Positioning method and device, electronic equipment and storage medium

Abstract

The invention provides a positioning method and device, electronic equipment and a storage medium, relates to the field of positioning, and solves the problem of how to accurately position. The method is applied to a positioning device, and comprises the following steps: sending a positioning request signal to a positioning tag through a first antenna and / or a second antenna; receiving a signal sent by the positioning tag at the target position through the first antenna and the second antenna to obtain a first positioning signal and a second positioning signal; determining a signal feature of the first positioning signal and a signal feature of the second positioning signal; determining the first antenna or the second antenna as a target antenna according to the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal; and determining the target position of the positioning tag based on the sending time of the positioning request signal, the receiving time of the first positioning signal, the receiving time of the second positioning signal, the position information of the positioning equipment, the corresponding preset direction of the target antenna and the distance between the positioning tag and the positioning equipment.

Description

Technical Field

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

[0002] In narrow and long space areas such as lanes, pipe galleries and tunnels, due to the large aspect ratio of the area, the position of the positioning object in width can be ignored during positioning, and the narrow and long space area can be approximated as a straight line. The position determination of the positioning object is to detect the relative position of the positioning object on the straight line. This positioning method with only one dimension can be called one-dimensional positioning.

[0003] In the context of one-dimensional positioning, in order to obtain the position of the positioning object, the information that needs to be obtained usually includes the relationship between the position of the positioning object and the position of the positioning device. However, when obtaining the relationship between the position of the positioning object and the position of the positioning device, similar technologies require the cooperation of multiple positioning devices to obtain it, resulting in the positioning device being able to locate only a small number of positioning objects within a certain period of time. Summary of the invention

[0004] The present application provides a positioning method, device, electronic device and storage medium for accurate positioning.

[0005] In a first aspect, the present application provides a positioning method, a positioning method, applied to a positioning device, the positioning device including a first antenna and a second antenna, the method including: sending a positioning request signal to a positioning tag through the first antenna and / or the second antenna; the positioning request signal is used to trigger the positioning tag to send a signal; receiving a signal sent by the positioning tag at a target position through the first antenna to obtain a first positioning signal, and receiving a signal sent by the positioning tag at the target position through the second antenna to obtain a second positioning signal; determining a signal feature of the first positioning signal and a signal feature of the second positioning signal; determining the first antenna or the second antenna as a target antenna according to the signal feature of the first positioning signal and the signal feature of the second positioning signal; the signal feature of the positioning signal received by the target antenna indicates that the positioning signal comes from a preset direction corresponding to the target antenna, and the first antenna and the second antenna correspond to different preset directions; determining the distance between the positioning tag and the positioning device based on the sending time of the positioning request signal, the receiving time of the first positioning signal and the receiving time of the second positioning signal; determining the target position where the positioning tag is located based on the position information of the positioning device, the corresponding preset direction of the target antenna and the distance between the positioning tag and the positioning device.

[0006] It can be seen from the above technical solution that in the positioning method provided by the present application, the positioning device sends a positioning request signal to the positioning tag through the first antenna and / or the second antenna, and then receives the positioning signal sent by the positioning tag at the target position based on the first antenna and the second antenna of the positioning device to obtain the first positioning signal and the second positioning signal. Since the preset directions of the first antenna and the second antenna of the positioning device in the embodiment of the present application are different, that is, the first antenna and the second antenna have strong signal transceiving capabilities in different directions. Therefore, when the positioning tag sends a positioning signal at a target position in a one-dimensional positioning scene, the positioning signals received by the first antenna and the second antenna come from different directions for the antenna, and the signal characteristics of the positioning signals received by the first antenna and the second antenna will also be different. Based on this, in the embodiment of the present application, after determining the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal, the target antenna in the first antenna and the second antenna is determined based on the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal, and the preset direction indicated by the target antenna is the direction from which the positioning signal comes, that is, the direction of the target position of the positioning tag relative to the positioning device. After determining the direction of the target position of the positioning tag, the distance between the positioning tag and the positioning device can be determined based on the sending time of the positioning request signal, the receiving time of the first positioning signal, and the receiving time of the second positioning signal. Furthermore, based on the location information of the positioning device, the corresponding preset direction of the target antenna, and the distance between the positioning tag and the positioning device, the target location of the positioning tag is determined to complete the positioning of the positioning tag. The positioning method provided by the present application only requires one positioning device to locate the positioning tag in a one-dimensional positioning scene. Compared with the positioning performed by the cooperation between multiple positioning devices, the time spent on the cooperation between the positioning devices is reduced, the positioning efficiency is improved, and the resource consumption of the positioning device is reduced.

[0007] Optionally, the signal characteristics include: at least one of: signal average strength, signal noise coefficient, channel impulse response, and strength value of the first peak of the signal.

[0008] Optionally, the first antenna or the second antenna is determined as the target antenna based on the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal, including: determining whether the first positioning signal comes from a preset direction corresponding to the first antenna, or whether the second positioning signal comes from a preset direction corresponding to the second antenna based on the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal; if the first positioning signal comes from the preset direction corresponding to the first antenna, determining the first antenna as the target antenna; if the second positioning signal comes from the preset direction corresponding to the second antenna, determining the second antenna as the target antenna.

