Positioning method and device, storage medium and positioning system

Abstract

The invention discloses a positioning method and device, a storage medium and a positioning system, the positioning system comprises an antenna positioning unit and a data processing unit, the antenna positioning unit comprises at least three antennas, the at least three antennas are not located in the same plane, the at least three antennas form a plurality of antenna combinations, each antenna combination comprises two antennas, and the antennas are located in the same plane. At least one different antenna exists in different antenna combinations; the positioning method comprises the following steps: the data processing unit obtains a first distance between each antenna and target equipment; respectively determining a signal arrival angle from the target equipment to each antenna combination; and determining a first position of the target device based on the first distance of each antenna and each signal arrival angle. Through the mode, the position of the target equipment in the three-dimensional space can be accurately determined, and the positioning accuracy is improved.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a positioning method, device, storage medium and positioning system. Background Art

[0002] UWB (Ultra Wideband) is a pulse communication technology that transmits and receives narrow pulse signals in the nanosecond to microsecond range for wireless communication, and achieves precise positioning by measuring the time difference of the signal during propagation.

[0003] With the release of CCC3.0, UWB positioning has entered the field of vehicle positioning with its high-precision positioning method. At present, UWB vehicle positioning can adopt the AOA (Angle-of-Arrival) positioning solution, which uses a multi-antenna array to obtain the phase difference of the signal on different array elements to determine the signal arrival angle, and combines the distance information to obtain the location information of the target device in the direction of the wave. However, in the currently proposed AOA positioning solution, the multi-antenna array is usually parallel and located in the same plane. It is essentially limited to plane positioning and it is difficult to determine the exact position of the target device in three-dimensional space. Summary of the invention

[0004] The main technical problem solved by the present application is to provide a positioning method, device, storage medium and positioning system, which can accurately determine the position of a target device in three-dimensional space and improve the accuracy of positioning.

[0005] In order to solve the above technical problems, a technical solution adopted by the present application is: to provide a positioning method, which is applied to a positioning system, wherein the positioning system includes an antenna positioning unit and a data processing unit, wherein the antenna positioning unit includes at least three antennas, wherein the at least three antennas are not located in the same plane, and wherein the at least three antennas constitute a plurality of antenna combinations, wherein each antenna combination includes two antennas, and there is at least one different antenna in different antenna combinations. The positioning method includes: the data processing unit respectively obtains the first distance between each antenna and the target device; respectively determines the signal arrival angle from the target device to each antenna combination; and determines the first position of the target device based on the first distance of each antenna and each signal arrival angle.

[0006] Optionally, at least three antennas include a first antenna, a second antenna and a third antenna; based on the first distances of each antenna and the signal arrival angles, determining the first position of the target device, including: determining a first spatial circle expression corresponding to the first antenna combination, a second spatial circle expression corresponding to the second antenna combination, and a third spatial circle expression corresponding to the third antenna combination based on the first distances corresponding to the first antenna, the second antenna and the third antenna, respectively, the first arrival angle corresponding to the first antenna combination, the second arrival angle corresponding to the second antenna combination, and the third arrival angle corresponding to the third antenna combination; wherein the first antenna combination includes the first antenna and the second antenna, the second antenna combination includes the first antenna and the third antenna, and the third antenna combination includes the second antenna and the third antenna; and, for each antenna combination in the first antenna combination, the second antenna combination and the third antenna combination, the spatial circle expression corresponding to the antenna combination uses the three-dimensional coordinates of the target device as a variable, the target point as the center of the circle and the target distance as the radius, the target point is the intersection between the perpendicular line from the target device to the antenna combination and the straight line where the antenna combination is located, and the target distance is the distance between the target device and the intersection; based on the first spatial circle expression, the second spatial circle expression and the third spatial circle expression, determining the three-dimensional coordinates of the target device.

[0007] Optionally, the plane where the first antenna is located, the plane where the second antenna is located, and the plane where the third antenna is located are perpendicular to each other.

[0008] Optionally, the signal arrival angle from the target device to each antenna combination is determined respectively, including: for each antenna combination, obtaining the phase difference of the received signals corresponding to the two antennas in the antenna combination; and determining the signal arrival angle from the target device to the antenna combination based on the phase difference of the antenna combination and the second distance between the two antennas in the antenna combination.

[0009] Optionally, the positioning system includes multiple antenna positioning units, and each antenna positioning unit has at least one different antenna; the method also includes: respectively obtaining the first position corresponding to each antenna positioning unit; and combining the multiple first positions to obtain the second position of the target device.

