Position determination method and device, equipment and storage medium

Abstract

The embodiment of the invention discloses a position determination method and device, equipment and a storage medium, and is applicable to the technical field of computers. The method comprises the following steps: determining a first distance between each signal receiving device and a signal transmitting device according to position information of each signal receiving device in a positioning space and a position variable of the signal transmitting device in the positioning space; determining a plurality of first signal transmission distance differences; wherein each first signal transmission distance difference is used for representing the transmission distance difference of the positioning signal transmitted by the signal transmitting device to the first signal receiving device and one second signal receiving device, and the first signal receiving device and each second signal receiving device are different signal receiving devices in a positioning space; and according to each first distance and each first signal transmission distance difference, determining target position information when the signal sending device sends the positioning signal. By adopting the embodiment of the invention, the accuracy of spatial positioning can be improved, and the applicability is high.

Description

Technical Field

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

[0002] With the development of social economy and the popularization of positioning technology, spatial positioning has attracted more and more interest from the industry. Due to the large signal error of GPS signals, spatial positioning is difficult to perform using traditional GPS signals, while other spatial positioning methods such as Bluetooth and WiFi often have low accuracy.

[0003] Therefore, how to improve spatial positioning accuracy becomes a problem that needs to be solved. Summary of the invention

[0004] The embodiments of the present application provide a position determination method, apparatus, device, and storage medium, which can improve the accuracy of spatial positioning and have high applicability.

[0005] On the one hand, an embodiment of the present application provides a location determination method, the method comprising:

[0006] Determine a first distance between each of the signal receiving devices and the signal sending device according to the position information of each signal receiving device in the positioning space and the position variable of the signal sending device in the positioning space;

[0007] determining a plurality of first signal transmission distance differences;

[0008] Wherein, each of the above-mentioned first signal transmission distance differences is used to characterize the difference in transmission distances of the positioning signal sent by the above-mentioned signal sending device to the first signal receiving device and one second signal receiving device respectively, and the above-mentioned first signal receiving device and each of the above-mentioned second signal receiving devices are different signal receiving devices in the above-mentioned positioning space;

[0009] The target position information when the signal sending device sends the positioning signal is determined based on each of the first distances and each of the first signal transmission distance differences.

[0010] On the other hand, an embodiment of the present application provides a position determination device, the device comprising:

[0011] A data processing module, used to determine a first distance between each of the signal receiving devices and the signal sending device according to the position information of each signal receiving device in the positioning space and the position variable of the signal sending device in the positioning space;

[0012] The data processing module is used to determine a plurality of first signal transmission distance differences;

[0013] Wherein, each of the above-mentioned first signal transmission distance differences is used to characterize the difference in transmission distances of the positioning signal sent by the above-mentioned signal sending device to the first signal receiving device and one second signal receiving device respectively, and the above-mentioned first signal receiving device and each of the above-mentioned second signal receiving devices are different signal receiving devices in the above-mentioned positioning space;

[0014] The position determination module is used to determine the target position information when the signal sending device sends the positioning signal according to each of the first distances and each of the first signal transmission distance differences.

[0015] On the other hand, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein the processor and the memory are connected to each other;

[0016] The memory is used to store computer programs;

[0017] The processor is used to execute the position determination method provided in the embodiment of the present application when calling the computer program.

[0018] On the other hand, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the position determination method provided by the embodiment of the present application.

[0019] On the other hand, an embodiment of the present application provides a computer program product, which includes a computer program. When the above computer program is executed by a processor, the position determination method provided by the embodiment of the present application is implemented.

[0020] In the embodiment of the present application, according to the position information of each signal receiving device in the positioning space and the position variable in the positioning space, the first distance including the position variable between each signal receiving device and the signal sending device can be determined, thereby combining the signal transmission distance difference of the positioning signal transmitted to the first signal receiving device and each second signal receiving device respectively to realize the spatial positioning of the signal sending device. And because the absolute time when the signal receiving device receives the positioning signal is generally difficult to measure, with the participation of the signal transmission distance difference of the positioning signal reaching each signal receiving device, it is possible to avoid determining the transmission distance of the positioning signal to the signal receiving device, thereby further improving the accuracy of spatial positioning, and the applicability is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of a scenario of a location determination method provided in an embodiment of the present application;

[0022] Figure 2 is a schematic diagram of the positioning space provided in an embodiment of the present application;

[0023] Figure 3is a flow chart of a location determination method provided in an embodiment of the present application;

[0024] Figure 4 This is a schematic diagram of a distance relationship scenario provided by an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of a scenario for determining location information provided in an embodiment of the present application;

[0026] Figure 6 is another schematic diagram of a distance relationship provided in an embodiment of the present application;

[0027] Figure 7-Figure 8 is a schematic diagram of positioning error distribution provided in an embodiment of the present application;

[0028] Fig. 9 is a structural schematic diagram of a position determination device provided in an embodiment of the present application;

[0029] Fig.10 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] 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.

[0031] The position determination method provided in the embodiment of the present application can be applied to the field of spatial positioning, and is used to determine the position information of a signal sending device located in a specified space (such as a warehouse, an outdoor fixed space, etc.).

[0032] For example, in some closed scenarios with high security, inaccurate positioning means that it is very likely that an unauthorized object carrying a signal sending device has entered a prohibited area but the positioning system cannot identify it, resulting in a serious security incident.

[0033] For another example, in the related fields of intelligent traffic system (ITS) or intelligent vehicle infrastructure cooperative system (IVICS), the position determination method provided based on the embodiments of the present application can accurately determine the position of pedestrians or vehicles carrying signal sending devices in the road network space, such as the position in the viaduct, etc., so as to realize vehicle and pedestrian navigation, management and other operations.

[0034] Among them, the intelligent transportation system, also known as the intelligent transportation system (Intelligent Transportation System), is to effectively and comprehensively apply advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) to transportation, service control and vehicle manufacturing, strengthen the connection between vehicles, roads and users, and thus form a comprehensive transportation system that ensures safety, improves efficiency, improves the environment and saves energy. Or;

[0035] Among them, the intelligent vehicle-road cooperative system, referred to as the vehicle-road cooperative system, is a development direction of the intelligent transportation system (ITS). The vehicle-road cooperative system adopts advanced wireless communication and new generation Internet technologies to implement all-round dynamic real-time information interaction between vehicles and roads, and carries out active vehicle safety control and road cooperative management based on the collection and integration of dynamic traffic information in all time and space, fully realizing the effective coordination of people, vehicles and roads, ensuring traffic safety, and improving traffic efficiency, thus forming a safe, efficient and environmentally friendly road traffic system.

[0036] See also Figure 1 , Figure 1 Schematic diagram of a scenario of a location determination method provided in an embodiment of the present application. Figure 1 As shown, the data processing device 103 can determine the first distance between each signal receiving device 102 and the signal sending device according to the position information of each signal receiving device 102 in the positioning space and the position variable of the signal sending device 101 in the positioning space.

[0037] Furthermore, the data processing device 103 can determine multiple first signal transmission distance differences, each of which is used to characterize the difference between the transmission distance of the positioning signal sent by the signal sending device 101 to the first signal receiving device and the transmission distance of the positioning signal to a second signal receiving device.

[0038] The first signal receiving device and each second signal receiving device are respectively different signal receiving devices 102 in the positioning space.

[0039] See also Figure 2 , Figure 2 It is a schematic diagram of the positioning space provided in an embodiment of the present application. Figure 2 The positioning space shown includes a plurality of signal receiving devices 102 and a signal sending device 101. The signal sending device 101 sends a positioning signal after entering the positioning space, and each signal receiving device 102 in the positioning space receives the positioning signal.

[0040] Furthermore, the data processing device 103 may determine the target position information when the signal sending device 101 sends the positioning signal according to the aforementioned first distances and the first signal transmission distance differences.

[0041] The data processing device may be a server or a terminal device, which is not limited here.

[0042] Among them, the signal receiving device can be a related device or equipment with signal receiving capability, such as a micro base station, a router, a wireless signal receiver, etc.

[0043] Among them, the signal sending device can be a related device, chip or equipment with a signal sending function, such as a wireless signal generator, terminal equipment, etc.

[0044] Among them, the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, as well as big data and artificial intelligence platforms.

[0045] Among them, the terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, a car terminal, an aircraft, a smart home appliance (such as a smart TV) or a wearable device, etc.

[0046] See also Figure 3 , Figure 3 is a flow chart of the location determination method provided in the embodiment of the present application. Figure 3 As shown, the location determination method provided in the embodiment of the present application may specifically include:

[0047] S31. Determine a first distance between each signal receiving device and the signal sending device according to the position information of each signal receiving device in the positioning space and the position variable of the signal sending device in the positioning space.

