Positioning method and device and computer readable storage medium

Abstract

The invention discloses a positioning method and device, and a computer readable storage medium, and the method comprises the steps: obtaining a target distance between a target device and a positioning device based on a first distance measurement result, and a second distance measurement result and / or a third distance measurement result; wherein the first distance measurement result is the distance between the target equipment and the positioning equipment, which is obtained by adopting a multi-carrier phase difference algorithm, and the second distance measurement result is the distance between the target equipment and the positioning equipment, which is obtained by adopting a received signal strength indication (RSSI) algorithm; the third distance measurement result is the distance between the target equipment and the positioning equipment obtained by adopting a round-trip time algorithm; and determining position information of the target equipment based on the target distance between the target equipment and positioning equipment. According to the scheme, low power consumption and accurate positioning can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning, and particularly to a positioning method, a device, and a computer-readable storage medium. Background Art

[0002] In daily life, common electronic devices (such as mobile phones, smart watches, etc.) usually have a positioning module built in to achieve the positioning function. Currently, the ultra-long-distance positioning system is mainly based on the Global Navigation Satellite System (GNSS), and the electronic device is positioned through the GNSS signal.

[0003] In some special scenarios, the GNSS signal is weak, or even there is no GNSS signal, making it impossible to achieve stable and accurate positioning. Summary of the Invention

[0004] The purpose of the present invention is at least to provide a positioning method that can achieve accurate positioning.

[0005] In a first aspect, the present invention provides a positioning method, including: obtaining a target distance between a target device and a positioning device based on a first ranging result, and a second ranging result and / or a third ranging result; wherein, the first ranging result is the distance between the target device and the positioning device obtained by using the multi-carrier phase difference algorithm, the second ranging result is the distance between the target device and the positioning device obtained by using the Received Signal Strength Indicator (RSSI) algorithm; the third ranging result is the distance between the target device and the positioning device obtained by using the round-trip time algorithm; the number of positioning devices is N, N is a positive integer and N≥2; determining the position information of the target device based on the target distance between the target device and the positioning device.

[0006] Based on the first ranging result, and the second ranging result and / or the third ranging result, determine the target distance between the target device and each positioning device. Furthermore, based on the target distance between the target device and each positioning device, and the position information of each positioning device, the position information of the target device can be determined. By fusing the ranging results of the target device and each positioning device obtained by different algorithms, the target distance between the target device and the positioning device is relatively accurate, and thus relatively accurate position information can be obtained. The above solution can be applied to the medium- and low-cost 2.4GHz communication band, or the SUB1.5GHz communication band, thereby achieving longer and more stable communication.

[0007] Optionally, obtaining the target distance between the target device and the positioning device based on the first ranging result, and the second ranging result and / or the third ranging result includes: determining an estimated distance between the target device and the positioning device based on the second ranging result and / or the third ranging result; and calibrating the first ranging result based on the estimated distance to obtain the target distance.

[0008] Optionally, determining the estimated distance between the target device and the positioning device based on the second ranging result and / or the third ranging result includes: when the ranging signal is a narrowband signal, determining the estimated distance based on the second ranging result; when the ranging signal is a broadband signal, determining the estimated distance based on the third ranging result.

[0009] Optionally, determining the estimated distance between the target device and the positioning device based on the second ranging result and / or the third ranging result includes: using the arithmetic mean of the second ranging result and the third ranging result as the estimated distance.

[0010] Optionally, the target device and the positioning device calculate the distance between the target device and the positioning device at different frequency points according to a preset frequency hopping sequence by using a multi-carrier phase difference algorithm; the first ranging result is the arithmetic mean of the distances obtained at different frequency points.