[0010] Optionally, each first position includes a first three-dimensional coordinate corresponding to the target device, and the second position of the target device is obtained by combining multiple first positions, including: removing abnormal three-dimensional coordinates from the multiple first three-dimensional coordinates to obtain multiple second three-dimensional coordinates; determining the central trend characterization value of the multiple second three-dimensional coordinates to obtain a third three-dimensional coordinate; and using the third three-dimensional coordinate as the second position of the target device.

[0011] Optionally, the distance between two antennas in each antenna combination is equal to the product of one half and the wavelength of the received signal; and / or, the positioning system is located on the roof of the vehicle, and the target device is a door unlocking device corresponding to the vehicle.

[0012] To solve the above technical problems, another technical solution adopted in the present application is: to provide an electronic device, comprising a memory and a processor coupled to each other, the memory storing program instructions; the processor is used to execute the program instructions stored in the memory to implement the above positioning method.

[0013] In order to solve the above technical problems, another technical solution adopted by the present application is: providing a computer-readable storage medium, which is used to store program instructions, and the program instructions can be executed by a processor to implement the above positioning method.

[0014] To solve the above technical problems, another technical solution adopted in the present application is: to provide a positioning system, including an antenna positioning unit and a data processing unit; wherein the antenna positioning unit includes at least three antennas, at least three antennas are not located in the same plane, at least three antennas constitute a plurality of antenna combinations, each antenna combination includes two antennas, and there is at least one different antenna in different antenna combinations; the data processing unit is used to respectively obtain the first distance between each antenna and the target device; respectively determine the signal arrival angle from the target device to each antenna combination; and, based on the first distance of each antenna and each signal arrival angle, determine the first position of the target device.

[0015] In the above scheme, the positioning system includes an antenna positioning unit and a data processing unit. Among them, the antenna positioning unit includes at least three antennas, at least three antennas are not located in the same plane, at least three antennas constitute a plurality of antenna combinations, each antenna combination includes two antennas, and there is at least one different antenna in different antenna combinations. The data processing unit obtains the first distance between each antenna and the target device respectively; determines the signal arrival angle from the target device to each antenna combination respectively; and determines the first position of the target device based on the first distance of each antenna and each signal arrival angle. Compared with the method of positioning the target device by multiple antennas in the same plane, in this method, since at least three antennas in the antenna positioning unit are not located in the same plane, the data processing unit can obtain the signal arrival angles of different planes, and the first position of the target device determined by using the first distance of each antenna and the signal arrival angles of different planes can include the height information of the target device in three-dimensional space, that is, the accurate position of the target device in three-dimensional space can be accurately determined, thereby improving the accuracy of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of an embodiment of a positioning system provided by the present application;

[0017] Figure 2 It is a structural schematic diagram of a specific implementation method of a positioning system provided by the present application;

[0018] Figure 3is a structural schematic diagram of another specific implementation of the positioning system provided by the present application;

[0019] Figure 4 is a structural schematic diagram of another specific implementation method of the positioning system provided by the present application;

[0020] Figure 5 It is a flowchart of an embodiment of a positioning method provided by the present application;

[0021] Figure 6 It is a schematic diagram of the principle of determining the signal arrival angle of an antenna combination provided by the present application;

[0022] Figure 7 is a flow chart of another embodiment of the positioning method provided by the present application;

[0023] Figure 8 It is a structural schematic diagram of an embodiment of an antenna positioning unit provided by the present application;

[0024] Fig. 9 It is a schematic diagram of the principle of determining the first center and the first radius corresponding to the anchor point A1 and the anchor point A2 provided by the present application;

[0025] Fig.10 It is a schematic diagram of the principle of determining the second circle center and the second radius corresponding to the anchor point A1 and the anchor point A3 provided by the present application;

[0026] Fig.11 It is a schematic diagram of the principle of determining the third circle center and the third radius corresponding to the anchor point A2 and the anchor point A3 provided by the present application;

[0027] Fig.12 It is a flowchart of another embodiment of the positioning method provided by the present application;

[0028] Fig.13 It is a schematic diagram of a framework of an embodiment of an electronic device provided by the present application;

[0029] Fig.14 It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and effect of the present application clearer and more specific, the present application is further described in detail below with reference to the accompanying drawings and examples.

[0031] The term "and / or" herein is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone; the term "plurality" means two or more than two. In addition, the terms "first", "second", etc. in the specification and claims of this article and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0032] See also Figure 1 , Figure 1 Schematic diagram of the structure of an embodiment of the positioning system provided by the present application. Figure 1 As shown, the positioning system 10 includes an antenna positioning unit 11 and a data processing unit 12 .