[0048] In some feasible implementations, the positioning space includes a plurality of signal receiving devices, each signal receiving device is located at a different position in the positioning space, and each signal receiving device remains fixed in the positioning space.

[0049] In some feasible implementations, the position information of each signal receiving device in the positioning space can be represented by the three-dimensional coordinates of the signal receiving device in a three-dimensional rectangular coordinate system constructed based on the positioning space. The position variable of the signal sending device in the positioning space is also represented by the three-dimensional coordinates in the same three-dimensional rectangular coordinate system, such as the position variable of the signal sending device in the positioning space can be represented as (x, y, z).

[0050] The first object carries a signal sending device, such as a work card worn by an employee including a signal sending device, or a chip of a mobile device is a signal sending device.

[0051] Optionally, after the signal sending device enters the positioning space, its height from the ground (ie, the plane formed by the x-axis and the y-axis) remains unchanged.

[0052] In some feasible implementations, after the signal sending device enters the positioning space, for each signal receiving device, the first distance between the signal receiving device and the signal sending device can be determined based on the position information of the signal receiving device and the position variable of the signal sending device in the positioning space.

[0053] As an example, the position information of the signal receiving device in the positioning space is (x n ,y n ,z n ), the position information of the signal sending device is (x, y, z), then the first distance r between the signal receiving device and the signal sending device is n for:

[0054]

[0055] It should be particularly noted that the number of signal receiving devices in the positioning space is greater than or equal to a number threshold, and the number threshold may be 3.

[0056] S32. Determine a plurality of first signal transmission distance differences, each of which is used to characterize a difference in transmission distances between a positioning signal sent by a signal sending device and transmitted to a first signal receiving device and a second signal receiving device, respectively.

[0057] In some feasible implementations, the first signal receiving device and each second signal receiving device are different signal receiving devices in the positioning space, that is, the first signal receiving device is any signal receiving device in the positioning space, and each second signal receiving device is a signal receiving device in the positioning space other than the first signal receiving device.

[0058] In some feasible implementations, after the signal sending device sends the positioning signal, for each second signal receiving device, the time difference between the first signal receiving device and the second signal receiving device in receiving the positioning signal can be determined, and then based on the transmission speed of the positioning signal and the time difference, the difference in transmission distances of the positioning signal transmitted to the first signal receiving device and the second signal receiving device respectively can be determined.

[0059] As an example, if the index of the first signal receiving device is 1 and the index of the second signal receiving device is i (greater than 1 and less than or equal to m), the difference r between the transmission distances of the positioning signal transmitted to the first signal receiving device and the second signal receiving device is i1 for:

[0060] r i1 =ct i1 (2)

[0061] Among them, t i1 It represents the time difference between when the second signal receiving device m receives the positioning signal and when the first signal receiving device receives the positioning signal, and c represents the transmission speed of the positioning signal, that is, the transmission speed of the electromagnetic wave.

[0062] S33. Determine the target position information when the signal sending device sends the positioning signal according to each first distance and each first signal transmission distance difference.

[0063] In some feasible implementations, when determining the target location information when the signal sending device sends the positioning signal, for each second signal receiving device, a correlation function between the difference between the first distances corresponding to the second signal receiving device and the first signal receiving device and the difference between the first signal transmission distances corresponding to the second signal receiving device can be established. That is, for each second signal receiving device, the difference between the first distance between the second signal receiving device and the signal sending device and the first distance between the first signal receiving device and the signal sending device is equal to the difference between the transmission distances of the positioning signal transmitted to the first signal receiving device and the second signal receiving device, respectively.

[0064] As an example, if the index of the first signal receiving device is 1 and the index of the second signal receiving device is i (greater than 1 and less than or equal to m), the following correlation function may be constructed:

[0065]

[0066] The equation group consisting of the above-mentioned correlation functions is solved to obtain the x-axis coordinate, y-axis coordinate and z-axis coordinate when the signal sending device sends the positioning signal.

[0067] Alternatively, when the height of the signal sending device is a preset height, the z-axis coordinate of the signal sending device when sending the positioning signal is the preset z-axis coordinate, and the preset z-axis coordinate is substituted into formula (3) to solve the x-axis coordinate and y-axis coordinate when the signal sending device sends the positioning signal, and then the target position information when the signal sending device sends the positioning signal is obtained according to the preset z-axis coordinate.

[0068] In some feasible implementations, when determining the target position information when the signal sending device sends the positioning signal, for each second signal receiving device, a first correlation function corresponding to each second signal receiving device may be determined.

[0069] Each first correlation function is used to characterize the sum of the first signal transmission distance difference corresponding to the corresponding second signal receiving device and the first distance corresponding to the first signal receiving device, which is equal to the first distance corresponding to the corresponding second signal receiving device.

[0070] Furthermore, the target position information when the signal sending device sends the positioning signal can be determined according to the first correlation function corresponding to each second signal receiving device.

[0071] That is, the unknowns in the equation group composed of each first correlation function are solved to obtain the target position information when the signal sending device sends the positioning signal.

[0072] See also Figure 4 , Figure 4 Schematic diagram of a distance relationship provided in an embodiment of the present application. Figure 4 As shown in the figure, when the first distance between each signal receiving device and the signal sending device is determined based on the position information of the signal receiving device and the position variable of the signal sending device, the first distances between the signal receiving device 1, the signal receiving device 2 and the signal receiving device 3 and the signal sending device 1 can be respectively expressed as r 1 、r 2 、r 3 For the signal receiving device 1, the distance r between the signal receiving device 1 and the signal sending device 1 is 1 The difference r between the transmission distances of the positioning signal transmitted to the signal receiving device 1 and the signal receiving device 2 respectively 21 Added together, it is equal to the distance r between the signal receiving device 2 and the signal sending device 1 2 .

[0073] Similarly, for the signal receiving device 2, the distance r between the signal receiving device 2 and the signal sending device 1 is 2 The difference r between the transmission distances of the positioning signal transmitted to the signal receiving device 2 and the signal receiving device 3 respectively 32 Added together, it is equal to the distance r between the signal receiving device 3 and the signal sending device 1 2 .

[0074] As an example, the distance between the first signal receiving device and the signal sending device is r 1 , the distance between each second signal receiving device and the signal sending device is r 2 , r 3 ,…,rm The differences in the transmission distances of the positioning signal to the second signal receiving device and the first signal receiving device are r 21 , r 31 ,…,r m1 Based on this, the following set of equations can be constructed:

[0075]

[0076] Wherein, each equation in formula (4) is a first correlation function.

[0077] Transforming the equations, we get:

[0078]

[0079] When the height of the signal sending device is the preset height, that is, the z-axis coordinate of the signal sending device when sending the positioning signal is the preset z-axis coordinate (such as 1), let:

[0080] K i =x i 2 +y i 2 +(zz i ) 2 (6)

[0081] Then formula (5) can be transformed into:

[0082]

[0083] For example, when the indexes of the second signal receiving apparatus are 2, 3 and 4 respectively, equation (7) can be expressed as:

[0084]

[0085] Simplify equation (7) into matrix form:

[0086] H 1 =G 1 E (9)

[0087] in:

[0088]

[0089] For example, when the indexes of the second signal receiving device are 2, 3 and 4 respectively, equation (10) can be expressed as:

[0090]

[0091] in:

[0092]

[0093] For example, when the indexes of the second signal receiving apparatus are 2, 3 and 4 respectively, equation (12) can be expressed as:

[0094]

[0095] in:

[0096]

[0097] Furthermore, the first x-axis coordinate and the first y-axis coordinate of the signal sending device when sending the positioning signal can be determined according to each first correlation function. That is, the least square method is used to solve equation (9) to obtain:

[0098] E=(G 1 T G 1 ) -1 G 1 T H 1 (15)

[0099] Then, the first position information of the signal sending device is determined according to the first x-axis coordinate, the first y-axis coordinate and the preset z-axis coordinate, and the target position information when the signal sending device sends the positioning signal is determined according to the first position information.

[0100] For example, the first location information may be determined as target location information when the signal sending device sends a positioning signal.

[0101] The first y-axis coordinate is determined by a preset height of the signal sending device, that is, the height of the signal sending device remains unchanged in the positioning space.

[0102] In the embodiment of the present application, the above method for determining the target location information of the signal sending device is referred to as method one.

[0103] In some feasible implementations, when determining the target location information when the signal sending device sends a positioning signal based on the first location information, at least one second location information of the signal sending device may also be determined first.