[0009] Optionally, when the signal characteristics include signal average strength, determining whether the first positioning signal comes from the preset direction corresponding to the first antenna or the second positioning signal comes from the preset direction corresponding to the second antenna based on the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal, including: if the signal average strength of the first positioning signal is higher than the signal average strength of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the first antenna; if the signal average strength of the first positioning signal is lower than the signal average strength of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the second antenna; when the signal characteristics include signal noise coefficient, determining whether the first positioning signal comes from the preset direction corresponding to the first antenna or the second positioning signal comes from the preset direction corresponding to the second antenna based on the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal, including: if the signal noise coefficient of the first positioning signal is lower than the signal noise coefficient of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the first antenna; if the signal noise coefficient of the first positioning signal is higher than the signal noise coefficient of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the second antenna.

[0010] In a second aspect, the present application provides a positioning device, which includes: a signal transceiver unit, which is used to send a positioning request signal to a positioning tag through a first antenna and / or a second antenna; the positioning request signal is used to trigger the positioning tag to send a signal; the signal transceiver unit is also used to receive the signal sent by the positioning tag at the target position through the first antenna and the second antenna of the signal receiving unit to obtain a first positioning signal and a second positioning signal; a signal feature determination unit is used to determine the signal feature of the first positioning signal and the signal feature of the second positioning signal; a target antenna determination unit is used to determine the first antenna or the second antenna as the target antenna according to the signal feature of the first positioning signal and the signal feature of the second positioning signal; the signal feature of the positioning signal received by the target antenna indicates that the positioning signal comes from a preset direction corresponding to the target antenna, and the first antenna and the second antenna correspond to different preset directions; the target position determination unit is also used to determine the distance between the positioning tag and the positioning device based on the sending time of the positioning request signal, the receiving time of the first positioning signal and the receiving time of the second positioning signal; the target position determination unit is also used to determine the target position where the positioning tag is located based on the position information of the positioning device, the corresponding preset direction of the target antenna and the distance between the positioning tag and the positioning device.

[0011] Optionally, the signal characteristics include: at least one of: signal average strength, signal noise coefficient, channel impulse response, and strength value of the first peak of the signal.

[0012] Optionally, the target antenna determination unit is specifically used to: determine whether the first positioning signal comes from a preset direction corresponding to the first antenna, or whether the second positioning signal comes from a preset direction corresponding to the second antenna, based on signal characteristics of the first positioning signal and signal characteristics of the second positioning signal; if the first positioning signal comes from the preset direction corresponding to the first antenna, determine the first antenna as the target antenna; if the second positioning signal comes from the preset direction corresponding to the second antenna, determine the second antenna as the target antenna.

[0013] Optionally, in the case where the signal characteristics include the average signal strength, the target antenna determination unit is specifically used to: if the average signal strength of the first positioning signal is higher than the average signal strength of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the first antenna; if the average signal strength of the first positioning signal is lower than the average signal strength of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the second antenna. In the case where the signal characteristics include the signal noise coefficient, the target antenna determination unit is specifically used to: if the signal noise coefficient of the first positioning signal is lower than the signal noise coefficient of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the first antenna; if the signal noise coefficient of the first positioning signal is higher than the signal noise coefficient of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the second antenna.

[0014] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory and a processor; the memory and the processor are coupled; the memory is used to store computer program code, and the computer program code includes computer instructions; wherein, when the processor executes the computer instructions, the electronic device executes a positioning method such as the first aspect and any possible design method thereof.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium, which includes: computer software instructions; when the computer software instructions are executed in a positioning device, the positioning device implements the method of the first aspect above.

[0016] In a fifth aspect, the present application provides a computer program product. When the computer program product is run on a positioning device, the positioning device executes the steps of the related method described in the first aspect to implement the method of the first aspect.

[0017] The beneficial effects of the second to fifth aspects mentioned above can be referred to the corresponding description of the first aspect and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the architecture of a positioning system provided in an embodiment of the present application;

[0019] Figure 2A positioning scenario diagram of a positioning method provided in an embodiment of the present application Figure 1 ;

[0020] Figure 3 A positioning scenario diagram of a positioning method provided in an embodiment of the present application Figure 2 ;

[0021] Figure 4 A schematic diagram of a positioning method provided in an embodiment of the present application, in which positioning scenarios are divided according to the relative directions of the positioning device 11;

[0022] Figure 5 A schematic diagram of coverage of directional areas of a first antenna and a second antenna of a positioning device 11 in a positioning scenario of a positioning method provided in an embodiment of the present application;

[0023] Figure 6 A flowchart of a positioning method provided in an embodiment of the present application;

[0024] Figure 7 A schematic diagram of a process for determining a target antenna in a positioning method provided in an embodiment of the present application;

[0025] Figure 8 A schematic diagram of a positioning device provided in an embodiment of the present application Figure 1 ;

[0026] Fig. 9 A schematic diagram of a positioning device provided in an embodiment of the present application Figure 2 . DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] It should be noted that, in the embodiments of the present application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0029] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first", "second", etc. are not limiting the quantity and execution order.