[0011] Optionally, the first ranging result is: ; where is the first ranging result, c is the speed of light value, is the frequency difference between different frequency points; is the phase difference of the ranging signals sent by the positioning device at different frequency points received by the target device, and = - ; where , ; is the phase of the (k + 1)-th transmitted ranging signal at time point t, is the phase of the k-th transmitted ranging signal at time point t, and the frequency of the ranging signal is ; is the residual frequency offset of the (k + 1)-th transmitted ranging signal, is the residual frequency offset of the k-th transmitted ranging signal, is the synchronization error of the (k + 1)-th transmitted ranging signal, is the synchronization error of the k-th transmitted ranging signal; is the channel frequency of the target device when the k-th transmitted ranging signal is sent, is the channel frequency of the target device when the ranging signal is sent for the (k + 1)-th time; is the channel frequency of the positioning device when the ranging signal is sent for the k-th time, is the channel frequency of the positioning device when the ranging signal is sent for the (k + 1)-th time, and τ is the ratio of the distance between the positioning device and the target device to the speed of light

[0012] Optionally, the target device and the positioning device calculate the distance between the target device and the positioning device at different frequency points according to a preset frequency hopping sequence by using the RSSI algorithm; the second ranging result is the arithmetic mean of the distances obtained at different frequency points.

[0013] Optionally, the second ranging result is: ; where is the second ranging result, is the wireless environment fading factor, is the reference received signal strength indication, is the ranging correction value; rssi is the average value of RSSI at different frequency points.

[0014] Optionally, the preset frequency hopping sequence includes at least one of the following: in the preset frequency point list in ascending order of the physical channel identifier, in the preset frequency point list in descending order of the physical channel identifier, and random frequency hopping in the preset frequency point list.

[0015] Optionally, the third ranging result is: ; where is the third ranging result, t1 is the time point when the positioning device in the ranging system transmits the ranging signal, t2 is the time point when the target device receives the ranging signal, t3 is the time point when the target device transmits a feedback signal to the positioning device after receiving the ranging signal, t4 is the time point when the positioning device receives the feedback signal, and c is the speed of light value.

[0016] Optionally, determining the position information of the target device based on the target distance between the target device and the positioning device includes: using a preset three-dimensional positioning algorithm to determine the x-axis coordinate of the target device based on the target distance and the y-axis coordinate ; calculating the horizontal plane distance between each positioning device and the vertical projection position of the target device as: ; is the x-axis coordinate of the positioning device n, is the y-axis coordinate of the positioning device n; calculating the third side of the triangle formed by the horizontal plane distances between each positioning device and the target device as : ; is the distance between the positioning device n and the target device; calculate the difference between the z-axis coordinate of each positioning device and the third side : ; H is the z-axis coordinate of each positioning device; take the arithmetic mean of the differences corresponding to each positioning device as the z-axis coordinate of the target device.

[0017] In a second aspect, the present invention further provides a positioning device, including: a distance acquisition unit, configured to acquire a target distance between a target device and a positioning device based on a first ranging result, and a second ranging result and / or a third ranging result; wherein, the first ranging result is the distance between the target device and the positioning device obtained by using a multi-carrier phase difference algorithm, the second ranging result is the distance between the target device and the positioning device obtained by using a received signal strength indication (RSSI) algorithm; the third ranging result is the distance between the target device and the positioning device obtained by using a round-trip time algorithm; the number of positioning devices is N, N is a positive integer and N≥2; a positioning unit, configured to determine the position information of the target device based on the target distance between the target device and the positioning device.

[0018] In a third aspect, the present invention further provides a computer-readable storage medium, which is a non-volatile storage medium or a non-transient storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the steps of any one of the above-mentioned positioning methods.

[0019] In a fourth aspect, the present invention further provides another positioning device, including a memory and a processor, where a computer program that can run on the processor is stored on the memory, and when the processor runs the computer program, it executes the steps of any one of the above-mentioned positioning methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a flowchart of a positioning method in an embodiment of the present invention;

[0021] Figure 2 is a schematic structural diagram of a positioning ranging system in an embodiment of the present invention;

[0022] Figure 3 is a schematic structural diagram of a positioning device in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In the prior art, in some special scenarios, GNSS signals are weak, or even there are no GNSS signals, and stable and accurate positioning cannot be achieved.

