32 +2×T2;

[0087] The second algorithm formula for calculating the distance l’ between the positioning base station and the measured object considering the antenna feeder length is:

[0088]

[0089] II. If the ranging mode is double-side ranging, if the measured object sends the detection signal, the time point t1 when the measured object sends the signal, the time point t2 when the mobile terminal receives the signal, the time point t3 when the mobile terminal responds to the signal, the time point t4 when the measured object receives the response signal sent by the mobile terminal, the time point t5 when the measured object responds to the response signal sent by the mobile terminal, the time point t6 when the mobile terminal receives the response signal sent by the measured object, T1-T6 is the time calculated by the chip, t’1-t’6 is the actual time point when the mobile terminal and the measured object receive and send the signal, L1 is the first antenna feeder length connected with the measured object, and L2 is the second antenna feeder length connected with the mobile terminal.

[0090] The algorithm formula of the time difference value between the time point t4 when the object under test receives the response signal sent by the mobile terminal and the time point t1 when the object under test sends the signal, the time point t3 when the mobile terminal responds to the signal and the time point t2 when the mobile terminal receives the signal, the time point t6 when the mobile terminal receives the response signal sent by the object under test and the time point t3 when the mobile terminal responds to the signal, and the time point t5 when the object under test responds to the response signal sent by the mobile terminal and the time point t4 when the object under test receives the response signal sent by the mobile terminal is respectively:

[0091] t 41 = t4-t1; t 32 = t3-t2

[0092] t 63 = t6-t3; t 54 = t5-t4

[0093] The third algorithm formula for calculating the actual distance l between the positioning base station and the object under test corresponding to the double-side ranging mode is:

[0094] The algorithm formula considering the length of the antenna feeder is as follows:

[0095] 1. The calculation formula of the actual time points t'1-t'6 when the mobile terminal and the object under test receive and send signals is respectively:

[0096]

[0097]

[0098] 2. The algorithm formula of the actual time difference value between the actual time point t4 when the object under test receives the response signal sent by the mobile terminal and the actual time point t1 when the object under test sends the signal, the actual time point t3 when the mobile terminal responds to the signal and the actual time point t2 when the mobile terminal receives the signal, the actual time point t6 when the mobile terminal receives the response signal sent by the object under test and the actual time point t3 when the mobile terminal responds to the signal, and the actual time point t5 when the object under test responds to the response signal sent by the mobile terminal and the actual time point t4 when the object under test receives the response signal sent by the mobile terminal is:

[0099] t' 41 = t'4-t'1 = t 41 -2×T1; t' 32 = t'3-t'2 = t 32 +2×T2

[0100] t' 63 = t'6-t'3 = t 63- 2 x T2; t' 54 = t'5- t'4= t 54 + 2 x T1;

[0101] Therefore, the fourth algorithm formula for calculating the distance l' of the positioning base station and the object to be measured considering the antenna feeder length is:

[0102] t' 63 x t' 41 = (t 41 - 2 x T2) x (t 63 - 2 x T2) = t 63 x t 41 - 2 x (t 63 x T1 + t 41 x T2) + 4 x T1 x T2

[0103] t' 54 x t' 32 = (t 54 + 2 x T1) x (t 32 + 2 x T2) = t 54 x t 32 + 2 x (t 32 x T1 + t 54 x T2) + 4 x T1 x T2

[0104] t' 63 x t' 41 - t' 54 x t' 32 = t 63 x t 41 - t 54 x t 32 - 2 x (t 63 x T1 + t 41 x T2 + t 54 x T2 + t 32 x T1)

[0105]

[0106] In this embodiment of the invention, after the mobile terminal connects to the fixed base, the positioning parameters pre-stored in the fixed base are obtained through the mobile terminal and transmitted to the positioning backend; the positioning configuration information stored in the positioning backend is extracted; the positioning configuration information is compared and analyzed with the positioning parameters to obtain the analysis results; it is determined whether there are any anomalies in the analysis results; if there are no anomalies, the positioning operation is performed based on the positioning parameters to realize the function of positioning based on the positioning base station. Since the positioning base station only needs to be deployed in the locations where there is a positioning requirement, it is not necessary to deploy a complete positioning system in each positioning location. Moreover, the mobile terminal of the positioning base station is not only easy to carry, but one mobile terminal can be adapted to several fixed bases, enabling the positioning base station to meet the needs of rapid deployment, reducing the cost of installing the positioning base station, and improving the overall utilization rate of the positioning base station. Furthermore, this positioning method effectively improves the accuracy of positioning.

