Spatial positioning system for multi-antenna cooperative measurement

Abstract

The invention relates to the field of positioning, in particular to a multi-antenna cooperative measurement space positioning system, which comprises a multi-antenna signal receiving module, a signal processing module, a positioning module, a data fusion processing module and a user interaction module, and is characterized in that the multi-antenna signal receiving module is used for receiving a wireless signal from a target; the signal processing module is used for processing data received by the multi-antenna signal receiving module, the positioning module is used for generating a plurality of positioning data according to the processed data, and the data fusion processing module is used for generating final positioning according to a positioning result of the positioning module. And the user interaction module is used for outputting a result of the data fusion processing module to a user terminal. According to the scheme, the multiple antennas are arranged to locate the position of the target, and the position of the target is calculated by comparing the signals received by the different antennas, so that the target can be accurately located.

Description

Technical Field

[0001] The present invention relates to the field of positioning, and in particular to a space positioning system for multi-antenna collaborative measurement. Background Art

[0002] Multiple Input Multiple Output (MIMO) technology was originally used in communication systems. By using multiple antennas at the transmitting and receiving ends, the communication quality and rate were significantly improved. In recent years, MIMO technology has also been gradually introduced into positioning systems to improve positioning accuracy, especially in complex usage environments.

[0003] For example, the prior art CN117135567A discloses a UWB multi-antenna virtual anchor point positioning system and method, which includes a UWB transceiver, a main control device, a radio frequency switch, and multiple radio frequency antennas. Based on a single UWB transceiver, the radio frequency switch can be used to switch multiple radio frequency antennas, and the radio frequency antenna can be virtualized as an independent and complete anchor point to achieve ranging.

[0004] Another typical prior art disclosed in CN113365203A is a distributed multi-antenna radio positioning system and method, which uses multiple antennas to receive radio positioning signals to improve the availability and positioning accuracy of the positioning system. The distributed multi-antenna radio positioning system according to the present application includes multiple anchor points that broadcast radio positioning signals; multiple receiving antennas; and a central processor. The multiple receiving antennas are clock-synchronized and distributed on the carrier to be positioned according to a known topological structure. Each of the multiple receiving antennas receives the positioning signal from the visible anchor point of the antenna and measures the corresponding arrival time TOA. The central processor combines the arrival time between each antenna and the visible anchor point of the antenna with the known topological structure to calculate the position of the carrier.

[0005] Let's look at the prior art disclosed in CN106900056A, which discloses an omnidirectional radio frequency positioning system and method based on multiple antennas, including: a positioning node, an anchor node, and a signal processing module; the anchor node receives the radio frequency signal sent by the positioning node and generates multiple groups of original radio frequency positioning results; the signal processing module analyzes and processes the multiple groups of original radio frequency positioning results of the anchor node to obtain the position information of the positioning node, and the position information is the final radio frequency positioning result. The present invention can perform high-precision positioning of the positioning node based on the angle, and the positioning accuracy does not change with the change of the target distance.

[0006] At present, the positioning accuracy of the multi-antenna positioning technology in the prior art is low, and errors often occur during positioning. In order to solve the common problems in the field, the present invention is made. Summary of the invention

[0007] The purpose of the present invention is to propose a multi-antenna collaborative measurement space positioning system to address the current deficiencies.

[0008] In order to overcome the shortcomings of the prior art, the present invention adopts the following technical solutions: A spatial positioning system for multi-antenna collaborative measurement includes a multi-antenna signal receiving module, a signal processing module, a positioning module, a data fusion processing module and a user interaction module, wherein the multi-antenna signal receiving module is used to receive wireless signals from a target; the signal processing module is used to process data received by the multi-antenna signal receiving module, the positioning module is used to generate multiple positioning data according to the processed data, the data fusion processing module is used to generate a final positioning according to the positioning result of the positioning module, and the user interaction module is used to output the result of the data fusion processing module to a user terminal.

[0009] Furthermore, the multi-antenna signal receiving module includes an antenna array, a signal amplifier and an analog-to-digital converter, the antenna array is a square array composed of 9 evenly distributed antennas of the same height, the antenna array is used to receive the target's wireless signal, the signal amplifier is used to amplify the signal received by the antenna array, and the analog-to-digital converter is used to convert the amplified analog signal into a digital signal.