[0030] From the above background technology, it can be known that in some positioning scenes with a large ratio between length and width, especially in narrow positioning scenes such as lanes, pipe galleries and tunnels, since the width of the positioning scene is small, the displacement of the positioning object in width is not obvious, so this positioning scene can be approximated as a line, and the positioning object can be approximated as a point. The positioning of the positioning object is the relative position of the point of the positioning object on the line of the positioning scene. This kind of positioning in one dimension can be called one-dimensional positioning.

[0031] When one-dimensional positioning uses a positioning device to locate the positioning object, it is necessary to obtain the position of the positioning object. The information that needs to be obtained usually includes the distance between the positioning object and the positioning device, the position of the positioning device, and which side of the positioning device the positioning object is located on. Among them, the distance between the positioning object and the positioning device can be accurately measured by a variety of distance measurement methods. The position of the positioning device can be obtained during the deployment phase of the positioning device and used as a known condition in subsequent positioning.

[0032] In order to obtain the relative direction between the positioning object and the positioning device, similar technologies require the cooperation of multiple positioning devices to obtain the direction and position of the positioning object in the positioning scene. However, since the cooperation between different positioning devices requires time to send and receive information, it consumes more resources and has low positioning efficiency.

[0033] Alternatively, the positioning device needs to determine the position of the positioning object based on the timestamp of the received signal. However, when there is a lot of obstruction in the scene, the signal reception and transmission time will be greatly affected. Therefore, using the timestamp of the signal alone cannot accurately determine the relative direction of the positioning object and the positioning device.

[0034] In order to solve the above problems, the present application proposes a positioning method, device, electronic device and storage medium.

[0035] The positioning method provided in the embodiment of the present application can be applied to Figure 1 In the positioning system shown, the system may include a positioning device 11 and a positioning tag 12. The positioning device 11 and the positioning tag 12 may communicate via wireless signals, such as via a wireless carrier or a wireless network. The positioning device 11 may receive a signal sent by the positioning tag 12 based on a first antenna and a second antenna.

[0036] The number of positioning devices 11 and positioning tags 12 is unlimited. Figure 1A positioning device 11 and a positioning tag 12 are taken as examples.

[0037] When the positioning device 11 and the positioning tag 12 are in a one-dimensional positioning scenario, such as Figure 2 As shown in the figure, the long and narrow rectangular area represents the positioning area of ​​one-dimensional positioning. The aspect ratio of this positioning area is obviously large. Scenes such as tunnels, pipelines, and mines all meet this feature and can be used as implementation scenarios of the one-dimensional positioning method. Of course, this rectangular positioning area is not a specific restriction on the scene, but only an abstract summary of the above-mentioned scenes such as tunnels and mines for the convenience of description. In addition, there are other possible positioning scenarios for one-dimensional positioning, such as Figure 3 As shown in , the positioning scene of the one-dimensional positioning can also be composed of a continuous but non-linear narrow and long area.

[0038] In a possible embodiment, the positioning device 11 may be arranged in the positioning area. Then, according to different relative directions of different positions of the positioning area with respect to the positioning device 11, the positioning area may be divided into: Figure 4 The first sub-positioning area and the second sub-positioning area are shown in the figure, wherein any position in the first sub-positioning area is located in the first direction of the positioning device 11, and any position in the second sub-positioning area is located in the second direction of the positioning device 11.

[0039] Since the positioning area of ​​one-dimensional positioning is generally a relatively narrow and long area, when positioning the positioning tag 12, the movement of the positioning tag 12 in the width dimension in the positioning area can be ignored. The positioning device 11 determines the orientation of the positioning tag mainly by determining which side of the relative direction of the positioning device 11 the positioning tag 12 is located. Figure 4 It can be known that the positioning area can be divided into a first sub-positioning area and a second sub-positioning area according to the different relative directions of the different positions of the positioning area relative to the positioning device 11, and the position of the positioning device 11 usually does not change. Therefore, to determine which side of the relative direction of the positioning device the positioning tag is on, it is only necessary to locate the positioning tag 12 in the first sub-positioning area or the second sub-positioning area, and then it can be determined that the positioning tag 12 is located in the first direction or the second direction of the positioning device 11.

[0040] In the positioning method provided in this embodiment, the positioning device 11 has two antennas, namely the first antenna and the second antenna. The first antenna and the second antenna can have a strong electromagnetic wave signal receiving and transmitting capability within a directional range. For the sake of convenience, this range of the antenna is called a directional area. Based on this, Figure 5 As shown, the directional areas with stronger signal receiving and sending capabilities corresponding to the first antenna and the second antenna can cover the above-mentioned first sub-positioning area and the second sub-positioning area respectively.