[0107] Please see Figure 4 The third embodiment of the positioning method based on the positioning base station provided in the above embodiments of the present invention:

[0108] 401. After the mobile terminal is connected to the fixed base, if the communication interface circuit of the fixed base is passive, the RFID (Radio Frequency Identification) reader in the mobile terminal is used to read the positioning parameters stored on the RFID chip of the fixed base and transmit the positioning parameters to the positioning backend.

[0109] When the mounting base is passive, it has a pre-installed 220V line providing a power interface. In this case, the positioning parameters are stored on the RFID chip of the mounting base. The mobile device's data transmission module is an RFID reader / writer, and the mounting base's data storage unit is a readable and writable RFID chip. When the mobile device is battery-powered, the positioning parameters are transmitted wirelessly to the positioning backend. When the mobile device is powered by 220V, the positioning parameters are transmitted wiredly to the positioning backend.

[0110] 402. After the mobile terminal is connected to the fixed base, if the communication interface circuit of the fixed base is active, the positioning parameters stored in the flash memory of the fixed base are obtained based on the Bluetooth communication circuit and / or NFC (Near Field Communication) communication circuit in the mobile terminal, and the positioning parameters are transmitted to the positioning backend.

[0111] When the fixed seat is active, the fixed seat pre-buried network cable, provides the Ethernet POE interface, at the same time ensures the power interface and network interface. At this time, the positioning parameter is saved in the local flash (solid state memory) of the fixed seat, at this time, the data transmission module of the mobile terminal is a wireless communication mode such as Bluetooth communication circuit and / or NFC communication circuit, and the data storage unit of the fixed seat is a flash memory. When the mobile terminal is powered by a battery, the positioning parameter is transmitted to the positioning background in a wireless manner, and when the mobile terminal is powered by a POE network cable, the positioning parameter is transmitted to the positioning background in a wired manner.

[0112] 403, extract the positioning configuration information saved in the positioning background;

[0113] The positioning configuration information is the corresponding relationship between the fixed seat and the coordinate information of the fixed seat.

[0114] 404, according to the positioning configuration information, compare and analyze the positioning parameter to obtain an analysis result;

[0115] According to the coordinate information of the current fixed seat in the positioning parameter, search in the corresponding relationship between the fixed seat and the coordinate information of the fixed seat in the positioning configuration information, if the corresponding information is found, there is no abnormal result; if the corresponding information is not found, there is an abnormal result.

[0116] 405, judge whether there is an abnormality in the analysis result;

[0117] 406, if there is no abnormality, perform positioning operation based on the positioning parameter.

[0118] In the embodiment of the application, after the mobile terminal accesses the fixed seat, the mobile terminal acquires the positioning parameter pre-stored in the fixed seat, and transmits the positioning parameter to the positioning background; extract the positioning configuration information saved in the positioning background; according to the positioning configuration information, compare and analyze the positioning parameter to obtain an analysis result; judge whether there is an abnormality in the analysis result; if there is no abnormality, perform positioning operation based on the positioning parameter, realize the function of positioning based on the positioning base station. Since only the positioning base station needs to be deployed in the site where positioning is required, a complete set of positioning system does not need to be deployed in each positioning site, and the mobile terminal of the positioning base station is not only convenient to carry, but also one mobile terminal can adapt to several fixed seats, so that the positioning base station can meet the demand of rapid deployment, reduce the cost of installing the positioning base station, and improve the overall utilization rate of the positioning base station. Moreover, the positioning method effectively improves the accuracy of positioning.

[0119] Please refer to Figure 5 , Figure 5A schematic diagram of a module framework of a positioning system provided by an embodiment of the present application is shown in FIG. 1. The positioning system 500 includes a server 501 and at least one positioning base station 100. The server 501 is connected to the positioning base station 100 via a network. The positioning base station 100 includes at least two fixed seats 101 and at least one mobile terminal 102.

[0120] The at least one positioning base station 100 in the present application can be a UWB base station. The present embodiment is described by taking a UWB base station as an example.

[0121] The UWB tag contained in the object to be measured sends a signal to the outside. All UWB base stations within the wireless coverage range of the tag will receive the wireless signal. If two UWB base stations with known coordinates receive the signal, the current base station time is obtained, and the time stamp of the base station itself is sent to the server 501. Based on the different time stamps of the signals received by each base station from the object to be measured, the TDoA of each UWB base station is obtained. The TDoA positioning algorithm determines the position of the object to be measured based on the TDoA.