[0010] Furthermore, the signal processing module includes a filter, a delay extraction unit and a preprocessing unit, the filter is used to filter the signal received by the multi-antenna signal receiving module to reduce noise, the delay extraction unit includes a time difference detection circuit and a phase difference detection circuit, the time difference detection circuit is used to calculate the time difference of signals received by different antennas based on the filtered signal, the phase difference detection circuit is used to calculate the phase difference of signals received by different antennas based on the filtered signal, and the preprocessing unit is used to preprocess the filtered signal.

[0011] Furthermore, the positioning module includes a TDOA algorithm processing unit and a PDOA algorithm processing unit. The TDOA algorithm processing unit is used to calculate the position of the target according to the time difference of signals received by different antennas, and the PDOA algorithm processing unit is used to calculate the position of the target according to the phase difference of signals received by different antennas.

[0012] Furthermore, the data fusion processing module includes a deviation calculation unit and a data fusion unit. The deviation calculation unit is used to calculate the degree of deviation between the positioning obtained by different antennas according to the calculation results of the positioning module. The data fusion unit is used to calculate the final positioning of the target according to the calculation results of the deviation calculation unit and the positioning results of the positioning module.

[0013] Furthermore, the user interaction module includes a communication unit, a data storage unit and a display unit, the communication unit is used to communicate with other devices, the data storage unit is used to store the final positioning obtained by the data fusion processing module, and the display unit is used to display the final positioning obtained by the data fusion processing module.

[0014] Furthermore, the workflow of the spatial positioning system includes the following steps: S1, a multi-antenna signal receiving module receives signals from the target; S2, the signal processing module processes the received signal and sends the processed signal to the positioning module; S3, the positioning module generates a positioning result according to the processed signal; S4, the data fusion processing module generates the final positioning according to the positioning results; S5, the user interaction module displays the final positioning generated by the data fusion processing module.

[0015] Furthermore, the data fusion processing module generates a final positioning according to the positioning result, including the following steps: S41, obtaining two sets of positioning results obtained by the positioning module; S42, eliminating the positioning results containing the maximum x-axis coordinate, the maximum y-axis coordinate, the maximum z-axis coordinate, the minimum x-axis coordinate, the minimum y-axis coordinate and the minimum z-axis coordinate in each group of positioning results; S43, the deviation calculation unit calculates each deviation index according to the positioning result; S44, eliminating positioning results whose deviation index is greater than the deviation index threshold from the two groups of positioning results; S45, the data fusion processing module calculates the final positioning according to each deviation index and the positioning result of the positioning module.

[0016] The beneficial effects achieved by the present invention are: 1. The position of the target is located by setting up multiple antennas and the target position is calculated by comparing the signals received by different antennas, which is conducive to accurately positioning the target.

[0017] 2. By setting the deviation index to calculate the deviation degree of different positioning results, it is helpful to screen the positioning results, so as to eliminate the positioning results with large deviation. At the same time, by setting the reference coordinates to unify and integrate the various positioning results, it is helpful to make full use of the various positioning results and obtain the final positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate the same parts.

[0019] Figure 1 It is a schematic diagram of the structure of the present invention.

[0020] Figure 2 It is the work flow chart of the present invention.

[0021] Figure 3 This is a flow chart of how the data fusion processing module of the present invention generates the final positioning according to the positioning results.

[0022] Figure 4 This is a work flow chart of the second embodiment of the present invention.

[0023] Figure 5 Schematic diagram of the antenna array.

[0024] Figure 6 The x-axis coordinate of the final positioning and the x-axis coordinate of the third reference coordinate and is a relationship diagram of the x-axis coordinate of the fourth reference coordinate. DETAILED DESCRIPTION

[0025] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0026] Embodiment 1: According to Figure 1 , Figure 2 and Figure 3 This embodiment provides a spatial positioning system for multi-antenna collaborative measurement, including a multi-antenna signal receiving module, a signal processing module, a positioning module, a data fusion processing module and a user interaction module. The multi-antenna signal receiving module is used to receive wireless signals from a target; the signal processing module is used to process the data received by the multi-antenna signal receiving module, the positioning module is used to generate multiple positioning data according to the processed data, the data fusion processing module is used to generate a final positioning according to the positioning result of the positioning module, and the user interaction module is used to output the result of the data fusion processing module to a user terminal.