[0024] In these special scenarios, methods such as Ultra Wide Band (UWB), Bluetooth Low Energy (BLE), WIFI, and mobile communication base stations can be used for positioning. Among the above-mentioned positioning methods, UWB positioning has the highest accuracy, but it has high costs and high power consumption; BLW positioning has lower power consumption and costs, but its positioning accuracy is poor; WIFI has relatively high positioning accuracy, but it requires a large bandwidth and high power consumption; mobile communication base station positioning requires the use of 4G / 5G signals and cannot provide cross-operator services.

[0025] In an embodiment of the present invention, based on the first ranging result, in combination with the second ranging result and / or the third ranging result, the target distance between the target device and each positioning device is determined. Furthermore, based on the target distance between the target device and each positioning device and the position information of each positioning device, the position information of the target device can be determined. By fusing the ranging results of the target device and each positioning device obtained by different algorithms, the target distance between the target device and the positioning device is relatively accurate, and thus relatively accurate position information can be obtained.

[0026] To make the above objects, features, and beneficial effects of the present invention more obvious and understandable, the following provides a detailed description of specific embodiments of the present invention with reference to the accompanying drawings.

[0027] An embodiment of the present invention provides a positioning method. Referring to Figure 1 , the following provides a detailed description through specific steps.

[0028] In an embodiment of the present invention, the following positioning method can be applied in a general ISM frequency band (frequency band of 2.4 GHz), SUB1.5 GHz (such as the civil frequency band of 1.4 GHz for unmanned aerial vehicles), and industrial wireless frequency bands of SUB1 GHz, etc.

[0029] The positioning method provided in the following embodiments of the present invention can be applied in a positioning and ranging system. The positioning and ranging system may include a target device and several positioning devices. Among them, at least one of the several positioning devices can send a ranging signal to the target device. The target device can receive the ranging signals emitted by at least one positioning device. The target device can determine the distance between itself and the positioning device based on the ranging signals.

[0030] The target device described in the embodiment of the present invention is the device that needs to obtain position information (i.e., there is a positioning requirement). The positioning device described in the embodiment of the present invention can send a ranging signal to the target device.

[0031] Referring to Figure 2 , a schematic structural diagram of a positioning and ranging system in an embodiment of the present invention is given. Figure 2Among them, the ranging system includes a target device UE1, and positioning devices 21, 22, and 23. The positions of the positioning devices U21, 22, and 23 are different, and the distances from the target device UE1 are the same or different.

[0032] In some embodiments, the positioning device can be a device such as a base station or an access point (AP) that can send ranging signals. Different positioning devices can be set on the same horizontal plane, that is, the heights of different positioning devices are the same (that is, the altitudes are the same).

[0033] Step 101, based on the first ranging result, and the second ranging result and / or the third ranging result, obtain the target distance between the target device and the positioning device.

[0034] In the embodiments of the present invention, the number of positioning devices can be N, where N is a positive integer and N≥2. The target device can adopt different ranging algorithms to obtain the ranging results with the positioning devices.

[0035] In specific implementation, the ranging results can include the first ranging result, and the second ranging result and / or the third ranging result.

[0036] Specifically, the first ranging result can be obtained based on the Multi-Carrier Phase Difference (MCPD) algorithm. The target device and any positioning device can adopt the MCPD algorithm to obtain the first ranging result with that positioning device.

[0037] The second ranging result can be obtained based on the Received Signal Strength Indication (RSSI) algorithm. Accordingly, the target device and any positioning device can adopt the RSSI algorithm to obtain the second ranging result with that positioning device.

[0038] The third ranging result can be obtained based on the Round Trip Time (RTT) algorithm. Accordingly, the target device and any positioning device can adopt the RTT algorithm to obtain the third ranging result with that positioning device.

[0039] As Figure 2 shown, the target device 1 and the positioning device 21 use the MCPD algorithm for ranging to obtain the first ranging result with the positioning device 21. The target device 1 and the positioning device 21 use the RSSI algorithm for ranging to obtain the second ranging result with the positioning device 21. The target device 1 and the positioning device 21 use the RTT algorithm for ranging to obtain the third ranging result with the positioning device 21.