[0104] Wherein, each second position information is determined based on the following method:

[0105] Determine a second correlation function corresponding to each fourth signal receiving device, each second correlation function is used to characterize the sum of the second signal transmission distance difference corresponding to the corresponding fourth signal receiving device and the second distance corresponding to the third signal receiving device, which is equal to the second distance corresponding to the corresponding fourth signal receiving device;

[0106] The second distance corresponding to each signal receiving device is used to characterize the distance between the signal receiving device and the signal sending device; each second signal transmission distance difference is used to characterize the difference in transmission distances of the positioning signal sent by the signal sending device to the third signal receiving device and a fourth signal receiving device respectively;

[0107] Determine, according to the second correlation function corresponding to each fourth signal receiving device, the second x-axis coordinate and the second y-axis coordinate when the signal sending device sends the positioning signal;

[0108] Determine a second position information of the signal sending device according to the second x-axis coordinate, the second y-axis coordinate and the preset z-axis coordinate;

[0109] The third signal receiving device corresponding to each second position information determination process is one second signal receiving device, and the third signal receiving devices corresponding to any two second position information determination processes are different.

[0110] That is to say, based on the aforementioned implementation method, multiple sets of position information of the signal sending device can be determined. That is, each time a signal receiving device in the positioning space is used as the first signal receiving device, and the remaining signal receiving devices are used as the second signal receiving devices, and a coordinate information of the signal sending device is determined based on the aforementioned implementation method. When each signal receiving device in the positioning space is used as the first signal receiving device (that is, the third signal receiving device) once to determine a coordinate information, multiple sets of position information of the signal sending device can be obtained.

[0111] like Figure 5 As shown, Figure 5 Schematic diagram of a scenario for determining location information provided by an embodiment of the present application. Figure 5 As shown, if the positioning space includes signal receiving device 1, signal receiving device 2, signal receiving device 3 and signal receiving device 4, signal receiving device 1 can be used as the first signal receiving device, and other signal receiving devices can be used as the second signal receiving device to determine the position information 1 of the positioning device based on the above-mentioned implementation method.

[0112] Similarly, the signal receiving device 2 is used as the third signal receiving device, and the other signal receiving devices are used as the fourth signal receiving device, so as to determine a second position information (position information 2) of the positioning device based on the above implementation method.

[0113] Similarly, the signal receiving device 3 is used as the third signal receiving device, and the other signal receiving devices are used as the fourth signal receiving device, so as to determine a second position information (position information 3) of the positioning device based on the above implementation method.

[0114] Similarly, the signal receiving device 4 is used as the third signal receiving device, and the other signal receiving devices are used as the fourth signal receiving device, so as to determine a second position information (position information 4) of the positioning device based on the above implementation method.

[0115] Furthermore, the target position information of the signal sending device can be determined based on the first position information and each second position information of the signal sending device, that is, based on the multiple sets of position information of the signal sending device determined previously, the target position information of the signal sending device when sending the positioning signal can be determined.

[0116] Specifically, the x-axis average coordinate of the x-axis coordinates of each second position information and the first position information, the y-axis average coordinate of the y-axis coordinates of each second position information and the first position information, and the z-axis average coordinate of the z-axis coordinates of each second position information and the first position information can be determined.

[0117] Furthermore, the target position information when the signal sending device sends the positioning signal can be determined based on the average x-axis coordinate, the average y-axis coordinate and the average z-axis coordinate.

[0118] In the embodiment of the present application, the above method of determining multiple second position information and determining the target position information of the signal sending device based on the second position information and the first position information is referred to as method two.

[0119] In some feasible implementations, the first signal transmission distance difference corresponding to each second signal receiving apparatus may be replaced by the sum of at least one third signal transmission distance difference and the first signal transmission distance difference corresponding to another second signal receiving apparatus.

[0120] Among them, the third signal transmission distance difference can be expressed as r ij , i and j represent the index of the second signal receiving device, i and j are greater than 1 and less than or equal to m, the index of the first signal receiving device is 1, and m is the maximum index value of the second signal receiving device.

[0121] Each third signal transmission distance is used to represent the difference in transmission distances of the positioning signal transmitted to the two second signal receiving devices. 31 =r 32 +r 21 , r 41 =r 42 +r 21 , r 41 =r 43 +r 31 , r m1 =r m3 +r 31 wait.

[0122] As an example, see Figure 6 , Figure 6 is another schematic diagram of the distance relationship provided in the embodiment of the present application. Figure 6 As shown in the figure, when the first distance between each signal receiving device and the signal sending device is determined based on the position information of the signal receiving device and the position variable of the signal sending device, the first distances between the signal receiving device 1, the signal receiving device 2 and the signal receiving device 3 and the signal sending device 1 can be respectively expressed as r 1 、r 2 、r 3 If the signal receiving device 1 is the first signal receiving device, and the signal receiving devices 2 and 3 are the second signal receiving devices, the difference in transmission distances of the positioning signal transmitted to the signal receiving device 1 and the signal receiving device 2 is the first signal transmission distance difference r 21 The difference between the transmission distances of the positioning signal transmitted to the signal receiving device 1 and the signal receiving device 3 is the first signal transmission distance difference r 31 The difference between the transmission distances of the positioning signal transmitted to the signal receiving device 2 and the signal receiving device 3 is the third signal transmission distance difference r 32 .

[0123] In this case, the difference r between the transmission distances of the positioning signal transmitted to the signal receiving device 1 and the signal receiving device 3 is 31 = r, the difference between the transmission distances of the positioning signal to the signal receiving device 1 and the signal receiving device 2 respectively 21 The difference r between the transmission distances of the positioning signal transmitted to the signal receiving device 2 and the signal receiving device 3 respectively 32 Add.

[0124] Based on this, when determining the target position information when the signal sending device sends a positioning signal, the matrix of formula (10) can be adjusted at least once to obtain multiple H matrices.

[0125] For example, each adjustment may be based on each third signal transmission distance difference and each first signal transmission distance difference, and at least one matrix element in equation (10) may be adjusted to obtain a new H matrix.

[0126] For example, each adjustment may be based on each third signal transmission distance difference and each first signal transmission distance, and at least one matrix element in equation (10) may be adjusted to obtain a new matrix element, and H 1 The matrix elements in are combined to obtain the new H matrix elements.

[0127] Based on one or more of the above implementations, H 1Therefore, when determining the target position information when the signal sending device sends a positioning signal based on the first position information, each H matrix can be substituted into formula (15) to obtain multiple sets of coordinates of the signal sending device, each set of coordinates includes an x-axis coordinate and a y-axis coordinate.

[0128] Furthermore, the average x-axis coordinate and the average y-axis coordinate of each group of coordinates may be determined, and the target position information of the signal sending device may be determined according to the preset z-axis coordinate.

[0129] For example, when the positioning space includes 4 signal receiving devices, the index of the first signal receiving device is 1, and the indexes of the second signal receiving devices are 2, 3, and 4 respectively, H can be obtained based on the above method. 1 -H 8 There are 8 H matrices in total, and the target position information of the signal sending device is obtained according to each H matrix.

[0130] in:

[0131]

[0132]

[0133]

[0134]

[0135]

[0136]

[0137]

[0138] In the embodiment of the present application, the method of determining the target position information of the signal sending device by replacing the third signal reference distance is referred to as method three.

[0139] In some feasible implementations, after the target position information of the signal sending device is determined based on any of the aforementioned methods, the target position information can be iteratively adjusted according to the position information of each signal receiving device in the positioning space and the difference in the transmission distances of each first signal to obtain the optimized position information when the signal sending device sends the positioning signal, and the optimized position information is determined as the final position information of the signal sending device.

[0140] Among them, the target position information when the signal sending device sends a positioning signal includes the target x-axis coordinate, the target y-axis coordinate and the preset z-axis coordinate.

[0141] Specifically, each iterative adjustment process is implemented based on the following methods:

[0142] Determine a first coordinate error and a second coordinate error according to the position information of each signal receiving device in the positioning space, the position information after the last adjustment, and the difference in the transmission distances of each first signal;

[0143] The position information after each adjustment includes an adjusted x-axis coordinate, an adjusted y-axis coordinate, and a preset z-axis coordinate, and the preset z-axis coordinate is determined by a preset height of the signal sending device.

[0144] The first coordinate error is used to represent the difference between the x-axis coordinate after the last adjustment and the actual x-axis coordinate when the signal receiving device sends the positioning signal, and the second coordinate error is used to represent the difference between the y-axis coordinate after the last adjustment and the actual y-axis coordinate when the signal receiving device sends the positioning signal;

[0145] Determine the x-axis coordinate after this adjustment according to the x-axis coordinate after the last adjustment and the first coordinate error, determine the y-axis coordinate after this adjustment according to the y-axis coordinate after the last adjustment and the second coordinate error; determine the position information after this adjustment according to the x-axis coordinate after this adjustment, the y-axis coordinate after this adjustment and the preset z-axis coordinate;

[0146] When the sum of the first coordinate error and the second coordinate error is less than a preset error threshold, the adjustment is stopped, and the position information after this adjustment is determined as the optimized position information when the signal sending device sends a positioning signal.