[0041] Since the directions in which the first antenna and the second antenna have stronger signal receiving and sending capabilities in the positioning area are different, when the positioning tag 12 sends a signal at the target position in the positioning area for positioning, the signals sent by the positioning tag 12 received by the first antenna and the second antenna have different signal characteristics. Therefore, according to the signal characteristics of the signals received by the first antenna and the second antenna, it can be determined that the target position of the positioning tag 12 is the first sub-positioning area or the second sub-positioning area. Since the one-dimensional positioning scenario ignores the movement on the scale of width in the positioning area, the target position of the positioning tag 12 can be regarded as the first direction of the positioning device 11 corresponding to the first sub-positioning area, or the second direction of the positioning device 11 corresponding to the second sub-positioning area. It should be understood that the coverage range of the above-mentioned antennas can be most of the coverage or all of one of the sub-positioning areas.

[0042] Based on the description of the above corresponding scenarios, in a possible embodiment, in the embodiment of the method, the positioning device 11 can be a signal transceiver unit, which is used to send a positioning request signal to the positioning tag through the first antenna and / or the second antenna; the positioning request signal is used to trigger the positioning tag to send a signal; the signal transceiver unit is also used to receive the signal sent by the positioning tag at the target position through the first antenna and the second antenna of the signal receiving unit to obtain the first positioning signal and the second positioning signal; the signal feature determination unit is used to determine the signal feature of the first positioning signal and the signal feature of the second positioning signal; the target antenna determination unit is used to determine the first antenna or the second antenna as the target antenna according to the signal feature of the first positioning signal and the signal feature of the second positioning signal; the signal feature of the positioning signal received by the target antenna indicates that the positioning signal comes from the preset direction corresponding to the target antenna, and the first antenna and the second antenna correspond to different preset directions; the target position determination unit is also used to determine the distance between the positioning tag and the positioning device based on the sending time of the positioning request signal, the receiving time of the first positioning signal and the receiving time of the second positioning signal; the target position determination unit is also used to determine the target position where the positioning tag is located based on the position information of the positioning device, the corresponding preset direction of the target antenna and the distance between the positioning tag and the positioning device.

[0043] Optionally, the positioning device 11 may determine whether the first positioning signal comes from a preset direction corresponding to the first antenna, or whether the second positioning signal comes from a preset direction corresponding to the second antenna, based on the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal. If the first positioning signal comes from the preset direction corresponding to the first antenna, the positioning device 11 determines the first antenna as the target antenna. If the second positioning signal comes from the preset direction corresponding to the second antenna, the positioning device 11 determines the second antenna as the target antenna.

[0044] The positioning device 11 in the embodiment of the present application can be any positioning device with two antennas, which can correspond to the first antenna and the second antenna of the positioning device 11, and the first antenna and the second antenna can have strong electromagnetic wave signal receiving and transmitting capabilities for a preset range or a preset direction. For example, a two-antenna LBS base station positioning (Location Based Service, location-based service), an ultra-wideband positioning base station (Ultra Wide Band, UWB), a GPS positioning base station, etc., and the present application does not impose any restrictions on this.

[0045] The positioning tag 12 in the embodiment of the present application can be any one of a work badge type positioning tag, a bracelet type positioning tag and a safety helmet type positioning tag, and the present application does not impose any limitation on this.

[0046] like Figure 6 The figure is a flow chart of a positioning method provided by an embodiment of the present application, which can be applied to Figure 1 The system architecture shown in FIG. 1 is a schematic diagram of a method for applying the present invention to a system of FIG. Figure 1 On the positioning device 11 in. Figure 6 The positioning method shown includes the following steps S101 to S106.

[0047] S101, sending a positioning request signal to a positioning tag via a first antenna and / or a second antenna.

[0048] Among them, after the positioning request signal is received by the positioning tag, the positioning tag is triggered to send a signal.

[0049] In some cases, positioning may be initiated by the positioning device, so the positioning device needs to send a positioning request signal to the positioning tag based on the first antenna or the second antenna. After receiving the positioning request signal, the positioning tag will send a reply signal at the current location, which is the target location to be positioned.

[0050] The first antenna and the second antenna can be controlled by the same crystal oscillator of the positioning device to achieve clock synchronization. The first antenna and the second antenna can send a positioning request signal based on the same clock, and can also receive a signal sent by a positioning tag based on the same clock. In similar technologies, multiple positioning devices are required to cooperate to locate the positioning tag. Due to the high accuracy requirements of the time unit in positioning, under the high-precision time requirements, multiple positioning devices cannot completely achieve clock synchronization, and can only obtain the signal of the positioning tag respectively. Multiple positioning devices then work together to determine the position of the positioning tag, which requires a lot of time and positioning resources, and the positioning efficiency is low. However, the present invention enables the first antenna and the second antenna to locate the positioning tag based on the same clock. After the first antenna and the second antenna receive the signal sent by the positioning tag, the positioning device itself can complete the positioning of the positioning tag without the need to cooperate with other positioning devices, thereby improving the positioning efficiency.

[0051] S102, receiving a signal sent by a positioning tag at a target location through a first antenna to obtain a first positioning signal, and receiving a signal sent by a positioning tag at a target location through a second antenna to obtain a second positioning signal.

[0052] It should be understood that the present method is applicable to Figure 1 The positioning device 11 in the embodiment needs to have two antennas, which can correspond to the first antenna and the second antenna respectively. In order to locate the positioning tag 12, the positioning device 11 needs to communicate with the positioning tag 12 through signals to locate the positioning tag 12.