[0033] The antenna positioning unit 11 includes at least three antennas, that is, the number of antennas in the antenna positioning unit 11 may be only three or greater than three. Each antenna is used to transmit a signal and receive an echo signal returned by a target device.

[0034] The antennas in the antenna positioning unit 11 are not located in the same plane. In one embodiment, the antenna positioning unit 11 includes three antennas, and the planes where the three antennas are located are perpendicular to each other.

[0035] At least three antennas can form several antenna combinations, each antenna combination includes two antennas, and there is at least one different antenna in different antenna combinations. For example, the number of at least three antennas is 4, specifically including antenna A, antenna B, antenna C and antenna D, then antenna A, antenna B, antenna C and antenna D can form antenna A and antenna B, antenna A and antenna C, antenna A and antenna D, antenna B and antenna C, antenna B and antenna D, and antenna C and antenna D, a total of six antenna combinations. In addition, the distance between the two antennas in each antenna combination is small, specifically, the distance between the two antennas in each antenna combination is equal to the product between one half and the signal wavelength.

[0036] The data processing unit 12 includes a phase difference calculation subunit and a processing subunit. The signal input end of the phase difference calculation subunit is connected to the antenna, and the signal output end of the phase difference calculation subunit is connected to the processing subunit. The phase difference calculation subunit and the processing subunit can be integrated to form a data processing unit, or the phase difference calculation subunit and the processing subunit can also be independent devices. Exemplarily, the number of the processing subunit is one, and the number of the phase difference calculation submodules can be one or more.

[0037] It should be noted that the positioning system 10 may include only one antenna positioning unit 11, or may include multiple antenna positioning units 11. In the case where the positioning system 10 includes multiple antenna positioning units 11, each antenna positioning unit 11 has at least one different antenna. For example, the antennas included in different antenna positioning units 11 are all different, that is, different antenna positioning units 11 do not have a shared antenna. For another example, in order to save antenna resources, different antenna positioning units 11 may include the same antenna, that is, there is a shared antenna.

[0038] In one implementation, each antenna in each antenna positioning unit 11 may be directly connected to the data processing unit 12 .

[0039] Figure 2 It is a structural diagram of a specific implementation scheme of the positioning system provided by this application. Figure 2 The positioning system 10 includes a plurality of antenna positioning units 11 , each antenna positioning unit 11 includes a different antenna, and each antenna is directly connected to a data processing unit 12 .

[0040] In another embodiment, considering that a phase difference calculation subunit of the data processing unit 12 can only have two signal inputs at the same time, in order to reduce the hardware cost of the data processing unit 12, the positioning system 10 may further include a switching unit, the switching unit includes at least one switching switch, and each antenna in each antenna positioning unit 11 is connected to the data processing unit 12 through the switching switch in the switching unit. It should be noted that each switching switch in this embodiment is a radio frequency switch.

[0041] Figure 3 is a structural diagram of another specific implementation of the positioning system provided by the present application, Figure 3 The positioning system 10 includes an antenna positioning unit 11, and the antenna positioning unit 11 includes three antennas ( Figure 3 The switching unit includes a switching switch 13a. Figure 3 As shown, antenna A is the main antenna, antenna B and antenna C are both secondary antennas, antenna A is directly connected to the phase difference calculation subunit in the data processing unit 12, and antenna B and antenna C are connected to the phase difference calculation subunit in the data processing unit 12 through a switching switch 13a. Only one of antenna B and antenna C can be connected to the phase difference calculation subunit at the same time.

[0042] Figure 4 FIG. 1 is a schematic diagram of another specific implementation of the positioning system provided by the present application. Figure 4As shown, the positioning system 10 includes five antennas, namely antenna A, antenna B1, antenna B2, antenna C1 and antenna C2. Among them, antenna A is the main antenna, and antenna B1, antenna B2, antenna C1 and antenna C2 are all secondary antennas. Antenna B1, antenna B2, antenna C1 and antenna C2 are connected to the phase difference calculation subunit in the data processing unit 12 through three switching switches 13a. Only one antenna among antenna B1, antenna B2, antenna C1 and antenna C2 can be connected to the phase difference calculation subunit at the same time.

[0043] The data processing unit 12 can obtain several antenna positioning sets (i.e., the aforementioned antenna positioning units 11) by controlling the states of the three switching switches 13a, and the antennas in each antenna positioning set are not located in the same plane. For example, the data processing unit 12 obtains an antenna positioning set including antenna A, antenna B1, and antenna C1, an antenna positioning set including antenna A, antenna B1, and antenna C2, and an antenna positioning set including antenna A, antenna B2, and antenna C1 by controlling the states of the three switching switches 13a. Taking the antenna positioning set including antenna A, antenna B1, and antenna C1 as an example, the time when antenna B1 and antenna C1 are connected to the phase difference calculation subunit is different.