[0147] When determining the first coordinate error and the second coordinate error based on the position information of each signal receiving device in the positioning space, the position information after the last adjustment, and the difference in each first signal transmission distance, the third distance between the corresponding signal receiving device and the signal sending device can be determined based on the position information of each signal receiving device in the positioning space, and the coordinate information after the last adjustment.

[0148] Further, a plurality of first coordinate differences and a plurality of second coordinate differences may be determined; wherein each first coordinate difference is used to characterize the difference between the x-axis coordinate of a signal receiving device in the positioning space and the x-axis coordinate after the last adjustment, and each second coordinate difference is used to characterize the difference between the y-axis coordinate of a signal receiving device in the positioning space and the y-axis coordinate after the last adjustment;

[0149] A first coordinate error and a second coordinate error are determined according to each first signal transmission distance difference, each third distance, each first coordinate difference, and each second coordinate difference.

[0150] The first signal transmission distance difference, each third distance, each first coordinate difference and each second coordinate difference may be used to determine the first coordinate error and the second coordinate error.

[0151] As an example, suppose r ij =f(x,y,z,x i ,y i ,z i ), put it in (x 0 ,y 0 ,z 0 ) can be expanded to obtain:

[0152]

[0153] Among them, σ(2) is a high-order component.

[0154] Find the partial derivative with respect to x:

[0155]

[0156] Find the partial derivative with respect to y:

[0157]

[0158] Find the partial derivative with respect to z:

[0159]

[0160] because

[0161]

[0162] Replace x, y, and z with x respectively. 0 ,y 0 and z 0 , and substituting equations (24)-(27) back into equation (23), we get:

[0163]

[0164] When the z-axis coordinate of the signal sending device is a fixed value, we have:

[0165]

[0166] Converted into matrix form, we have:

[0167] ψ=QG 2 δ (30)

[0168] in:

[0169]

[0170]

[0171]

[0172] Among them, x in formula (31)m -x 0 Indicates the first coordinate difference between the signal receiving device and the signal sending device during each iterative adjustment process, y m -y 0 Indicates the second coordinate difference between the signal receiving device and the signal sending device during each iterative adjustment process.

[0173] Among them, in formula (31) and formula (32), r m represents the third distance between the signal receiving device and the signal sending device during each iterative adjustment process, which can be specifically determined by the position information of the signal receiving device and the position information after the last iterative adjustment. 0 is the x-axis coordinate adjusted in the last iteration, y 0 The y-axis coordinate adjusted for the previous iteration.

[0174] In formula (32), r m1 It represents the difference between the transmission distances of the positioning signal transmitted to the second signal receiving device and the first signal receiving device respectively.

[0175] In formula (33), Δx and Δy are the first coordinate error and the second coordinate error respectively.

[0176] For each iterative adjustment, each first signal transmission distance difference, each third distance, each first coordinate difference and each second coordinate difference are substituted into the corresponding formulas in equations (31)-(32), and then equation (30) is solved using the least squares method (i.e., through equation (34)) to obtain the first coordinate error Δx and the second coordinate error Δy after this adjustment.

[0177] δ=(G 2 T G 2 ) -1 G 2 T Q (34)

[0178] After any iteration adjustment is completed, x 0 +Δx is used as the x-axis coordinate after this adjustment, and x is set in the next iterative adjustment. 0 +Δx as the new x 0 Make adjustments, that is, in the iterative adjustment process x 0 =x 0 +Δx.

[0179] Similarly, after any iteration adjustment, y 0 +Δx is used as the y-axis coordinate after this adjustment, and y is set to 0 +Δy as the new y 0 Make adjustments, that is, in the iterative adjustment process y0 =y 0 +Δy.

[0180] After each iterative adjustment, the sum of the first coordinate error and the second coordinate error, that is, Δx+Δy, may be determined, and Δx+Δy may be compared with a preset error threshold.

[0181] If Δx+Δy is greater than or equal to the preset error threshold, the next adjustment is performed.

[0182] If Δx+Δy is less than the preset error threshold, the iterative adjustment is completed, and the position information after this adjustment is determined as the optimized position information when the signal sending device sends the positioning signal.

[0183] The preset error threshold value may be 0.001 or other values, which may be determined based on the positioning accuracy and is not limited here.

[0184] In the embodiment of the present application, the above method of determining the optimized position information through iterative adjustment is referred to as method four.

[0185] In some feasible embodiments, when the number of signal receiving devices in the positioning space is equal to a preset threshold, the third position information and the fourth position information of the signal sending device when sending the positioning signal are determined based on the position information of each signal receiving device in the positioning space and the difference in the transmission distances of each first signal.

[0186] As an example, if the number of signal receiving devices in the positioning space is equal to the number threshold (assuming it is 3), the first signal receiving device is signal receiving device 1, and the second signal receiving devices are signal receiving device 2 and signal receiving device 3 respectively.

[0187] The location information of the first signal receiving device is (x 1 ,y 1 ,z 1 ), the location information of the second signal receiving device is (x m ,y m ,z m ), the location information of the signal sending device is (x, y, z), and the difference between the transmission distance of the positioning signal transmitted to the first signal receiving device and the transmission distance transmitted to the second signal receiving device is r m1 .

[0188] Wherein, m = 2, 3. The first distance between the first signal receiving device and the signal sending device is r 1 , the first distance between each second signal receiving device and the signal sending device is r i . From this we can get:

[0189] rm =(x m -x) 2 +(y m -y) 2 +(z m -z) 2 (35)

[0190] r m 2 =D m -2x m x-2y m y-2z m z+x 2 +y 2 +z 2 (36)

[0191] Among them, D m =x m 2 +y m 2 +z m 2

[0192] r m1 =ct m1 =r m -r 1 (37)

[0193] Where c is the transmission speed of positioning signal, t m1 It is the time difference between the time when the second signal receiving device receives the positioning signal and the time when the first signal receiving device receives the positioning signal.

[0194] Also because

[0195] r m 2 =(r m1 +r 1 ) 2 =r m1 2 +2r m1 r 1 +r 1 2 =D m -2x m x-2y m y-2z m z+x 2 +y 2 +z 2 (38)

[0196] Let m = 1 in equation (36), and we get

[0197] r 12 =D 1 -2x 1 x-2y 1 y-2z 1 z+x 2 +y 2 +z 2 (39)

[0198] Formula (38)-Formula (39) can be obtained

[0199] r m1 2 +2r m1 r 1 =D m -2x m1 x-2y m1 y-2z m1 zD 1 (40)

[0200] Among them, x m1 =x m -x 1 ,y m1 =y m -y 1 , z m1 =z m -z 1 .

[0201] Assume that the position information of the first signal receiving device is (0,0,0), and the position information of the second signal receiving device is (x 2 ,0,0)、(x 3 ,y 3 ,0). At this time, we can get from formula (40)

[0202]

[0203] Simplify equation (41) to

[0204] y=gx+h (42)

[0205] in:

[0206] g={(r 31 x 2 ) / r 21 -x 3} / y 3 (43)

[0207] h={x 3 2 +y 3 2 -r 31 2 +r31 r 21 (1-(x 2 / r 21 ))} / 2y 3 (44)

[0208] According to formula (41) and formula (42), we can get

[0209] dx 2 +ex+f=0 (45)

[0210]

[0211] Based on this, according to the position information of each signal receiving device in the positioning space and the first signal transmission distance corresponding to each second signal receiving device, equation (45) can be solved to obtain two values ​​of x. Substituting x into equation (42) can obtain the y value, and then according to the preset z-axis coordinate, the two coordinate information of the signal sending device, namely the third position information and the fourth position information, can be obtained.

[0212] Furthermore, since the first distance corresponding to each signal receiving device in the positioning space is determined based on the position information of the signal receiving device and the position variable of the signal sending device, the position variable can be replaced by the third position information to obtain the actual first distance from each signal receiving device to the signal sending device.

[0213] Furthermore, a first positioning distance difference between the first distance corresponding to the first signal receiving device and the target signal receiving device can be determined, and a first distance error between the first signal transmission distance corresponding to the target signal receiving device and the first positioning distance difference can be determined.

[0214] Similarly, the fourth position information may be used to replace the position variable to obtain the actual first distance from each signal receiving device to the signal sending device.

[0215] Furthermore, a second positioning distance difference of the first distance corresponding to the first signal receiving device and the target signal receiving device can be determined, and a second distance error of the first signal transmission distance corresponding to the target signal receiving device and the second positioning distance difference can be determined.

[0216] The target signal receiving device is any second signal receiving device.