[0122] The position of the object to be measured can also be determined by a TOF positioning algorithm. Specifically, the UWB tag contained in the object to be measured sends a signal to the outside. The UWB base station obtains the time stamp of the signal and the time stamp of a plurality of reflected signals of the signal, and sends the time stamp of the signal and the time stamp of a plurality of reflected signals of the signal to the server 501. The server 501 calculates the distance by calculating the flight time of the signal between a UWB base station and the object to be measured, thereby determining the position of the object to be measured.

[0123] The server 501 can be a logical device, a separate physical device, or integrated on the positioning base station 100. The server 501 is not limited herein.

[0124] The present application also provides a computer readable storage medium, which can be a non-volatile computer readable storage medium or a volatile computer readable storage medium. The computer readable storage medium stores instructions. When the instructions are executed on a computer, the computer executes the steps of the positioning method based on the positioning base station.

[0125] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system or device, unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described herein.

[0126] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or the entire or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0127] The above-described embodiments are merely used to illustrate the technical solutions of the present application, rather than limit the same; even though the present application has been described in detail with reference to the foregoing embodiments, those ordinarily skilled in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some of the technical features; and these modifications or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A positioning base station for use in a maintenance system, characterized in that The positioning base station comprises: a fixed seat pre-buried in a scene to be positioned and a mobile end which is movable; wherein the fixed seat comprises a data storage unit and a communication interface circuit connected with the data storage unit; the mobile end comprises a data transmission module and a power supply interface connected with the data transmission module and matched with the communication interface circuit; A communication connection between the fixed seat and the mobile end is established by wired or wireless means; When the positioning base station is deployed, the data transmission module receives positioning configuration information sent by a positioning background and sends the positioning configuration information to the fixed seat through the communication connection, and the data storage unit obtains the positioning configuration information and saves the positioning configuration information through the communication interface circuit, and configures positioning parameters of the fixed seat based on the positioning configuration information; When the positioning base station is operated, the data transmission module obtains the positioning parameters and uploads the positioning parameters to the positioning background to perform positioning work.

2. The positioning base station according to claim 1, characterized in that, When the communication interface circuit is a passive communication interface circuit, the fixed seat further comprises a power supply interface and a trigger circuit connected with the power supply interface; The power supply interface is used to provide working voltage for the data storage unit and the communication interface circuit; The trigger circuit is used to trigger the mobile end to work through the trigger circuit when the mobile end accesses the fixed seat; The data storage unit is a readable and writable RFID chip.

3. The positioning base station according to claim 1, characterized in that, When the communication interface circuit is an active communication interface circuit, the data storage unit is a flash memory.

4. The positioning base station according to claim 1, characterized in that, When the communication interface circuit is a passive communication interface circuit, the data transmission module is an RFID reader and writer.

5. The positioning base station of claim 1, wherein, When the communication interface circuit is an active communication interface circuit, the data transmission module comprises a Bluetooth communication circuit and / or an NFC communication circuit.

6. The positioning base station of claim 1, wherein, The mobile end further comprises a power supply battery and a trigger detection circuit; The power supply battery is connected with the power supply interface and is used to provide working voltage for the data transmission module and the trigger detection circuit; The trigger detection circuit is used to write the positioning configuration information into the fixed seat or read positioning parameters on the fixed seat through the data transmission module when it is detected that the trigger circuit on the fixed seat is triggered.

7. A positioning method based on the positioning base station according to any one of claims 1 to 6, characterized by, The positioning method comprises: After the mobile end accesses the fixed seat, the mobile end obtains positioning parameters pre-stored in the fixed seat and transmits the positioning parameters to a positioning background; wherein the positioning parameters comprise a positioning mode; Coordinates of the fixed seat are obtained, and positioning configuration information is queried from the positioning background based on the coordinates; According to the positioning configuration information, the positioning parameters are compared and analyzed to obtain an analysis result; It is judged whether there is an abnormality in the analysis result; If there is no abnormality, positioning operation is performed based on the positioning mode.

8. The positioning method according to claim 7, characterized in that, If there is no abnormality, positioning operation is performed based on the positioning parameters, comprising: If there is no abnormality, the positioning mode of the positioning base station is obtained by analyzing the positioning parameters; An algorithm formula corresponding to the positioning mode is obtained, and positioning operation is performed based on the algorithm formula.