[0044] It should be noted that Figure 2 , Figure 3 and Figure 4 The structure of the positioning system 10 is only for illustrative purposes.

[0045] In one embodiment, the positioning system 10 includes only one antenna positioning unit 11. The data processing unit 12 is used to respectively obtain the first distance between each antenna in the antenna positioning unit 11 and the target device; respectively determine the signal arrival angle from the target device to each antenna combination; and, based on the first distance of each antenna and each signal arrival angle, determine the first position of the target device in the three-dimensional space.

[0046] In another embodiment, the positioning system 10 includes a plurality of antenna positioning units 11. The data processing unit 12 is used to obtain the first position corresponding to each antenna positioning unit 11 respectively, and to obtain the second position of the target device in the three-dimensional space by integrating the plurality of first positions.

[0047] In one implementation scenario, the positioning system 10 can be arranged on the roof of the vehicle, and the target device is the door unlocking device corresponding to the vehicle. The door unlocking device can be a user's smart key, terminal device (such as a mobile phone), etc., to achieve real-time detection of the position information of the target device near the vehicle in three-dimensional space. It should be noted that the positioning system 10 in this embodiment can also be applied to other positioning scenarios, such as indoor positioning scenarios.

[0048] In this embodiment, the positioning system includes an antenna positioning unit and a data processing unit. The antenna positioning unit includes at least three antennas, the at least three antennas are not located in the same plane, the at least three antennas constitute a plurality of antenna combinations, each antenna combination includes two antennas, and there is at least one different antenna in different antenna combinations. The data processing unit obtains the first distance between each antenna and the target device respectively; determines the signal arrival angle from the target device to each antenna combination respectively; and determines the first position of the target device based on the first distance of each antenna and the signal arrival angle of each antenna. Compared with the method of positioning the target device by multiple antennas in the same plane, in this method, since at least three antennas in the antenna positioning unit are not located in the same plane, the data processing unit can obtain the signal arrival angles of different planes, and the first position of the target device determined by using the first distance of each antenna and the signal arrival angles of different planes can include the height information of the target device in three-dimensional space, that is, the accurate position of the target device in three-dimensional space can be accurately determined, thereby improving the accuracy of positioning.

[0049] See also Figure 5 , Figure 5 1 is a flow chart of an embodiment of the positioning method provided by the present application. The method is executed by the aforementioned data processing unit and is applicable to the case where the positioning system includes an antenna positioning unit. Figure 5 As shown, the method comprises the following steps:

[0050] S51: Obtain first distances between each antenna in the antenna positioning unit and the target device respectively.

[0051] In one embodiment, since the distances between the antennas in the antenna positioning unit are relatively close, the differences between the first distances of the antennas are relatively small, and the first distances of the antennas in the antenna positioning unit can be considered to be approximately equal. Therefore, to improve computational efficiency, only the first distance of one of the antennas can be obtained as the first distances of all the antennas in the antenna positioning unit.

[0052] In another implementation, in order to further improve the accuracy of the final positioning result, the first distance of each antenna may be obtained respectively.

[0053] Specifically, for each antenna, the first distance between the antenna and the target device may be calculated according to the time difference between a signal transmitted by the antenna and an echo signal returned by the target device, and the transmission speed of the signal.

[0054] S52: Determine the signal arrival angle from the target device to each antenna combination in the antenna positioning unit respectively.

[0055] The definition of antenna combination can be found in Figure 1 The embodiments shown will not be described in detail here.

[0056] Step S52 includes: for each antenna combination, obtaining the phase difference of the received signals corresponding to the two antennas in the antenna combination; and determining the signal arrival angle from the target device to the antenna combination based on the phase difference of the antenna combination and the second distance between the two antennas in the antenna combination.