[0217] Based on this, when the first distance error is smaller than the second distance error, it indicates that the distance difference from the first signal receiving device and the target signal receiving device to the signal sending device calculated based on the third position information of the signal sending device, the position information of the first signal receiving device and the position information of the target signal receiving device is closer to the transmission distance difference when the positioning signal is transmitted to the first signal receiving device and the target signal receiving device respectively. At this time, the third position information can be determined as the target position information when the signal sending device sends the positioning signal.

[0218] When the first distance error is greater than the second distance error, it indicates that the distance difference from the first signal receiving device and the target signal receiving device to the signal sending device calculated based on the fourth position information of the signal sending device, the position information of the first signal receiving device and the position information of the target signal receiving device is closer to the transmission distance difference when the positioning signal is transmitted to the first signal receiving device and the target signal receiving device respectively. At this time, the fourth position information can be determined as the target position information when the signal sending device sends the positioning signal.

[0219] When the first distance error is equal to the second distance error, any one of the third position information and the fourth position information can be determined as the target position information when the signal sending device sends the positioning signal.

[0220] In some feasible implementations, after determining the target location information when the signal sending device sends the positioning signal, it can be determined whether the first object carrying the signal sending device is located in a preset area in the positioning space according to the target location information.

[0221] If it is determined according to the target position information that the first object is located in a preset area in the positioning space, whether the first object has the authority to enter the above preset area is determined according to the object information of the first object, and if it is determined that the first object does not have the authority to enter the preset area, a security alarm is issued for the first object.

[0222] The object information of the first object is uniquely associated with the signal sending device.

[0223] After receiving the positioning signal sent by the signal sending device, the signal receiving device can obtain the identification information of the signal sending device from the positioning signal, and then determine the object information of the first object uniquely associated with the signal sending device according to the identification information of the signal sending device.

[0224] As an example, after employee A (the first object) wears his / her work card and enters the factory (positioning space), the chip (signal sending device) in the work card can send a positioning signal, and the signal sending device can receive the positioning signal and determine the work card information.

[0225] After determining the target location information of the chip in the factory, it can be determined whether employee A is located in the operation workshop of the factory according to the target location information. If it is determined that employee A is in the operation workshop, the employee information of employee A can be determined according to the work card information, and whether employee A has the authority to enter the operation workshop can be determined according to the employee information. If employee A does not have the authority to enter the operation workshop, a security alarm is issued to employee A.

[0226] The computing process involved in the embodiments of this application can be implemented based on cloud computing in cloud technology. Among them, cloud technology refers to a hosting technology that unifies a series of resources such as hardware, software, and network in a wide area network or a local area network to realize the calculation, storage, processing, and sharing of data. Cloud technology is a general term for network technology, information technology, integration technology, management platform technology, application technology, etc. based on the cloud computing business model application, which can form a resource pool and be used on demand, flexibly and conveniently.

[0227] Cloud computing is a computing model that is the product of the development and integration of traditional computer and network technologies such as grid computing, distributed computing, parallel computing, utility computing, network storage technologies, virtualization, and load balancing. Cloud computing distributes computing tasks on a resource pool consisting of a large number of computers, allowing various application systems to obtain computing power, storage space, and information services as needed. The network that provides resources is called a "cloud". The resources in the "cloud" are infinitely scalable and can be obtained at any time, used on demand, expanded at any time, and paid for by use.

[0228] In the embodiment of the present application, the location information of the signal receiving device can be stored in a designated storage space, which includes but is not limited to cloud storage, database (such as MYSQL database), blockchain, and the storage space of the device that executes the information processing method provided in the embodiment of the present application, etc. The specific storage space can be determined based on the actual application scenario requirements and is not limited here.

[0229] Among them, the database can be regarded as an electronic file cabinet in short - a place to store electronic files, which can be a relational database (SQL database) or a non-relational database (NoSQL database), without limitation. In this application, it can be used to store the location information of the signal receiving device. Blockchain is a new application mode of computer technologies such as distributed data storage, point-to-point transmission, consensus mechanism, encryption algorithm, etc. Blockchain is essentially a decentralized database, which is a string of data blocks generated by cryptographic methods. In the embodiment of the present application, each data block in the blockchain can store the location information of the signal receiving device. Cloud storage is a new concept extended and developed from the concept of cloud computing. It refers to the use of cluster applications, grid technology, and distributed storage file systems. The functions of a large number of storage devices of various types in the network (storage devices are also called storage nodes) are brought together through application software or application interfaces to work together to store the location information of the signal receiving device.

[0230] It should be particularly noted that when the number of signal receiving devices in the positioning space is greater than the quantity threshold, the location information of the signal sending device can be preliminarily determined based on the aforementioned method one, and then the final location information of the signal sending device can be further determined according to any one or more of method two, method three or method four. You can combine any one or more of method two, method three or method four with method one to obtain a variety of schemes for determining the final location information of the signal sending device.

[0231] As an example, in Solution 2, the first location information of the signal sending device can be determined based on Method 1, and multiple second location information of the signal sending device can be determined based on Method 2, so as to determine the final location information of the signal sending device based on the first location information and the second location information.

[0232] As an example, in Scheme 3, the first position information of the signal sending device can be determined based on Method 1, multiple second position information of the signal sending device can be determined based on Method 2, and multiple position information can be determined based on Method 3 by replacing the third signal reference distance, thereby determining the final position information of the signal sending device based on all the determined position information (average coordinate method).

[0233] As an example, in Solution 4, the first position information of the signal sending device can be determined based on Method 1, and then the first position information can be iteratively adjusted based on Method 4, and the obtained optimized position information can be used as the final position information of the signal sending device.

[0234] As an example, in Scheme 5, the first position information of the signal sending device can be determined based on Method 1, multiple second position information of the signal sending device can be determined based on Method 2, and multiple position information can be determined based on Method 3 by replacing the third signal reference distance. Thus, a position information of the signal sending device can be determined based on all the determined position information (average coordinate method), and the position information can be further iteratively adjusted based on Method 4, and the obtained optimized position information can be used as the final position information of the signal sending device.

[0235] Among them, Scheme 1 is method one.

[0236] In the embodiment of the present application, on the one hand, the embodiment of the present application can adopt a corresponding method to determine the target position information of the signal sending device when the number of signal receiving devices in the positioning space is different, thereby improving the breadth of application of the embodiment of the present application. On the other hand, according to the position information of each signal receiving device in the positioning space and the position variable in the positioning space, the first distance including the position variable between each signal receiving device and the signal sending device can be determined, thereby combining the signal transmission distance difference of the positioning signal transmitted to the first signal receiving device and each second signal receiving device respectively to realize the spatial positioning of the signal sending device. And because the absolute time when the signal receiving device receives the positioning signal is generally difficult to measure, with the participation of the signal transmission distance difference of the positioning signal reaching each signal receiving device, it is possible to avoid determining the signal transmission distance of the positioning signal transmitted to the signal receiving device, thereby further improving the accuracy of spatial positioning compared with the prior art.

[0237] As shown in the following table, when the positioning accuracy is 0.1m, the error values ​​at 67% and 95% of the error distribution of the error accumulation function of Schemes 1 to 5 show a downward trend. When the positioning accuracy is 1m, the error values ​​at 67% and 95% of the error distribution of the error accumulation function of Schemes 1 to 5 also show a downward trend, indicating that the positioning accuracy of Schemes 1 to 5 is becoming more and more accurate.

[0238]

[0239]

[0240] Combination Figure 7 and Figure 8 , Figure 7-Figure 8 is a schematic diagram of the positioning error distribution provided by the embodiment of the present application. Figure 7 and Figure 8 It can be seen that when the different observation errors (x) are smaller, the positioning errors of Schemes 1 to 5 gradually decrease, and the positioning accuracy is higher.

[0241] See also Fig. 9 , Fig. 9 : is a schematic diagram of the structure of a position determination device provided in an embodiment of the present application. The position determination device provided in an embodiment of the present application includes:

[0242] The data processing module 91 is used to determine the first distance between each of the signal receiving devices and the signal sending device according to the position information of each signal receiving device in the positioning space and the position variable of the signal sending device in the positioning space;

[0243] The data processing module 91 is used to determine a plurality of first signal transmission distance differences;

[0244] Wherein, each of the above-mentioned first signal transmission distance differences is used to characterize the difference in transmission distances of the positioning signal sent by the above-mentioned signal sending device to the first signal receiving device and one second signal receiving device respectively, and the above-mentioned first signal receiving device and each of the above-mentioned second signal receiving devices are different signal receiving devices in the above-mentioned positioning space;

[0245] The position determination module 92 is used to determine the target position information when the signal sending device sends the positioning signal according to each of the first distances and each of the first signal transmission distance differences.