[0053] Then, in this positioning method, for the signal sent by the positioning tag at the target location, the first antenna and the second antenna of the positioning device can both receive this signal. The signal received by the first antenna and the signal received by the second antenna may not be completely consistent in some aspects, such as the receiving time. For the sake of distinction, the signal received by the first antenna is the first positioning signal, and the signal received by the second antenna is the second positioning signal. The first positioning signal and the second positioning signal are the same signal, that is, the signal sent by the positioning tag at the target location.

[0054] It should be understood that during the process of positioning the positioning tag, the positioning device and the positioning tag may have multiple signal exchanges, that is, the positioning device may receive signals sent by the positioning device. The first signal and the second signal received by the positioning device through the first antenna and the second antenna may be any signal sent by the positioning tag during the above signal exchange process.

[0055] For example, during the two-way ranging process, the positioning tag can broadcast a poll message for initiating positioning. After receiving the poll message, the positioning device broadcasts a response message in reply to the poll message. After receiving the response message, the positioning tag broadcasts a final message to complete the two-way ranging, and this final message will be received by the positioning device. In this process, the positioning device can receive the poll message and response message sent by the positioning tag. According to the above step S101, the positioning device can obtain the first positioning signal and the second positioning signal based on the received poll message, and can also obtain the first positioning signal and the second positioning signal based on the received response message.

[0056] S103: Determine a signal characteristic of the first positioning signal and a signal characteristic of the second positioning signal.

[0057] S104: Determine the first antenna or the second antenna as a target antenna according to signal characteristics of the first positioning signal and signal characteristics of the second positioning signal.

[0058] The signal characteristics of the positioning signal received by the target antenna indicate that the positioning signal comes from a preset direction corresponding to the target antenna, and the first antenna and the second antenna correspond to different preset directions.

[0059] It should be understood that the target antenna is an antenna that can have a strong ability to send and receive electromagnetic wave signals within a preset range or in a preset direction, such as a directional antenna.

[0060] Since the one-dimensional positioning scenario is a relatively narrow and long area, the positioning of the target position of the positioning tag ignores the displacement of the positioning tag in the width of the positioning area. Therefore, in terms of orientation, it is only necessary to know in which relative direction the positioning tag is located on the positioning device. It can be seen that there are fewer positioning directions in the one-dimensional positioning scenario, and due to the influence of the environment, there are also fewer possible directions for the positioning tag. For the first antenna and the second antenna, if the directional area of ​​an antenna covers most of the area in one direction in the positioning scenario, it can be regarded as the preset direction of the antenna in this direction.

[0061] Since the preset directions of the first antenna and the second antenna are different, that is, in this positioning scenario, the directions in which the two antennas have stronger signal transceiving capabilities are different, and in the direction in which one antenna has stronger signal transceiving capabilities, the signal transceiving capabilities of the other antenna will be weaker. Therefore, for the positioning signal received from one of the two preset directions corresponding to the two antennas, the signal characteristics of the first positioning signal received by the first antenna and the signal characteristics of the second positioning signal received by the second antenna are significantly different. Furthermore, the target antenna of the first antenna and the second antenna can be determined based on the difference between the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal received from different preset directions. The direction of the target position where the positioning tag sends a signal is located, that is, the preset direction from the target antenna.

[0062] S105 : Determine the distance between the positioning tag and the positioning device based on the sending time of the positioning request signal, the receiving time of the first positioning signal, and the receiving time of the second positioning signal.

[0063] The distance between the positioning tag and the positioning device can be obtained more accurately in a variety of ways. For example, through UWB ranging, the distance between the positioning tag and the positioning device can be obtained based on the sending time of the above-mentioned positioning request signal, the receiving time of the first positioning signal and the receiving time of the second positioning signal.

[0064] Of course, the distance measurement of the positioning device to the positioning tag can be based on unilateral bidirectional distance measurement or bilateral bidirectional distance measurement, and this application does not impose any limitation on this.

[0065] S106, determining the target position of the positioning tag based on the position information of the positioning device, the corresponding preset direction of the target antenna, and the distance between the positioning tag and the positioning device.

[0066] In one-dimensional positioning, it is only necessary to obtain the location information of the positioning device, the distance between the positioning tag and the positioning device, and the relative direction between the positioning tag and the positioning device. The location of the positioning device is data that can be known when the positioning device is laid. In step S105, the distance between the positioning tag and the positioning device is known. In step S104, the preset direction indicated by the target antenna is the direction of the positioning tag. Furthermore, through the above-mentioned known location information of the positioning device, the corresponding preset direction of the target antenna and the distance between the positioning tag and the positioning device, the target position of the positioning tag can be determined, and the positioning tag can be located.