[0040] The target device 1 determines the target distance from the positioning device 21 based on the first ranging result, as well as the second ranging result and / or the third ranging result, between the target device 1 and the positioning device 21.

[0041] In specific applications, it can be known that when the distance between the target device and the positioning device is relatively far, there is a problem of phase ambiguity in the multi-carrier phase difference algorithm, and it is impossible to accurately obtain or even obtain the first ranging result between the target device and the positioning device.

[0042] In the embodiments of the present invention, the second ranging result and / or the third ranging result can be used as an aid to determine the estimated distance between the target device and the positioning device based on the second ranging result and / or the third ranging result; further, based on the estimated distance, the multi-carrier phase difference algorithm is used to calculate the target positioning result between the target device and the positioning device.

[0043] In specific implementations, when the ranging signal is a narrowband signal (such as a frequency less than 1 MHz), the accuracy of the second ranging result calculated by the RSSI algorithm is relatively high and is not easily affected by interference. Therefore, the first ranging result and the second ranging result can be used to determine the target positioning result.

[0044] When the ranging signal is a broadband signal (such as a frequency greater than 1 MHz), the bandwidth of the ranging signal is relatively large and the time stamp points are relatively accurate, so the first ranging result and the third ranging result can be used to determine the target positioning result.

[0045] In the embodiments of the present invention, the arithmetic mean of the second ranging result and the third ranging result can also be used as the estimated distance. When using

[0046] In specific implementations, when using the multi-carrier phase difference algorithm, the target device can obtain the first ranging result from the positioning device through the following steps:

[0047] Step 1), synchronization stage

[0048] In specific implementations, the target device and the positioning device can be synchronized by scanning broadcasts. During the synchronization process, the target device and the positioning device can also exchange ranging information, such as: ranging capability exchange, frequency hopping sequence exchange, and exchange of parameters such as the ranging start time and time interval.

[0049] In the embodiments of the present invention, the synchronization stage in step 1) can refer to the synchronization stage in the existing MCPD ranging method.

[0050] In specific implementations, after the synchronization stage in step 1), there is still a synchronization error between the target device and the positioning device, and the above synchronization error is in the range of dozens of nanoseconds (ns) to hundreds of nanoseconds.

[0051] Step 2), Phase Measurement Stage

[0052] The target device and the positioning device agree to perform phase measurements at and . is the frequency of the frequency point where the ranging signal is located, t is the time point when the ranging signal is transmitted, and k is the number of times the ranging signal is transmitted at time t. is the real part of the phase of the k-th transmission of the ranging signal at time point t (the frequency of the ranging signal is ), is the imaginary part of the phase of the k-th transmission of the ranging signal at time point t (the frequency of the ranging signal is ).

[0053] The target device and the positioning device perform a phase measurement at each frequency point. When frequency hopping occurs, the target device and the positioning device need to update the frequency points and lock again. The lock frequency accuracy deviation (i.e., the residual frequency offset) will affect the phase measurement result.

[0054] Step 3), Calculation Stage

[0055] The target device and the positioning device exchange the phase information of the frequency points they store respectively as:

[0056] (1)

[0057] (2)

[0058] In the above formula (1), is the channel frequency of the target device when the ranging signal is transmitted for the (k + 0)-th time, is the channel frequency of the target device when the ranging signal is transmitted for the (k + 1)-th time; is the channel frequency of the positioning device when the ranging signal is transmitted for the (k + 0)-th time, is the channel frequency of the positioning device when the ranging signal is transmitted for the (k + 1)-th time, and τ is the ratio of the distance between the positioning device and the target device to the speed of light; is the residual frequency offset of the (k + 1)-th transmission of the ranging signal, is the residual frequency offset of the (k + 0)-th transmission of the ranging signal, is the synchronization error of the (k + 1)-th transmission of the ranging signal, is the synchronization error of the (k + 0)-th transmission of the ranging signal.