[0246] In some feasible implementations, when the number of signal receiving devices in the positioning space is greater than a number threshold, the position determination module 92 is configured to:

[0247] Determine a first correlation function corresponding to each of the second signal receiving devices, wherein each of the first correlation functions is used to characterize that the sum of the first signal transmission distance difference corresponding to the corresponding second signal receiving device and the first distance corresponding to the first signal receiving device is equal to the first distance corresponding to the corresponding second signal receiving device;

[0248] The target position information when the signal sending device sends the positioning signal is determined according to the first correlation function corresponding to each of the second signal receiving devices.

[0249] In some feasible implementations, the location determination module 92 is used to:

[0250] determining, according to the first correlation function corresponding to each of the second signal receiving devices, a first x-axis coordinate and a first y-axis coordinate when the signal sending device sends the positioning signal;

[0251] Determining first position information of the signal sending device according to the first x-axis coordinate, the first y-axis coordinate and the preset z-axis coordinate;

[0252] Wherein, the above-mentioned preset z-axis coordinate is determined by a preset height;

[0253] Based on the first position information, the target position information when the signal sending device sends the positioning signal is determined.

[0254] In some feasible implementations, the location determination module 92 is used to:

[0255] Determining at least one second location information of the signal sending device;

[0256] Determine the target position information when the signal sending device sends the positioning signal according to each of the second position information and the first position information;

[0257] Wherein, each of the above second position information is determined based on the following method:

[0258] Determine a second correlation function corresponding to each fourth signal receiving device, each of the second correlation functions being used to characterize the sum of the second signal transmission distance difference corresponding to the corresponding fourth signal receiving device and the second distance corresponding to the third signal receiving device, which is equal to the second distance corresponding to the corresponding fourth signal receiving device;

[0259] The second distance corresponding to each signal receiving device is used to characterize the distance between the signal receiving device and the signal sending device; each of the second signal transmission distance differences is used to characterize the difference in transmission distance between the positioning signal transmitted to the third signal receiving device and the fourth signal receiving device respectively;

[0260] determining, according to the second correlation function corresponding to each of the fourth signal receiving devices, the second x-axis coordinate and the second y-axis coordinate when the signal sending device sends the positioning signal;

[0261] Determine a second position information of the signal sending device according to the second x-axis coordinate, the second y-axis coordinate and the preset z-axis coordinate;

[0262] The third signal receiving device corresponding to each of the second position information determination processes is one of the second signal receiving devices, and the third signal receiving devices corresponding to any two of the second position information determination processes are different.

[0263] In some feasible implementations, the location determination module 92 is used to:

[0264] Determine the average x-axis coordinate, the average y-axis coordinate, and the average z-axis coordinate of each of the second position information and the first position information;

[0265] The target position information when the signal sending device sends the positioning signal is determined based on the x-axis average coordinate, the y-axis average coordinate and the z-axis average coordinate.

[0266] In some feasible implementations, the target position information includes a target x-axis coordinate, a target y-axis coordinate, and a preset z-axis coordinate; the position determination module 92 is further used to:

[0267] Iteratively adjusting the target position information according to the position information of each signal receiving device in the positioning space and the transmission distance difference of each first signal, so as to obtain the optimized position information when the signal sending device sends the positioning signal;

[0268] Among them, each iterative adjustment process is implemented based on the following methods:

[0269] Determine a first coordinate error and a second coordinate error according to the position information of each signal receiving device in the positioning space, the position information after the last adjustment, and the first signal transmission distance difference;

[0270] The position information after each adjustment includes the adjusted x-axis coordinate, the adjusted y-axis coordinate and the preset z-axis coordinate, and the preset z-axis coordinate is determined by the preset height;

[0271] The first coordinate error is used to characterize the difference between the x-axis coordinate after the last adjustment and the actual x-axis coordinate when the signal receiving device sends the positioning signal, and the second coordinate error is used to characterize the difference between the y-axis coordinate after the last adjustment and the actual y-axis coordinate when the signal receiving device sends the positioning signal;

[0272] Determine the x-axis coordinate after this adjustment according to the x-axis coordinate after the last adjustment and the first coordinate error, determine the y-axis coordinate after this adjustment according to the y-axis coordinate after the last adjustment and the second coordinate error; determine the position information after this adjustment according to the x-axis coordinate after this adjustment, the y-axis coordinate after this adjustment and the preset z-axis coordinate;

[0273] When the sum of the first coordinate error and the second coordinate error is less than a preset error threshold, the adjustment is stopped, and the position information after this adjustment is determined as the optimized position information when the signal sending device sends the positioning signal.

[0274] In some feasible implementations, the location determination module 92 is used to:

[0275] Determine a third distance between the corresponding signal receiving device and the signal sending device according to the position information of each signal receiving device in the positioning space and the position information after the last adjustment;

[0276] determining a plurality of first coordinate differences and a plurality of second coordinate differences;

[0277] Wherein, each of the above-mentioned first coordinate differences is used to represent the difference between the x-axis coordinate of a signal receiving device in the above-mentioned positioning space and the x-axis coordinate after the last adjustment, and each of the above-mentioned second coordinate differences is used to represent the difference between the y-axis coordinate of a signal receiving device in the above-mentioned positioning space and the y-axis coordinate after the last adjustment;

[0278] A first coordinate error and a second coordinate error are determined according to each of the first signal transmission distance differences, each of the third distances, each of the first coordinate differences, and each of the second coordinate differences.

[0279] In some feasible implementations, when the number of signal receiving devices in the positioning space is equal to the number threshold, the position determination module 92 is configured to:

[0280] Determine the third position information and the fourth position information of the signal sending device when sending the positioning signal according to the position information of each signal receiving device in the positioning space and the difference in transmission distance of each of the first signals;

[0281] Determine, based on the third position information, a first positioning distance difference between the first distance corresponding to the first signal receiving device and the target signal receiving device, and determine a first distance error between the first signal transmission distance corresponding to the target signal receiving device and the first positioning distance difference;

[0282] Determine, based on the fourth position information, a second positioning distance difference between the first distance corresponding to the first signal receiving device and the target signal receiving device, and determine a second distance error between the first signal transmission distance corresponding to the target signal receiving device and the second positioning distance difference;

[0283] Wherein, the target signal receiving device is any one of the second signal receiving devices;

[0284] When the above-mentioned first distance error is smaller than the above-mentioned second distance error, the above-mentioned third position information is determined as the target position information when the above-mentioned signal sending device sends the above-mentioned positioning signal; when the above-mentioned first distance error is larger than the above-mentioned second distance error, the above-mentioned fourth position information is determined as the target position information when the above-mentioned signal sending device sends the above-mentioned positioning signal; when the above-mentioned first distance error is equal to the above-mentioned second distance error, any one of the above-mentioned third position information and the above-mentioned fourth position information is determined as the target position information when the above-mentioned signal sending device sends the above-mentioned positioning signal.

[0285] In some feasible implementations, the above-mentioned position determination device further includes an alarm module, and the above-mentioned alarm module is used to:

[0286] In response to determining, according to the target location information, that the first object carrying the signal sending device is located in a preset area in the positioning space, determining, according to the object information of the first object, whether the first object has permission to enter the preset area;

[0287] In response to the first object not having the authority to enter the preset area, a security alarm is issued to the first object.

[0288] In a specific implementation, the above-mentioned location determination device can perform the above-mentioned Figure 3 The implementation method provided will not be described in detail here.

[0289] See also Fig.10 , Fig.10 Schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Fig.10 As shown, the electronic device 1000 in this embodiment may include: a processor 1001, a network interface 1004 and a memory 1005. In addition, the above-mentioned electronic device 1000 may also include: an object interface 1003, and at least one communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. Among them, the object interface 1003 may include a display screen (Display), a keyboard (Keyboard), and the object interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or it may be a non-volatile memory (NVM), such as at least one disk storage. The memory 1005 may optionally also be at least one storage device located away from the aforementioned processor 1001. As Fig.10 As shown, the memory 1005 as a computer-readable storage medium may include an operating system, a network communication module, an object interface module, and a device control application program.

[0290] exist Fig.10 In the electronic device 1000 shown, the network interface 1004 can provide a network communication function; the object interface 1003 is mainly used to provide an input interface for the object; and the processor 1001 can be used to call the device control application stored in the memory 1005 to achieve:

[0291] Determine a first distance between each of the signal receiving devices and the signal sending device according to the position information of each signal receiving device in the positioning space and the position variable of the signal sending device in the positioning space;

[0292] determining a plurality of first signal transmission distance differences;

[0293] Wherein, each of the above-mentioned first signal transmission distance differences is used to characterize the difference in transmission distances of the positioning signal sent by the above-mentioned signal sending device to the first signal receiving device and one second signal receiving device respectively, and the above-mentioned first signal receiving device and each of the above-mentioned second signal receiving devices are different signal receiving devices in the above-mentioned positioning space;

[0294] The target position information when the signal sending device sends the positioning signal is determined based on each of the first distances and each of the first signal transmission distance differences.