[0067] According to the above embodiments, in the positioning method provided in the embodiment of the present application, the positioning device sends a positioning request signal to the positioning tag through the first antenna and / or the second antenna, and then receives the positioning signal sent by the positioning tag at the target position based on the first antenna and the second antenna of the positioning device to obtain the first positioning signal and the second positioning signal. Since the preset directions of the first antenna and the second antenna of the positioning device in the embodiment of the present application are different, that is, the first antenna and the second antenna have strong signal transceiving capabilities in different directions. Therefore, when the positioning tag sends a positioning signal at a target position in a one-dimensional positioning scene, the positioning signals received by the first antenna and the second antenna come from different directions for the antenna, and the signal characteristics of the positioning signals received by the first antenna and the second antenna will also be different. Based on this, in the embodiment of the present application, after determining the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal, the target antenna in the first antenna and the second antenna is determined based on the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal, and the preset direction indicated by the target antenna is the direction from which the positioning signal comes, that is, the direction of the target position of the positioning tag relative to the positioning device. After determining the direction of the target position of the positioning tag, the distance between the positioning tag and the positioning device can be determined based on the sending time of the positioning request signal, the receiving time of the first positioning signal, and the receiving time of the second positioning signal. Furthermore, based on the location information of the positioning device, the corresponding preset direction of the target antenna, and the distance between the positioning tag and the positioning device, the target location of the positioning tag is determined to complete the positioning of the positioning tag. The positioning method provided by the present application only requires one positioning device to locate the positioning tag in a one-dimensional positioning scene. Compared with the positioning performed by the cooperation between multiple positioning devices, the time spent on the cooperation between the positioning devices is reduced, the positioning efficiency is improved, and the resource consumption of the positioning device is reduced.

[0068] In a possible embodiment, the signal feature includes at least one of: signal average strength, signal noise coefficient, channel impulse response, and strength value of the first wave peak of the signal.

[0069] According to the above analysis, since the preset directions of the first antenna and the second antenna are directions in which the antenna signal receiving and transmitting capabilities are stronger, and the preset directions of the first antenna and the second antenna are different, the direction in which the first antenna signal receiving and transmitting capabilities are stronger, the second antenna signal receiving and transmitting capabilities will be weaker. Similarly, the direction in which the first antenna signal receiving and transmitting capabilities are weaker, the second antenna signal receiving and transmitting capabilities will be stronger.

[0070] Based on this, the signal characteristics of the first positioning signal received by the first antenna may be different from the signal characteristics of the second positioning signal received by the second antenna. These characteristics may be the above-mentioned signal average strength, such as the signal average strength of the first positioning signal received by the first antenna in the preset direction of the first antenna may be higher than the signal average strength of the second positioning signal received by the second antenna in the first preset direction.

[0071] The above-mentioned signal characteristics are only non-exhaustive examples, and other parameters that can characterize the reception status of the signal on antennas with different transceiver capabilities can also be used as signal characteristics in the embodiments of the present application.

[0072] It can be seen from the above embodiments that in the embodiments of the present application, the target antenna is determined by comparing the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal. The signal characteristics that can be used in this method include at least the above-mentioned signal characteristics including the average signal strength, the signal noise coefficient, the channel impulse response, and the strength value of the first peak of the signal. Therefore, the positioning method provided in the embodiments of the present application can determine the target antenna based on multi-dimensional signal characteristics, and then locate the positioning tag. In similar technologies, relevant information of a single type of signal is collected to locate the positioning tag, which is easily affected by problems such as obstructions in the environment that affect signal propagation, making the positioning inaccurate. The positioning method provided in the embodiments of the present application can comprehensively locate the positioning tag from multiple dimensions, thereby improving the accuracy of positioning.

[0073] In a possible embodiment, determining the first antenna or the second antenna as the target antenna according to the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal includes: determining whether the first positioning signal comes from a preset direction corresponding to the first antenna, or whether the second positioning signal comes from a preset direction corresponding to the second antenna according to the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal. If the first positioning signal comes from the preset direction corresponding to the first antenna, the first antenna is determined as the target antenna. If the second positioning signal comes from the preset direction corresponding to the second antenna, the second antenna is determined as the target antenna.

[0074] In a possible embodiment, when the signal characteristics include the average signal strength, determining whether the first positioning signal comes from a preset direction corresponding to the first antenna or whether the second positioning signal comes from a preset direction corresponding to the second antenna according to the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal includes: if the signal average strength of the first positioning signal is higher than the signal average strength of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the first antenna. If the signal average strength of the first positioning signal is lower than the signal average strength of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the second antenna.

[0075] For example, when the signal characteristic is the average signal strength, the process of determining the first antenna or the second antenna as the target antenna according to the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal is as follows: Figure 7 shown.

[0076] In a possible embodiment, when the signal characteristic includes a signal noise coefficient, it is determined whether the first positioning signal comes from a preset direction corresponding to the first antenna according to the signal characteristic of the first positioning signal and the signal characteristic of the second positioning signal.

[0077] Or whether the second positioning signal comes from a preset direction corresponding to the second antenna, including: if the signal noise coefficient of the first positioning signal is lower than the signal noise coefficient of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the first antenna. If the signal noise coefficient of the first positioning signal is higher than the signal noise coefficient of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the second antenna.