[0027] Furthermore, the multi-antenna signal receiving module includes an antenna array, a signal amplifier and an analog-to-digital converter, the antenna array is a square array composed of 9 evenly distributed antennas of the same height, the antenna array is used to receive the target's wireless signal, the signal amplifier is used to amplify the signal received by the antenna array, and the analog-to-digital converter is used to convert the amplified analog signal into a digital signal.

[0028] Furthermore, the signal processing module includes a filter, a delay extraction unit and a preprocessing unit, the filter is used to filter the signal received by the multi-antenna signal receiving module to reduce noise, the delay extraction unit includes a time difference detection circuit and a phase difference detection circuit, the time difference detection circuit is used to calculate the time difference of signals received by different antennas based on the filtered signal, the phase difference detection circuit is used to calculate the phase difference of signals received by different antennas based on the filtered signal, and the preprocessing unit is used to preprocess the filtered signal.

[0029] Specifically, the time difference detection circuit and the phase difference detection circuit belong to the prior art and will not be elaborated here; the preprocessing includes but is not limited to compensation, denoising, standardization, etc.

[0030] Furthermore, the positioning module includes a TDOA algorithm processing unit and a PDOA algorithm processing unit. The TDOA algorithm processing unit is used to calculate the position of the target according to the time difference of signals received by different antennas, and the PDOA algorithm processing unit is used to calculate the position of the target according to the phase difference of signals received by different antennas.

[0031] Specifically, the TDOA algorithm and the PDOA algorithm belong to the prior art and will not be described in detail here.

[0032] Furthermore, the data fusion processing module includes a deviation calculation unit and a data fusion unit. The deviation calculation unit is used to calculate the degree of deviation between the positioning obtained by different antennas according to the calculation results of the positioning module. The data fusion unit is used to calculate the final positioning of the target according to the calculation results of the deviation calculation unit and the positioning results of the positioning module.

[0033] Furthermore, the user interaction module includes a communication unit, a data storage unit and a display unit, the communication unit is used to communicate with other devices, the data storage unit is used to store the final positioning obtained by the data fusion processing module, and the display unit is used to display the final positioning obtained by the data fusion processing module.

[0034] Furthermore, the workflow of the spatial positioning system includes the following steps: S1, a multi-antenna signal receiving module receives signals from the target; S2, the signal processing module processes the received signal and sends the processed signal to the positioning module; S3, the positioning module generates a positioning result according to the processed signal; Specifically, the positioning result is the coordinates of the target in three-dimensional space; S4, the data fusion processing module generates the final positioning according to the positioning results; S5, the user interaction module displays the final positioning generated by the data fusion processing module.

[0035] Furthermore, the data fusion processing module generates a final positioning according to the positioning result, including the following steps: S41, obtaining two sets of positioning results obtained by the positioning module; Specifically, there are two groups of positioning results, each group has 126 positioning results. For three-dimensional space, the TDOA algorithm processing unit can obtain a unique solution by calculating the data of any four antennas in the antenna array. There are a total of C(9,4)=126 such unique solutions, hereinafter referred to as the first group of positioning results. Similarly, the PDOA algorithm processing unit can also obtain 126 solutions, hereinafter referred to as the second group of positioning results. S42, eliminating the positioning results containing the maximum x-axis coordinate, the maximum y-axis coordinate, the maximum z-axis coordinate, the minimum x-axis coordinate, the minimum y-axis coordinate and the minimum z-axis coordinate in each group of positioning results; S43, the deviation calculation unit calculates each deviation index according to the positioning result; Specifically, the deviation index can be calculated according to the following method: Calculate the first set of comprehensive coordinates using the first set of positioning results ( , , ): ; ; ;

[0036] in, is the number of positioning results eliminated from the first group of positioning results, is the x-axis coordinate of the ath positioning result in the first group of positioning results, is the z-axis coordinate of the ath positioning result in the first group of positioning results, is the y-axis coordinate of the a-th positioning result in the first group of positioning results; The second set of comprehensive coordinates is calculated using the second set of positioning results ( , , ): ; ; ;