[0295] In some feasible implementations, when the number of signal receiving devices in the positioning space is greater than a number threshold, the processor 1001 is configured to:

[0296] Determine a first correlation function corresponding to each of the second signal receiving devices, wherein each of the first correlation functions is used to characterize that the sum of the first signal transmission distance difference corresponding to the corresponding second signal receiving device and the first distance corresponding to the first signal receiving device is equal to the first distance corresponding to the corresponding second signal receiving device;

[0297] The target position information when the signal sending device sends the positioning signal is determined according to the first correlation function corresponding to each of the second signal receiving devices.

[0298] In some feasible implementations, the processor 1001 is configured to:

[0299] determining, according to the first correlation function corresponding to each of the second signal receiving devices, a first x-axis coordinate and a first y-axis coordinate when the signal sending device sends the positioning signal;

[0300] Determining first position information of the signal sending device according to the first x-axis coordinate, the first y-axis coordinate and the preset z-axis coordinate;

[0301] Wherein, the above-mentioned preset z-axis coordinate is determined by a preset height;

[0302] Based on the first position information, the target position information when the signal sending device sends the positioning signal is determined.

[0303] In some feasible implementations, the processor 1001 is configured to:

[0304] Determining at least one second location information of the signal sending device;

[0305] Determine the target position information when the signal sending device sends the positioning signal according to each of the second position information and the first position information;

[0306] Wherein, each of the above second position information is determined based on the following method:

[0307] Determine a second correlation function corresponding to each fourth signal receiving device, each of the second correlation functions being used to characterize the sum of the second signal transmission distance difference corresponding to the corresponding fourth signal receiving device and the second distance corresponding to the third signal receiving device, which is equal to the second distance corresponding to the corresponding fourth signal receiving device;

[0308] The second distance corresponding to each signal receiving device is used to characterize the distance between the signal receiving device and the signal sending device; each of the second signal transmission distance differences is used to characterize the difference in transmission distance between the positioning signal transmitted to the third signal receiving device and the fourth signal receiving device respectively;

[0309] determining, according to the second correlation function corresponding to each of the fourth signal receiving devices, the second x-axis coordinate and the second y-axis coordinate when the signal sending device sends the positioning signal;

[0310] Determine a second position information of the signal sending device according to the second x-axis coordinate, the second y-axis coordinate and the preset z-axis coordinate;

[0311] The third signal receiving device corresponding to each of the second position information determination processes is one of the second signal receiving devices, and the third signal receiving devices corresponding to any two of the second position information determination processes are different.

[0312] In some feasible implementations, the processor 1001 is configured to:

[0313] Determine the average x-axis coordinate, the average y-axis coordinate, and the average z-axis coordinate of each of the second position information and the first position information;

[0314] The target position information when the signal sending device sends the positioning signal is determined based on the x-axis average coordinate, the y-axis average coordinate and the z-axis average coordinate.

[0315] In some feasible implementations, the target position information includes a target x-axis coordinate, a target y-axis coordinate, and a preset z-axis coordinate; the processor 1001 is further configured to:

[0316] Iteratively adjusting the target position information according to the position information of each signal receiving device in the positioning space and the transmission distance difference of each first signal, so as to obtain the optimized position information when the signal sending device sends the positioning signal;

[0317] Among them, each iterative adjustment process is implemented based on the following methods:

[0318] Determine a first coordinate error and a second coordinate error according to the position information of each signal receiving device in the positioning space, the position information after the last adjustment, and the first signal transmission distance difference;

[0319] The position information after each adjustment includes the adjusted x-axis coordinate, the adjusted y-axis coordinate and the preset z-axis coordinate, and the preset z-axis coordinate is determined by the preset height;

[0320] The first coordinate error is used to characterize the difference between the x-axis coordinate after the last adjustment and the actual x-axis coordinate when the signal receiving device sends the positioning signal, and the second coordinate error is used to characterize the difference between the y-axis coordinate after the last adjustment and the actual y-axis coordinate when the signal receiving device sends the positioning signal;

[0321] Determine the x-axis coordinate after this adjustment according to the x-axis coordinate after the last adjustment and the first coordinate error, determine the y-axis coordinate after this adjustment according to the y-axis coordinate after the last adjustment and the second coordinate error; determine the position information after this adjustment according to the x-axis coordinate after this adjustment, the y-axis coordinate after this adjustment and the preset z-axis coordinate;

[0322] When the sum of the first coordinate error and the second coordinate error is less than a preset error threshold, the adjustment is stopped, and the position information after this adjustment is determined as the optimized position information when the signal sending device sends the positioning signal.

[0323] In some feasible implementations, the processor 1001 is configured to:

[0324] Determine a third distance between the corresponding signal receiving device and the signal sending device according to the position information of each signal receiving device in the positioning space and the position information after the last adjustment;

[0325] determining a plurality of first coordinate differences and a plurality of second coordinate differences;

[0326] Wherein, each of the above-mentioned first coordinate differences is used to represent the difference between the x-axis coordinate of a signal receiving device in the above-mentioned positioning space and the x-axis coordinate after the last adjustment, and each of the above-mentioned second coordinate differences is used to represent the difference between the y-axis coordinate of a signal receiving device in the above-mentioned positioning space and the y-axis coordinate after the last adjustment;

[0327] A first coordinate error and a second coordinate error are determined according to each of the first signal transmission distance differences, each of the third distances, each of the first coordinate differences, and each of the second coordinate differences.

[0328] In some feasible implementations, when the number of signal receiving devices in the positioning space is equal to the number threshold, the processor 1001 is configured to:

[0329] Determine the third position information and the fourth position information of the signal sending device when sending the positioning signal according to the position information of each signal receiving device in the positioning space and the difference in transmission distance of each of the first signals;

[0330] Determine, based on the third position information, a first positioning distance difference between the first distance corresponding to the first signal receiving device and the target signal receiving device, and determine a first distance error between the first signal transmission distance corresponding to the target signal receiving device and the first positioning distance difference;

[0331] Determine, based on the fourth position information, a second positioning distance difference between the first distance corresponding to the first signal receiving device and the target signal receiving device, and determine a second distance error between the first signal transmission distance corresponding to the target signal receiving device and the second positioning distance difference;

[0332] Wherein, the target signal receiving device is any one of the second signal receiving devices;

[0333] When the above-mentioned first distance error is smaller than the above-mentioned second distance error, the above-mentioned third position information is determined as the target position information when the above-mentioned signal sending device sends the above-mentioned positioning signal; when the above-mentioned first distance error is larger than the above-mentioned second distance error, the above-mentioned fourth position information is determined as the target position information when the above-mentioned signal sending device sends the above-mentioned positioning signal; when the above-mentioned first distance error is equal to the above-mentioned second distance error, any one of the above-mentioned third position information and the above-mentioned fourth position information is determined as the target position information when the above-mentioned signal sending device sends the above-mentioned positioning signal.

[0334] In some feasible implementations, the processor 1001 is further configured to:

[0335] In response to determining, according to the target location information, that the first object carrying the signal sending device is located in a preset area in the positioning space, determining, according to the object information of the first object, whether the first object has permission to enter the preset area;

[0336] In response to the first object not having the authority to enter the preset area, a security alarm is issued to the first object.

[0337] It should be understood that in some feasible implementations, the processor 1001 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0338] In a specific implementation, the electronic device 1000 can execute the above-mentioned Figure 3 The implementation method provided will not be described in detail here.

[0339] The present application also provides a computer-readable storage medium, which stores a computer program and is executed by a processor to implement Figure 3 The method provided will not be described in detail here.

[0340] The above-mentioned computer-readable storage medium may be an internal storage unit of the position determination device or electronic device provided in any of the above-mentioned embodiments, such as a hard disk or memory of an electronic device. The computer-readable storage medium may also be an external storage device of the electronic 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 electronic device. The above-mentioned computer-readable storage medium may also include a magnetic disk, an optical disk, a read-only memory (read-only memory, ROM) or a random access memory (random access memory, RAM), etc. Further, the computer-readable storage medium may also include both an internal storage unit of the electronic device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the electronic device. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.

[0341] The present invention provides a computer program product, which includes a computer program. The computer program is executed by a processor. Figure 3 The method provided.

[0342] The terms "first", "second", etc. in the claims, specification and drawings of the present application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or electronic device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or electronic devices. Mentioning "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. Displaying the phrase at various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. The term "and / or" used in the present application specification and the attached claims refers to any combination of one or more of the items listed in association and all possible combinations, and includes these combinations.