[0057] Figure 6 is a schematic diagram of the principle of determining the signal arrival angle of an antenna combination provided by the present application, Figure 6 In the example, an antenna combination in the antenna positioning combination including antenna 1 and antenna 2 is used for exemplary description. Figure 6 As shown in FIG. 1 , since the second distance r between antenna 1 and antenna 2 is relatively close, when the target device is at a certain distance from the antenna combination, the incident signals (signals sent by the target device) reaching antenna 1 and antenna 2 are approximately parallel, and the angle between the incident signal and the vertical line connecting antenna 1 and antenna 2 is the signal arrival angle from the target device to the antenna combination ( Figure 6 θ in ). In addition, since antenna 1 and antenna 2 are located at different spatial positions, there will be a phase difference between the signals received by antenna 1 and antenna 2. The data processing unit can perform IQ sampling on the signals received by antenna 1 and the signals received by antenna 2, respectively, to obtain the phase information of the signals received by antenna 1 and the phase information of the signals received by antenna 2, and then obtain the phase difference Δφ between the signals received by antenna 1 and antenna 2. Figure 6 Formula (1) and formula (2) can be obtained, and formula (3) can be derived from formula (1) and formula (2). Formula (3) is used to determine the signal arrival angle θ from the target device to the antenna combination. Formula (1), formula (2) and formula (3) are respectively expressed as follows:

[0058]

[0059] R=r*sinθ (2)

[0060]

[0061] Wherein, R represents the delay of the two antennas in the antenna combination receiving the signal, and λ represents the signal wavelength.

[0062] Since the antenna positioning unit includes at least three antenna combinations, the data processing unit can determine the signal arrival angles corresponding to the at least three antenna combinations. In addition, since the antennas in the antenna positioning unit are not located in the same plane, the data processing unit can obtain the signal arrival angles of different planes.

[0063] S53: Determine a first position of the target device based on the first distances between the antennas and the signal arrival angles corresponding to the antenna combinations.

[0064] After obtaining the first distance of each antenna in the antenna positioning unit and the signal arrival angle corresponding to each antenna combination in the antenna positioning unit, the data processing unit can calculate the three-dimensional coordinates of the target device, that is, the first position of the target device, based on the first distance of each antenna and the signal arrival angle corresponding to each antenna combination.

[0065] In this embodiment, since at least three antennas in the antenna positioning unit are not located in the same plane, the data processing unit can obtain the signal arrival angles of different planes, and the first position of the target device determined by using the first distance of each antenna and the signal arrival angles of different planes includes the height information of the target device in three-dimensional space, that is, the exact position of the target device in three-dimensional space can be accurately determined, thereby improving the accuracy of positioning.

[0066] See also Figure 7 , Figure 7 It is a flow chart of another embodiment of the positioning method provided by the present application. The method is executed by the aforementioned data processing unit and is applicable to the case where the positioning system includes an antenna positioning unit. In this embodiment, the antenna positioning unit includes a first antenna, a second antenna and a third antenna, and the first antenna, the second antenna and the third antenna are not located in the same plane. In addition, the antenna positioning unit constitutes three antenna combinations, namely a first antenna combination, a second antenna combination and a third antenna combination, the first antenna combination includes a first antenna and a second antenna, the second antenna combination includes a first antenna and a third antenna, and the third antenna combination includes a second antenna and a third antenna.

[0067] like Figure 7 As shown, the method comprises the following steps:

[0068] S71: Determine first distances between the first antenna, the second antenna, and the third antenna and the target device respectively.

[0069] S72: Determine a first angle of arrival from the target device to the first antenna combination, a second angle of arrival from the target device to the second antenna combination, and a third angle of arrival from the target device to the third antenna combination.

[0070] The relevant contents of step S71 and step S72 can be found in Figure 5 The detailed description of the embodiment shown is omitted here.

[0071] S73: Determine a first spatial circle expression corresponding to the first antenna combination, a second spatial circle expression corresponding to the second antenna combination, and a third spatial circle expression corresponding to the third antenna combination based on the first distances corresponding to the first antenna, the second antenna, and the third antenna respectively, the first arrival angle corresponding to the first antenna combination, the second arrival angle corresponding to the second antenna combination, and the third arrival angle corresponding to the third antenna combination.

[0072] S74: Determine the three-dimensional coordinates of the target device based on the first space circle expression corresponding to the first antenna combination, the second space circle expression corresponding to the second antenna combination, and the third space circle expression corresponding to the third antenna combination.

[0073] For each antenna combination in the first antenna combination, the second antenna combination and the third antenna combination, the space circle expression corresponding to each antenna combination takes the three-dimensional coordinates of the target device as a variable, the target point as the center of the circle and the target distance as the radius. Among them, the target point is the intersection of the vertical line from the target device to the antenna combination and the straight line where the antenna combination is located, and the target distance is the distance between the target device and the intersection.

[0074] The specific process of determining the three-dimensional coordinates of the target device in step S73 and step S74 is described below by taking an example.