[0037] in, is the number of positioning results eliminated from the second group of positioning results, is the x-axis coordinate of the bth positioning result in the second group of positioning results, is the z-axis coordinate of the bth positioning result in the second group of positioning results, is the y-axis coordinate of the b-th positioning result in the second group of positioning results; Calculate the deviation index for each positioning result in the first group: ;

[0038] in, is the deviation index of the ath positioning result of the first group, is the x-axis coordinate of the a-th positioning result of the first group, is the y-axis coordinate of the a-th positioning result of the first group, is the z-axis coordinate of the a-th positioning result of the first group; Calculate the deviation index for each positioning result in the second group: ;

[0039] in, is the deviation index of the bth positioning result of the second group, is the x-axis coordinate of the b-th positioning result of the second group, is the y-axis coordinate of the b-th positioning result of the second group, is the z-axis coordinate of the b-th positioning result of the second group; S44, eliminating positioning results whose deviation index is greater than the deviation index threshold from the two groups of positioning results; Specifically, the deviation index threshold is set by those skilled in the art according to the required positioning accuracy; S45, the data fusion processing module calculates the final positioning according to each deviation index and the positioning result of the positioning module.

[0040] Specifically, the final positioning can be calculated according to the following method: The first reference coordinate is calculated according to the following formula: ; ; ;

[0041] in, is the x-axis coordinate of the first reference coordinate, C is the number of positioning results remaining in the first group of positioning results after some positioning results are eliminated in S44, is the x-axis coordinate of the c-th positioning result, is the deviation index corresponding to the c-th positioning result, is the y-axis coordinate of the first reference coordinate, is the y-axis coordinate of the c-th positioning result, is the z-axis coordinate of the first reference coordinate, is the z-axis coordinate of the c-th positioning result; The second reference coordinate is calculated according to the following formula: ; ; ;

[0042] in, is the x-axis coordinate of the second reference coordinate, D is the number of positioning results remaining in the second group of positioning results after some positioning results are eliminated in S44, is the x-axis coordinate of the dth positioning result, is the deviation index corresponding to the dth positioning result, is the y-axis coordinate of the second reference coordinate, is the y-axis coordinate of the dth positioning result, is the z-axis coordinate of the second reference coordinate, is the z-axis coordinate of the dth positioning result; The final positioning is calculated according to the following formula ( , , ).

[0043] ; ; ;

[0044] The beneficial effects of this solution are as follows: 1. By setting up multiple antennas to locate the position of the target and calculating the target position by comparing the signals received by different antennas, it is beneficial to accurately locate the target.

[0045] 2. By setting the deviation index to calculate the deviation degree of different positioning results, it is helpful to screen the positioning results, so as to eliminate the positioning results with large deviation. At the same time, by setting the reference coordinates to unify and integrate the various positioning results, it is helpful to make full use of the various positioning results and obtain the final positioning.

[0046] Embodiment 2: This embodiment should be understood to include all the features of any of the above embodiments, such as Figure 4 As shown, and further improved on the basis thereof, it also includes a more efficient method for generating a final positioning, including the following steps: Specifically, Figure 5As shown, in this embodiment, the antenna array includes a square array composed of 9 antennas that are evenly distributed and have the same height, and in addition includes two additional antennas, the positions of the additional antennas respectively coincide with any two antennas among the 9 antennas but are higher than the original antennas. rice, The value of is set arbitrarily by those skilled in the art; STEP1: Determine whether the target position is approximately in the same plane as the nine antennas. If so, proceed to the next step. Otherwise, generate the final positioning according to the original method. Specifically, the original method is the method mentioned in S4 in the previous embodiment; Whether the target is approximately in the same plane as the antenna can be determined in the following ways: Determine whether the additional antenna and the two antennas that coincide with its position meet the following equation: ;