[0343] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Professional and technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0344] The above disclosure is only the preferred embodiment of the present application, which cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A method for determining a position, characterized in that: The method comprises: Determine a first distance between each of the signal receiving devices and the signal sending device according to the position information of each signal receiving device in the positioning space and the position variable of the signal sending device in the positioning space; determining a plurality of first signal transmission distance differences; Wherein, each of the first signal transmission distance differences is used to characterize the difference in transmission distances of the positioning signal sent by the signal sending device to the first signal receiving device and one second signal receiving device, respectively, and the first signal receiving device and each of the second signal receiving devices are different signal receiving devices in the positioning space; The target position information when the signal sending device sends the positioning signal is determined according to each of the first distances and each of the first signal transmission distance differences.

2. The method according to claim 1, characterized in that When the number of signal receiving devices in the positioning space is greater than a number threshold, determining, according to each of the first distances and each of the first signal transmission distance differences, target position information when the signal sending device sends the positioning signal includes: Determine a first correlation function corresponding to each second signal receiving device, each first correlation function is used to characterize the sum of the first signal transmission distance difference corresponding to the corresponding second signal receiving device and the first distance corresponding to the first signal receiving device, which is equal to the first distance corresponding to the corresponding second signal receiving device; The target position information when the signal sending device sends the positioning signal is determined according to the first correlation function corresponding to each of the second signal receiving devices.

3. The method according to claim 2, characterized in that The determining, according to the first correlation function corresponding to each of the second signal receiving devices, the target position information when the signal sending device sends the positioning signal comprises: determining, according to the first correlation function corresponding to each of the second signal receiving devices, a first x-axis coordinate and a first y-axis coordinate when the signal sending device sends the positioning signal; Determining first position information of the signal sending device according to the first x-axis coordinate, the first y-axis coordinate and a preset z-axis coordinate; Wherein, the preset z-axis coordinate is determined by a preset height; The target position information when the signal sending device sends the positioning signal is determined according to the first position information.

4. The method according to claim 3, characterized in that The determining, according to the first position information, target position information when the signal sending device sends the positioning signal comprises: determining at least one second position information of the signal sending device; Determine, according to each of the second position information and the first position information, the target position information when the signal sending device sends the positioning signal; Wherein, each of the second position information is determined based on the following method: Determine a second correlation function corresponding to each fourth signal receiving device, each of the second correlation functions is used to characterize the sum of the second signal transmission distance difference corresponding to the corresponding fourth signal receiving device and the second distance corresponding to the third signal receiving device, which is equal to the second distance corresponding to the corresponding fourth signal receiving device; The second distance corresponding to each signal receiving device is used to characterize the distance between the signal receiving device and the signal sending device; each of the second signal transmission distance differences is used to characterize the difference in transmission distance between the positioning signal transmitted to the third signal receiving device and the fourth signal receiving device respectively; determining, according to the second correlation function corresponding to each of the fourth signal receiving devices, a second x-axis coordinate and a second y-axis coordinate when the signal sending device sends the positioning signal; Determining second position information of the signal sending device according to the second x-axis coordinate, the second y-axis coordinate and the preset z-axis coordinate; The third signal receiving device corresponding to each process of determining the second position information is one second signal receiving device, and the third signal receiving devices corresponding to any two processes of determining the second position information are different.

5. The method according to claim 4, characterized in that The determining, according to each of the second position information and the first position information, the target position information when the signal sending device sends the positioning signal comprises: Determine an average x-axis coordinate, an average y-axis coordinate, and an average z-axis coordinate of each of the second position information and the first position information; The target position information when the signal sending device sends the positioning signal is determined according to the x-axis average coordinate, the y-axis average coordinate and the z-axis average coordinate.

6. The method according to claim 1, characterized in that The target position information includes a target x-axis coordinate, a target y-axis coordinate, and a preset z-axis coordinate; the method further includes: Iteratively adjusting the target position information according to the position information of each signal receiving device in the positioning space and the transmission distance difference of each first signal to obtain the optimized position information when the signal sending device sends the positioning signal; Among them, each iterative adjustment process is implemented based on the following methods: Determine a first coordinate error and a second coordinate error according to the position information of each signal receiving device in the positioning space, the position information after the last adjustment, and the first signal transmission distance difference; The position information after each adjustment includes the adjusted x-axis coordinate, the adjusted y-axis coordinate and the preset z-axis coordinate, and the preset z-axis coordinate is determined by the preset height; The first coordinate error is used to represent the difference between the x-axis coordinate after the last adjustment and the actual x-axis coordinate when the signal receiving device sends the positioning signal, and the second coordinate error is used to represent the difference between the y-axis coordinate after the last adjustment and the actual y-axis coordinate when the signal receiving device sends the positioning signal; Determine the x-axis coordinate after this adjustment according to the x-axis coordinate after the last adjustment and the first coordinate error, determine the y-axis coordinate after this adjustment according to the y-axis coordinate after the last adjustment and the second coordinate error; determine the position information after this adjustment according to the x-axis coordinate after this adjustment, the y-axis coordinate after this adjustment and the preset z-axis coordinate; When the sum of the first coordinate error and the second coordinate error is less than a preset error threshold, the adjustment is stopped, and the position information after the adjustment is determined as the optimized position information when the signal sending device sends the positioning signal.

7. The method according to claim 6, characterized in that The determining the first coordinate error and the second coordinate error according to the position information of each signal receiving device in the positioning space, the position information after the last adjustment, and the first signal transmission distance difference comprises: Determine a third distance between the corresponding signal receiving device and the signal sending device according to the position information of each signal receiving device in the positioning space and the position information after the last adjustment; determining a plurality of first coordinate differences and a plurality of second coordinate differences; Wherein, each of the first coordinate differences is used to represent the difference between the x-axis coordinate of a signal receiving device in the positioning space and the x-axis coordinate after the last adjustment, and each of the second coordinate differences is used to represent the difference between the y-axis coordinate of a signal receiving device in the positioning space and the y-axis coordinate after the last adjustment; A first coordinate error and a second coordinate error are determined according to each of the first signal transmission distance differences, each of the third distances, each of the first coordinate differences, and each of the second coordinate differences.

8. The method according to claim 2, characterized in that: When the number of signal receiving devices in the positioning space is equal to the number threshold, determining, according to each of the first distances and each of the first signal transmission distance differences, the target position information when the signal sending device sends the positioning signal includes: Determine, according to the position information of each signal receiving device in the positioning space and the transmission distance difference of each first signal, the third position information and the fourth position information when the signal sending device sends the positioning signal; Determine, according to the third position information, a first positioning distance difference between a first distance corresponding to the first signal receiving device and a target signal receiving device, and determine a first distance error between a first signal transmission distance corresponding to the target signal receiving device and the first positioning distance difference; Determine, according to the fourth position information, a second positioning distance difference between the first distance corresponding to the first signal receiving device and the target signal receiving device, and determine a second distance error between the first signal transmission distance corresponding to the target signal receiving device and the second positioning distance difference; Wherein, the target signal receiving device is any one of the second signal receiving devices; When the first distance error is less than the second distance error, the third position information is determined as the target position information when the signal sending device sends the positioning signal; when the first distance error is greater than the second distance error, the fourth position information is determined as the target position information when the signal sending device sends the positioning signal; when the first distance error is equal to the second distance error, any one of the third position information and the fourth position information is determined as the target position information when the signal sending device sends the positioning signal.

9. The method according to claim 1, characterized in that: The method further comprises: In response to determining, according to the target location information, that a first object carrying the signal sending device is located in a preset area in the positioning space, determining, according to the object information of the first object, whether the first object has permission to enter the preset area; In response to the first object not having permission to enter the preset area, a security alert is issued to the first object.

10. A position determination device, characterized in that: The device comprises: A data processing module, configured to determine a first distance between each of the signal receiving devices and the signal sending device according to the position information of each signal receiving device in the positioning space and the position variable of the signal sending device in the positioning space; The data processing module is used to determine a plurality of first signal transmission distance differences; Wherein, each of the first signal transmission distance differences is used to characterize the difference in transmission distances of the positioning signal sent by the signal sending device to the first signal receiving device and one second signal receiving device, respectively, and the first signal receiving device and each of the second signal receiving devices are different signal receiving devices in the positioning space; The position determination module is used to determine the target position information when the signal sending device sends the positioning signal according to each of the first distances and each of the first signal transmission distance differences.

11. An electronic device, characterized in that: comprising a processor and a memory, wherein the processor and the memory are connected to each other; The memory is used to store computer programs; The processor is configured to execute the method according to any one of claims 1 to 9 when calling the computer program.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 9.

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