[0078] In one possible implementation, Figure 8 As shown, an embodiment of the present application provides a positioning device, including:

[0079] The signal transceiver unit 201 is used to send a positioning request signal to the positioning tag through the first antenna and / or the second antenna. The positioning request signal is used to trigger the positioning tag to send a signal.

[0080] The signal transceiver unit 201 is further used to receive the signal sent by the positioning tag at the target location through the first antenna and the second antenna of the signal receiving unit to obtain the first positioning signal and the second positioning signal.

[0081] The signal characteristic determination unit 202 is configured to determine the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal.

[0082] The target antenna determination unit 203 is configured to determine the first antenna or the second antenna as the target antenna according to the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal. The signal characteristics of the positioning signal received by the target antenna indicate that the positioning signal comes from a preset direction corresponding to the target antenna, and the first antenna and the second antenna correspond to different preset directions.

[0083] The target position determination unit 204 is further configured to determine the distance between the positioning tag and the positioning device based on the sending time of the positioning request signal, the receiving time of the first positioning signal and the receiving time of the second positioning signal.

[0084] The target position determination unit 204 is further configured to determine the target position where the positioning tag is located based on the position information of the positioning device, the corresponding preset direction of the target antenna, and the distance between the positioning tag and the positioning device.

[0085] Optionally, the signal characteristics include: at least one of: signal average strength, signal noise coefficient, channel impulse response, and strength value of the first peak of the signal.

[0086] Optionally, the target antenna determination unit 203 is specifically used to: determine whether the first positioning signal comes from a preset direction corresponding to the first antenna, or whether the second positioning signal comes from a preset direction corresponding to the second antenna, based on signal characteristics of the first positioning signal and signal characteristics of the second positioning signal; if the first positioning signal comes from the preset direction corresponding to the first antenna, determine the first antenna as the target antenna; if the second positioning signal comes from the preset direction corresponding to the second antenna, determine the second antenna as the target antenna.

[0087] Optionally, in the case where the signal characteristics include the average signal strength, the target antenna determination unit 203 is specifically used to: if the average signal strength of the first positioning signal is higher than the average signal strength of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the first antenna; if the average signal strength of the first positioning signal is lower than the average signal strength of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the second antenna. In the case where the signal characteristics include the signal noise coefficient, the target antenna determination unit 203 is specifically used to: if the signal noise coefficient of the first positioning signal is lower than the signal noise coefficient of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the first antenna; if the signal noise coefficient of the first positioning signal is higher than the signal noise coefficient of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the second antenna.

[0088] In the case of implementing the functions of the above-mentioned integrated units in the form of hardware, the embodiment of the present application provides a schematic diagram of the hardware composition of a positioning device, such as Fig. 9 As shown, the positioning device further includes: a processor 302 , a communication interface 303 , and a bus 304 . Optionally, the positioning device may further include a memory 301 .

[0089] The processor 302 may be a device that implements or executes various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of the present application. The processor 302 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of the present application. The processor 302 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0090] The communication interface 303 is used to connect with other devices via a communication network, such as Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0091] The memory 301 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program codes in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0092] As a possible implementation, the memory 301 can exist independently of the processor 302, and the memory 301 can be connected to the processor 302 via a bus 304 to store instructions or program codes. When the processor 302 calls and executes the instructions or program codes stored in the memory 301, the positioning method provided in the embodiment of the present application can be implemented.

[0093] In another possible implementation, the memory 301 may also be integrated with the processor 302 .

[0094] The bus 304 may be an extended industry standard architecture (EISA) bus, etc. The bus 304 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0095] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the positioning device can be divided into different functional modules to complete all or part of the functions described above.

[0096] The embodiment of the present application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be completed by computer instructions to instruct the relevant hardware, and the program can be stored in the above computer-readable storage medium. When the program is executed, it may include the processes of the above method embodiments. The computer-readable storage medium can be the memory or memory of any of the above embodiments. The above computer-readable storage medium can also be an external storage device of the above positioning device, such as a plug-in hard disk, a smart memory card (smart media card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc. equipped on the above positioning device. Further, the above computer-readable storage medium can also include both the internal storage unit of the above positioning device and an external storage device. The above computer-readable storage medium is used to store the above computer program and other programs and data required by the above positioning device. The above computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0097] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program product is run on a computer, the computer is enabled to execute any one of the positioning methods provided in the above embodiments.

[0098] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other changes to the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit can implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0099] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0100] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A positioning method, characterized in that: Applied to a positioning device, the positioning device includes a first antenna and a second antenna, and the method includes: Sending a positioning request signal to a positioning tag via the first antenna and / or the second antenna; the positioning request signal is used to trigger the positioning tag to send a signal; The signal sent by the positioning tag at the target location is received by the first antenna to obtain a first positioning signal, and the signal sent by the positioning tag at the target location is received by the second antenna to obtain a second positioning signal; Determining a signal characteristic of the first positioning signal and a signal characteristic of the second positioning signal; determining the first antenna or the second antenna as a target antenna according to signal characteristics of the first positioning signal and signal characteristics of the second positioning signal; the signal characteristics of the positioning signal received by the target antenna indicate that the positioning signal comes from a preset direction corresponding to the target antenna, and the first antenna and the second antenna correspond to different preset directions; Determine the distance between the positioning tag and the positioning device based on the sending time of the positioning request signal, the receiving time of the first positioning signal and the receiving time of the second positioning signal; The target position where the positioning tag is located is determined based on the position information of the positioning device, the corresponding preset direction of the target antenna, and the distance between the positioning tag and the positioning device.