[0047] Where s is the signal propagation speed, which is a known term (approximately equal to the speed of light), is the signal receiving time of the additional antenna (the signal received by the antenna includes the signal sending time, and the receiving time can be obtained through the signal sending time and the signal receiving time of the antenna), is the signal receiving time of the antenna that coincides with the additional antenna, and wc is the allowable error value, which is set by those skilled in the art according to the acceptable error degree; Specifically, if the signal reception time of the two additional antennas meets the above formula, it is determined that the target position and the nine antennas are in the same plane; the additional antennas do not participate in the positioning mentioned below; STEP2, the positioning module generates the positioning result of the target in the two-dimensional space; Specifically, in the previous step, it has been determined that the target and the antenna are in the same plane, so the height of the target is known. It is only necessary to obtain the position of the target in two-dimensional space to know the accurate position of the target; Specifically, there are two groups of positioning results, each group has 84 positioning results. For two-dimensional space, the TDOA algorithm processing unit can obtain a unique solution by calculating the data of any three antennas in the antenna array. There are C(9,3)=84 such unique solutions, hereinafter referred to as the third group of positioning results. Similarly, the PDOA algorithm processing unit can also obtain 84 solutions, hereinafter referred to as the fourth group of positioning results. STEP3: Eliminate the positioning results that contain the maximum x-axis coordinate, the maximum y-axis coordinate, the minimum x-axis coordinate, and the minimum y-axis coordinate in each group of positioning results; STEP4, the deviation calculation unit calculates each deviation index according to the positioning result; Specifically, the deviation index can be calculated according to the following method: The third set of comprehensive coordinates is calculated using the third set of positioning results ( , ): ; ;

[0048] Where, I is the number of positioning results eliminated from the third group of positioning results, is the x-axis coordinate of the ith positioning result in the third group of positioning results, is the y-axis coordinate of the i-th positioning result in the third group of positioning results; The fourth set of comprehensive coordinates is calculated using the fourth set of positioning results ( , ): ; ;

[0049] Among them, J is the number of positioning results eliminated from the fourth group of positioning results, is the x-axis coordinate of the j-th positioning result in the fourth group of positioning results, is the y-axis coordinate of the j-th positioning result in the fourth group of positioning results; Calculate the deviation index of each positioning result in the third group: ;

[0050] in, is the deviation index of the i-th positioning result of the third group; Calculate the deviation index of each positioning result in the fourth group: ;

[0051] in, is the deviation index of the j-th positioning result of the fourth group; STEP5: Eliminate the positioning results whose deviation index is greater than the deviation index threshold from the two groups of positioning results; Specifically, the threshold is the same as the threshold proposed in the first embodiment; STEP6, the data storage unit calculates the final positioning according to each deviation index and the positioning result of the positioning module.

[0052] Specifically, the final positioning can be calculated according to the following method: The third reference coordinate is calculated according to the following formula: ; ;

[0053] in, is the x-axis coordinate of the third reference coordinate, E is the number of positioning results remaining in the third group of positioning results after removing some positioning results, is the x-axis coordinate of the e-th positioning result, is the deviation index corresponding to the e-th positioning result, is the y-axis coordinate of the third reference coordinate, is the y-axis coordinate of the e-th positioning result; The fourth reference coordinate is calculated according to the following formula: ; ;

[0054] in, is the x-axis coordinate of the fourth reference coordinate, F is the number of positioning results remaining in the fourth group of positioning results after removing some positioning results, is the x-axis coordinate of the f-th positioning result, is the deviation index corresponding to the f-th positioning result, is the y-axis coordinate of the fourth reference coordinate, is the y-axis coordinate of the f-th positioning result; The final positioning is calculated according to the following formula ( , , ). ; ;

[0055] Where high is the distance between the antenna vertex and the ground reference point.

[0056] like Figure 6 As shown, Figure 6 Assumption , When the final x-axis coordinate is and the x-axis coordinate of the third reference coordinate and is a relationship diagram of the x-axis coordinate of the fourth reference coordinate.

[0057] The beneficial effects of this embodiment are as follows: by adding two additional antennas to determine whether the target is approximately on the same horizontal line as the antenna, this method can obtain the z-axis coordinate of the final positioning in advance, and only the x-axis coordinate and the y-axis coordinate need to be additionally obtained to obtain the complete final positioning. This method of calculating the coordinates when the target and the antenna are approximately on the same horizontal line can greatly reduce the amount of calculation of the system, reduce the system burden and improve the response speed.