9. The positioning method according to claim 8, characterized in that, The algorithm formula corresponding to the positioning mode is acquired, and positioning operation is performed based on the algorithm formula, including: If the positioning mode is a TDoA positioning mode, algorithm formulas for calculating the length of an antenna feeder connected to the mobile terminal, an actual receiving signal time point, and a calculated receiving signal time point are acquired; The length of the antenna feeder, the actual receiving signal time point, and the algorithm formula are used to calculate the receiving signal time point, and positioning operation is performed based on the receiving signal time point; If the positioning mode is a ToF positioning mode, a preset ranging mode is acquired, wherein the ranging mode includes a single-side ranging mode or a double-side ranging mode; The length of a first antenna feeder connected to the object to be measured, the length of a second antenna feeder connected to the mobile terminal, a plurality of time points of received signals corresponding to the ranging mode, and an algorithm formula corresponding to the ranging mode are acquired, and positioning operation is performed based on the length of the first antenna feeder, the length of the second antenna feeder, the plurality of time points, and the algorithm formula.

10. The positioning method of claim 9, wherein, The length of a first antenna feeder connected to the object to be measured, the length of a second antenna feeder connected to the mobile terminal, a plurality of time points of received signals corresponding to the ranging mode, and an algorithm formula corresponding to the ranging mode are acquired, and positioning operation is performed based on the length of the first antenna feeder, the length of the second antenna feeder, the plurality of time points, and the algorithm formula, including: If the ranging mode is a single-side ranging mode, a time point at which the object to be measured sends a signal, a time point at which the mobile terminal receives the signal, a time point at which the mobile terminal responds to the signal, a time point at which the object to be measured receives a response signal sent by the mobile terminal, and a first algorithm formula corresponding to the single-side ranging mode for calculating the actual distance between the positioning base station and the object to be measured are acquired, and the actual distance between the positioning base station and the object to be measured is calculated; A first antenna feeder length connected to the object to be measured, a second antenna feeder length connected to the mobile terminal, and a second algorithm formula for calculating the distance between the positioning base station and the object to be measured considering the lengths of the antenna feeders are acquired; Based on the first antenna feeder length, the second antenna feeder length, the actual distance between the positioning base station and the object to be measured, and the second algorithm formula, the distance between the positioning base station and the object to be measured considering the lengths of the antenna feeders is calculated, and positioning operation is performed.

11. The positioning method of claim 9, wherein, The length of a first antenna feeder connected to the object to be measured, the length of a second antenna feeder connected to the mobile terminal, a plurality of time points of received signals corresponding to the ranging mode, and an algorithm formula corresponding to the ranging mode are acquired, and positioning operation is performed based on the length of the first antenna feeder, the length of the second antenna feeder, the plurality of time points, and the algorithm formula, including: If the ranging mode is a double ranging mode, the actual distance between the positioning base station and the object to be measured is calculated by obtaining the time point at which the object to be measured sends a signal, the time point at which the mobile terminal receives the signal, the time point at which the mobile terminal responds to the signal, the time point at which the object to be measured receives the response signal sent by the mobile terminal, the time point at which the object to be measured responds to the response signal sent by the mobile terminal, the time point at which the mobile terminal receives the response signal sent by the object to be measured in response to the response signal sent by the mobile terminal, and a third algorithm formula corresponding to the double ranging mode for calculating the actual distance between the positioning base station and the object to be measured; The first antenna feeder length connected with the object to be measured, the second antenna feeder length connected with the mobile terminal, and a fourth algorithm formula for calculating the distance between the positioning base station and the object to be measured after considering the antenna feeder length are obtained respectively; Based on the first antenna feeder length, the second antenna feeder length, the actual distance between the positioning base station and the object to be measured, and the fourth algorithm formula, the distance between the positioning base station and the object to be measured after considering the antenna feeder length is calculated, and then the positioning operation is performed.

12. The positioning method based on positioning base stations according to claim 7, characterized in that, Before the positioning parameter pre-stored in the fixed seat is obtained by the mobile terminal and transmitted to the positioning background after the mobile terminal is connected to the fixed seat, the method further comprises: Obtaining the coordinate information of the fixed seat; Transmitting the corresponding relationship between the coordinate information and the fixed seat to the positioning background for storage.

13. A positioning system, characterized by The positioning system comprises a server and at least one positioning base station according to any one of claims 1-6, wherein the server is connected to the positioning base station through a network, and the positioning base station comprises at least two fixed seats and at least one mobile terminal.

14. A computer-readable storage medium having stored thereon a computer program, characterized in that The computer program is executed by a processor to realize each step of the positioning method based on the positioning base station according to any one of claims 7-12.

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