[0075] Figure 8 is a structural diagram of an embodiment of an antenna positioning unit provided by the present application, Figure 8 The anchor points A1, A2 and A3 represent the centroids of the first antenna, the second antenna and the third antenna respectively. The planes where the first antenna is located, the planes where the second antenna is located and the planes where the third antenna is located are perpendicular to each other. To simplify the calculation, a three-dimensional coordinate system is established with the straight line where the first antenna is located as the z-axis, the straight line where the second antenna is located as the x-axis and the straight line where the third antenna is located as the y-axis. Figure 8 As shown, for the convenience of representation, it is assumed that the three-dimensional coordinates of anchor point A1 are (0, 0, a), the three-dimensional coordinates of anchor point A2 are (a, 0, 0), the three-dimensional coordinates of anchor point A3 are (0, a, 0), and the three-dimensional coordinates of the target device to be tested are (x, y, z). Among them, a is a known quantity, (λ is the wavelength corresponding to the working frequency in free space), so the distance between the two anchor points is x, y and z are all unknown. The distances between anchor point A1, anchor point A2 and anchor point A3 and target device B are represented by d1, d2 and d3 respectively. In addition, the first arrival angle of target device B to anchor point A1 and anchor point A2 (i.e., the first antenna combination), the second arrival angle to anchor point A1 and anchor point A3 (i.e., the second antenna combination) and the third arrival angle to anchor point A2 and anchor point A3 (i.e., the third antenna combination) are represented by formula (4), formula (5) and formula (6) respectively. Formula (4), formula (5) and formula (6) are as follows:

[0076]

[0077] Among them, α, β and γ represent the first arrival angle, the second arrival angle and the third arrival angle respectively, and Δφ1, Δφ2 and Δφ3 represent the phase differences corresponding to the first antenna combination, the second antenna combination and the third antenna combination respectively.

[0078] Fig. 9 : is a schematic diagram of the principle of determining the first center and the first radius corresponding to the anchor point A1 and the anchor point A2 provided by the present application. Fig. 9 As shown, in the xoz plane, a perpendicular line is drawn from the target device B to obtain the intersection point O1 with the straight line where the anchor points A1 and A2 are located. The three-dimensional coordinates of the intersection point O1 are The intersection O1 is used as the first circle center and the distance d1sinα from the target device B to the intersection O1 is used as the first radius. Then the first space circle expression is obtained as follows:

[0079]

[0080] Fig.10 : is a schematic diagram of the principle of determining the second center and the second radius corresponding to the anchor point A1 and the anchor point A3 provided by the present application. Fig.10 As shown, in the yoz plane, a perpendicular line is drawn from the target device B to obtain the intersection point O2 with the straight line where the anchor points A1 and A3 are located. The three-dimensional coordinates of the intersection point O2 are The intersection O2 is used as the second circle center and the distance d2sinβ from the target device B to the intersection O2 is used as the second radius. Then the expression of the second space circle is as follows:

[0081]

[0082] Fig.11 : is a schematic diagram of the principle of determining the third center and the third radius corresponding to the anchor point A2 and the anchor point A3 provided by the present application. Fig.11 As shown, in the xoy plane, a perpendicular line is drawn from the target device B to obtain the intersection point O3 with the straight line where the anchor points A2 and A3 are located. The three-dimensional coordinates of the intersection point O3 are The intersection O3 is used as the third circle center and the distance d3sinγ from the target device B to the intersection O3 is used as the third radius. Then the expression of the third space circle is as follows:

[0083]

[0084] Please refer again Figure 8 , the three circles with the intersection point O1 as the center and the first radius as the radius, the intersection point O2 as the center and the second radius as the radius, and the intersection point O3 as the center and the third radius as the radius intersect at points B and B', and B' is the mirror image of point B on the A1A2A3 surface. Since the z-axis of B' is less than 0, the possibility that the target device is at the B' position can be ruled out.

[0085] In this embodiment, the specific position of the target device B is obtained by solving formulas (7), (8) and (9). Specifically, formula (10) can be obtained by subtracting formula (9) from formula (7), and formula (11) can be obtained by subtracting formula (9) from formula (8). Formulas (10) and (11) are respectively expressed as follows:

[0086]

[0087] Furthermore, by replacing the variables in expression (12) in formula (10) and formula (11), expression (13) is obtained. Expression (12) and expression (13) are respectively expressed as follows:

[0088]

[0089] Furthermore, based on expression (13), expression (14) about variables x and y can be obtained as follows:

[0090]

[0091] Furthermore, by replacing the variables in expression (15) in expression (14), expression (16) is obtained. Expression (15) and expression (16) are respectively expressed as follows:

[0092]

[0093] Substituting expression (16) into the above formula (9) can obtain two z values, one of which is positive and the other is negative. Substituting the positive z value into expression (16) can obtain the values ​​of x and y, and then obtain the three-dimensional coordinates containing the height information of the target device B.