[0058] The above disclosed contents are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made by using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated with the development of technology. The above units are only examples. Those skilled in the art can use corresponding units according to different designs according to actual needs when implementing this solution.

Claims

1. A spatial positioning system for multi-antenna collaborative measurement, characterized in that: The system comprises a multi-antenna signal receiving module, a signal processing module, a positioning module, a data fusion processing module and a user interaction module. The multi-antenna signal receiving module is used to receive wireless signals from a target; the signal processing module is used to process the data received by the multi-antenna signal receiving module; the positioning module is used to generate multiple positioning data according to the processed data; the data fusion processing module is used to generate a final positioning according to the positioning result of the positioning module; and the user interaction module is used to output the result of the data fusion processing module to a user terminal.

2. A multi-antenna collaborative measurement spatial positioning system according to claim 1, characterized in that: The multi-antenna signal receiving module includes an antenna array, a signal amplifier and an analog-to-digital converter. The antenna array is a square array composed of 9 evenly distributed antennas of the same height. The antenna array is used to receive the wireless signal of the target, the signal amplifier is used to amplify the signal received by the antenna array, and the analog-to-digital converter is used to convert the amplified analog signal into a digital signal.

3. The spatial positioning system for multi-antenna collaborative measurement according to claim 2, characterized in that: The signal processing module includes a filter, a delay extraction unit and a preprocessing unit. The filter is used to filter the signal received by the multi-antenna signal receiving module to reduce noise. The delay extraction unit includes a time difference detection circuit and a phase difference detection circuit. The time difference detection circuit is used to calculate the time difference of signals received by different antennas based on the filtered signal. The phase difference detection circuit is used to calculate the phase difference of signals received by different antennas based on the filtered signal. The preprocessing unit is used to preprocess the filtered signal.

4. The spatial positioning system for multi-antenna collaborative measurement according to claim 3, characterized in that: The positioning module includes a TDOA algorithm processing unit and a PDOA algorithm processing unit. The TDOA algorithm processing unit is used to calculate the position of the target according to the time difference of signals received by different antennas, and the PDOA algorithm processing unit is used to calculate the position of the target according to the phase difference of signals received by different antennas.

5. The multi-antenna collaborative measurement spatial positioning system according to claim 4, characterized in that: The data fusion processing module includes a deviation calculation unit and a data fusion unit. The deviation calculation unit is used to calculate the degree of deviation between the positioning obtained by different antennas according to the calculation results of the positioning module. The data fusion unit is used to calculate the final positioning of the target according to the calculation results of the deviation calculation unit and the positioning results of the positioning module.

6. The spatial positioning system for multi-antenna collaborative measurement according to claim 5, characterized in that: The user interaction module includes a communication unit, a data storage unit and a display unit. The communication unit is used to communicate with other devices, the data storage unit is used to store the final positioning obtained by the data fusion processing module, and the display unit is used to display the final positioning obtained by the data fusion processing module.

7. A multi-antenna collaborative measurement spatial positioning system according to claim 6, characterized in that: The workflow of the spatial positioning system includes the following steps: S1, a multi-antenna signal receiving module receives signals from the target; S2, the signal processing module processes the received signal and sends the processed signal to the positioning module; S3, the positioning module generates a positioning result according to the processed signal; S4, the data fusion processing module generates the final positioning according to the positioning results; S5, the user interaction module displays the final positioning generated by the data fusion processing module.

8. The multi-antenna collaborative measurement spatial positioning system according to claim 7, characterized in that: The data fusion processing module generates a final positioning according to the positioning result, comprising the following steps: S41, obtaining two sets of positioning results obtained by the positioning module; S42, eliminating the positioning results containing the maximum x-axis coordinate, the maximum y-axis coordinate, the maximum z-axis coordinate, the minimum x-axis coordinate, the minimum y-axis coordinate and the minimum z-axis coordinate in each group of positioning results; S43, the deviation calculation unit calculates each deviation index according to the positioning result; S44, eliminating positioning results whose deviation index is greater than the deviation index threshold from the two groups of positioning results; S45, the data fusion processing module calculates the final positioning according to each deviation index and the positioning result of the positioning module.

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