2. The positioning method according to claim 1, characterized in that: The signal characteristics include: At least one of the signal average strength, signal noise coefficient, channel impulse response, and the strength value of the first peak of the signal.

3. The positioning method according to claim 2, characterized in that: The determining, according to the signal characteristics of the first positioning signal and the signal characteristics of the second positioning signal, the first antenna or the second antenna as a target antenna includes: Determine, according to a signal characteristic of the first positioning signal and a signal characteristic of the second positioning signal, whether the first positioning signal comes from a preset direction corresponding to the first antenna, or whether the second positioning signal comes from a preset direction corresponding to the second antenna; If the first positioning signal comes from a preset direction corresponding to the first antenna, determining the first antenna as the target antenna; If the second positioning signal comes from a preset direction corresponding to the second antenna, the second antenna is determined as the target antenna.

4. The positioning method according to claim 3, characterized in that: In a case where the signal characteristic includes the signal average strength, determining, according to the signal characteristic of the first positioning signal and the signal characteristic of the second positioning signal, whether the first positioning signal comes from a preset direction corresponding to the first antenna, or whether the second positioning signal comes from a preset direction corresponding to the second antenna, includes: If the average signal strength of the first positioning signal is higher than the average signal strength of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the first antenna; If the average signal strength of the first positioning signal is lower than the average signal strength of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the second antenna; In a case where the signal characteristic includes the signal noise coefficient, determining, according to the signal characteristic of the first positioning signal and the signal characteristic of the second positioning signal, whether the first positioning signal comes from a preset direction corresponding to the first antenna, or whether the second positioning signal comes from a preset direction corresponding to the second antenna, includes: If the signal noise coefficient of the first positioning signal is lower than the signal noise coefficient of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the first antenna; If the signal noise coefficient of the first positioning signal is higher than the signal noise coefficient of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the second antenna.

5. A positioning device, characterized in that: The device comprises: A signal transceiver unit, used to send a positioning request signal to the positioning tag through the first antenna and / or the second antenna; the positioning request signal is used to trigger the positioning tag to send a signal; The signal transceiver unit is further used to receive the signal sent by the positioning tag at the target position through the first antenna and the second antenna of the signal receiving unit to obtain the first positioning signal and the second positioning signal; a signal characteristic determination unit, configured to determine a signal characteristic of the first positioning signal and a signal characteristic of the second positioning signal; a target antenna determination unit, configured to determine the first antenna or the second antenna as a target antenna according to a signal characteristic of the first positioning signal and a signal characteristic of the second positioning signal; the signal characteristic of the positioning signal received by the target antenna indicates that the positioning signal comes from a preset direction corresponding to the target antenna, and the first antenna and the second antenna correspond to different preset directions; The target position determination unit is further used to determine the distance between the positioning tag and the positioning device based on the sending time of the positioning request signal, the receiving time of the first positioning signal and the receiving time of the second positioning signal; The target position determination unit is further used to determine the target position where the positioning tag is located based on the position information of the positioning device, the corresponding preset direction of the target antenna and the distance between the positioning tag and the positioning device.

6. The positioning device according to claim 5, characterized in that: The signal characteristics include: At least one of the signal average strength, signal noise coefficient, channel impulse response, and the strength value of the first peak of the signal.

7. The positioning device according to claim 6, characterized in that: The target antenna determination unit is specifically used to: Determine, according to a signal characteristic of the first positioning signal and a signal characteristic of the second positioning signal, whether the first positioning signal comes from a preset direction corresponding to the first antenna, or whether the second positioning signal comes from a preset direction corresponding to the second antenna; If the first positioning signal comes from a preset direction corresponding to the first antenna, determining the first antenna as the target antenna; If the second positioning signal comes from a preset direction corresponding to the second antenna, the second antenna is determined as the target antenna.

8. The positioning device according to claim 7, characterized in that: In a case where the signal characteristic includes the signal average strength, the target antenna determination unit is specifically configured to: If the average signal strength of the first positioning signal is higher than the average signal strength of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the first antenna; If the average signal strength of the first positioning signal is lower than the average signal strength of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the second antenna; In a case where the signal characteristic includes the signal noise coefficient, the target antenna determination unit is specifically configured to: If the signal noise coefficient of the first positioning signal is lower than the signal noise coefficient of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the first antenna; If the signal noise coefficient of the first positioning signal is higher than the signal noise coefficient of the second positioning signal, the first positioning signal comes from the preset direction corresponding to the second antenna.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory is used to store computer instructions, and the processor is used to call and execute the computer instructions from the memory to implement the positioning method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium comprises: computer software instructions; when the computer software instructions are executed in the image processing device, the positioning device implements the positioning method according to any one of claims 1 to 4.

Images