[0094] In this embodiment, since the first antenna, the second antenna, and the third antenna are not located in the same plane, the data processing unit can obtain the first arrival angle, the second arrival angle, and the third arrival angle of different planes, and the first position of the target device determined using the first distances corresponding to the first antenna, the second antenna, and the third antenna, respectively, and the first arrival angle, the second arrival angle, and the third arrival angle may include the height information of the target device in the three-dimensional space, that is, the exact position of the target device in the three-dimensional space can be accurately determined, thereby improving the accuracy of positioning.

[0095] See also Fig.12 , Fig.12 FIG. 1 is a flow chart of another embodiment of the positioning method provided by the present application. The method is executed by the aforementioned data processing unit and is applicable to the case where the positioning system includes multiple antenna positioning units. Fig.12 As shown, the method comprises the following steps:

[0096] S121: Obtain the first position corresponding to each antenna positioning unit respectively.

[0097] Each antenna positioning unit can determine a first position of the target device. For details on determining the first position of the target device, please refer to Figure 5 and Figure 7 The detailed description of the embodiment shown is omitted here.

[0098] S122: The first positions of the plurality of antenna positioning units are integrated to obtain a second position of the target device.

[0099] Each first position includes a first three-dimensional coordinate corresponding to the target device.

[0100] In one embodiment, step S122 includes: determining an average value of the plurality of first three-dimensional coordinates as the second position of the target device.

[0101] In another embodiment, step S122 includes: determining weighted values ​​of a plurality of first three-dimensional coordinates as the second position of the target device. The weighted coefficient of each first three-dimensional coordinate can be set according to actual needs.

[0102] In another embodiment, considering that some antenna positioning units may be inaccurately positioned, in order to further improve the accuracy of the positioning result, step S122 includes: removing abnormal three-dimensional coordinates from multiple first three-dimensional coordinates to obtain multiple second three-dimensional coordinates; determining the central tendency characterization value of the multiple second three-dimensional coordinates to obtain a third three-dimensional coordinate; using the third three-dimensional coordinate as the second position of the target device. Among them, the abnormal three-dimensional coordinates can be a first three-dimensional coordinate that is significantly different from the average value corresponding to the multiple first three-dimensional coordinates. After removing the abnormal three-dimensional coordinates from the multiple first three-dimensional coordinates, multiple second three-dimensional coordinates can be obtained. Exemplarily, the central tendency characterization value of the multiple second three-dimensional coordinates can be the average value of the multiple second three-dimensional coordinates, etc.

[0103] In this embodiment, the first position corresponding to each antenna positioning unit is obtained respectively, and the second position of the target device is obtained by integrating the first positions of multiple antenna positioning units. The second position of the target device is used as the final position of the target device, which can further improve the positioning accuracy.

[0104] See also Fig.13 , Fig.13 1 is a schematic diagram of a framework of an electronic device according to an embodiment of the present application. In this embodiment, the electronic device 130 includes a memory 131 and a processor 132 .

[0105] The processor 132 may also be referred to as a CPU (Central Processing Unit). The processor 132 may be an integrated circuit chip having signal processing capabilities. The processor 132 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor 132 may also be any conventional processor 132, etc.

[0106] The memory 131 in the electronic device 130 is used to store program instructions required for the processor 132 to run.

[0107] The processor 132 is used to execute program instructions to implement the positioning method in the present application.

[0108] See also Fig.14 , Fig.14 It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present application. The computer-readable storage medium 140 of the embodiment of the present application stores a program instruction 141, and the program instruction 141 implements the positioning method provided by the present application when it is executed. Among them, the program instruction 141 can form a program file and be stored in the above-mentioned computer-readable storage medium 140 in the form of a software product, so that a computer device (which can be a personal computer, a server, or a network device, etc.) executes all or part of the steps of each implementation method of the present application. The aforementioned computer-readable storage medium 140 includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, or a terminal device such as a computer, a server, a mobile phone, and a tablet.

[0109] In the above scheme, the positioning system includes an antenna positioning unit and a data processing unit. Among them, the antenna positioning unit includes at least three antennas, at least three antennas are not located in the same plane, at least three antennas constitute a plurality of antenna combinations, each antenna combination includes two antennas, and there is at least one different antenna in different antenna combinations. The data processing unit obtains the first distance between each antenna and the target device respectively; determines the signal arrival angle from the target device to each antenna combination respectively; and determines the first position of the target device based on the first distance of each antenna and each signal arrival angle. Compared with the method of positioning the target device by multiple antennas in the same plane, in this method, since at least three antennas in the antenna positioning unit are not located in the same plane, the data processing unit can obtain the signal arrival angles of different planes, and the first position of the target device determined by using the first distance of each antenna and the signal arrival angles of different planes includes the height information of the target device in three-dimensional space, that is, the accurate position of the target device in three-dimensional space can be accurately determined, thereby improving the accuracy of positioning.

[0110] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A positioning method, characterized in that: Applied to a positioning system, the positioning system comprises an antenna positioning unit and a data processing unit, the antenna positioning unit comprises at least three antennas, the at least three antennas are not located in the same plane, the at least three antennas constitute a plurality of antenna combinations, each of the antenna combinations comprises two of the antennas, and at least one different antenna exists in different antenna combinations; The method comprises: The data processing unit respectively obtains a first distance between each of the antennas and the target device; Determine the signal arrival angle from the target device to each antenna combination respectively; A first position of the target device is determined based on the first distances of the antennas and the signal arrival angles.

2. The method according to claim 1, characterized in that The at least three antennas include a first antenna, a second antenna, and a third antenna; and determining the first position of the target device based on the first distances of the antennas and the signal arrival angles of the antennas includes: Based on the first distances corresponding to the first antenna, the second antenna and the third antenna respectively, the first arrival angle corresponding to the first antenna combination, the second arrival angle corresponding to the second antenna combination and the third arrival angle corresponding to the third antenna combination, determine a first space circle expression corresponding to the first antenna combination, a second space circle expression corresponding to the second antenna combination and a third space circle expression corresponding to the third antenna combination; wherein the first antenna combination includes the first antenna and the second antenna, the second antenna combination includes the first antenna and the third antenna, and the third antenna combination includes the second antenna and the third antenna; and, for each antenna combination in the first antenna combination, the second antenna combination and the third antenna combination, the space circle expression corresponding to the antenna combination uses the three-dimensional coordinates of the target device as a variable, the target point as the center of the circle and the target distance as a radius, the target point is the intersection of a perpendicular line from the target device to the antenna combination and a straight line where the antenna combination is located, and the target distance is the distance from the target device to the intersection; Based on the first space circle expression, the second space circle expression, and the third space circle expression, the three-dimensional coordinates of the target device are determined.

3. The method according to claim 2, characterized in that The plane where the first antenna is located, the plane where the second antenna is located, and the plane where the third antenna is located are perpendicular to each other.

4. The method according to claim 1, characterized in that: The respectively determining the signal arrival angle from the target device to each of the antenna combinations comprises: For each antenna combination, obtaining a phase difference of received signals corresponding to two antennas in the antenna combination; and, An arrival angle of a signal from the target device to the antenna combination is determined based on the phase difference of the antenna combination and a second distance between two antennas in the antenna combination.

5. The method according to claim 1, characterized in that The positioning system includes a plurality of antenna positioning units, and each antenna positioning unit has at least one different antenna; the method further includes: Respectively obtain the first position corresponding to each of the antenna positioning units; The second position of the target device is obtained by combining the multiple first positions.

6. The method according to claim 5, characterized in that Each of the first positions includes a first three-dimensional coordinate corresponding to the target device, and the integrating the plurality of first positions to obtain the second position of the target device includes: removing abnormal three-dimensional coordinates from the first three-dimensional coordinates to obtain a plurality of second three-dimensional coordinates; Determine the central tendency characterization values ​​of the plurality of second three-dimensional coordinates to obtain a third three-dimensional coordinate; The third three-dimensional coordinate is used as the second position of the target device.

7. The method according to claim 1, characterized in that The distance between the two antennas in each antenna combination is equal to the product of one half and the wavelength of the received signal; And / or, the positioning system is located on the roof of the vehicle, and the target device is a door unlocking device corresponding to the vehicle.

8. An electronic device, characterized in that: comprising a memory and a processor coupled to each other, The memory stores program instructions; The processor is used to execute the program instructions stored in the memory to implement the method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store program instructions, and the program instructions can be executed by a processor to implement the method according to any one of claims 1 to 7.

10. A positioning system, characterized in that: including an antenna positioning unit and a data processing unit; The antenna positioning unit includes at least three antennas, the at least three antennas are not located in the same plane, the at least three antennas constitute a plurality of antenna combinations, each of the antenna combinations includes two of the antennas, and different antenna combinations contain at least one different antenna; The data processing unit is used to respectively obtain the first distance between each of the antennas and the target device; respectively determine the signal arrival angle from the target device to each of the antenna combinations; and, based on the first distance of each of the antennas and each of the signal arrival angles, determine the first position of the target device.

Images