[0059] In the above formula (1) and formula (2), considering the synchronization errors of the target device and the positioning device, the accuracy of the first ranging result obtained can be improved.

[0060] is the phase of the (k + 0)-th transmitted ranging signal at time point t, is the phase of the (k + 1)-th transmitted ranging signal at time point t, and the frequency of the ranging signal is .

[0061] Based on the above (1), assume , according to the differential principle, it can be known that ; thus, the first ranging result is:

[0062] (3).

[0063] In a specific implementation, the second ranging result can be:

[0064] ; (4)

[0065] wherein, is the wireless environment fading factor, is the reference received signal strength indication, is the ranging correction value; rssi is the average RSSI of the ranging signals sent by the same positioning device received by the target device at different frequency points.

[0066] In practical applications, it can be known that the wireless environment fading factor is a parameter that can be used to describe the attenuation degree of wireless signals during propagation and is used to characterize the relationship between path loss and distance. The value of the wireless environment fading factor depends on the specific wireless environment.

[0067] For example, in free space, the value of the wireless environment fading factor is 2; in an urban environment, there are more obstacles and buildings, and the value of the wireless environment fading factor is between 2.7 and 3.5; in a suburban environment, the value of the wireless environment fading factor is 3 to 5.

[0068] In a specific application, the above wireless environment fading factor can be preset based on the specific application scenario. Or, the above wireless environment fading factor can be known in advance by means of measurement.

[0069] The above reference received signal strength indication r1 is: when the distance between the target device and the positioning device is 1 meter, it is the received signal strength indication obtained when the target device receives the ranging signal sent by the positioning device. The value of r1 can be obtained by means of pre-measurement.

[0070] In a specific implementation, the above-mentioned is the ranging correction value, also known as the reference distance correction value, and its value can be 1 meter or other values. The above-mentioned wireless environment fading factor Specific interpretations and values of the reference received signal strength indication r1, ranging correction value d0, etc. can be referred to the descriptions in the prior art regarding the RSSI algorithm, and will not be elaborated here.

[0071] In an embodiment of the present invention, in the above formula (4), rssi can be: the average value of the received signal strength indications of the ranging signals sent by the positioning device received by the target device at different frequency points.

[0072] Taking Figure 2 as an example, the target device UE1 receives the ranging signals transmitted by the positioning device 21 at different frequency points, and obtains the received signal strength indications corresponding to each frequency point. By averaging the received signal strength indications corresponding to each frequency point, rssi in the above formula (4) can be obtained.

[0073] For example, the positioning device 21 sends ranging signals at frequency point 1, frequency point 2, and frequency point 3. The target device UE1 receives the ranging signal at frequency point 1 corresponding to the received signal strength indication rssi1, receives the ranging signal at frequency point 2 corresponding to the received signal strength indication rssi2, and receives the ranging signal at frequency point 3 corresponding to the received signal strength indication rssi3. The target device UE1 calculates the average value of rssi1, rssi2, and rssi3 as rssi in the above formula (4).

[0074] In an embodiment of the present invention, in the process of obtaining the first ranging result, the target device and the positioning device can calculate the distance between the target device and the positioning device at different frequency points according to a preset frequency hopping sequence by using the MCPD algorithm, and take the arithmetic average of the distances obtained at different frequency points as the first ranging result.

[0075] In the process of obtaining the second ranging result, the target device and the positioning device can also calculate the distance between the target device and the positioning device at different frequency points according to a preset frequency hopping sequence by using the RSSI algorithm, and take the arithmetic average of the distances obtained at different frequency points as the second ranging result.

[0076] In a specific implementation, the target device and the positioning device can adopt the same frequency hopping sequence, select the same frequency points from a preset frequency point list and perform ranging.

[0077] In some embodiments, the target device and the positioning device can sequentially select frequency points from a preset frequency point list for ranging and positioning in the order of increasing physical channel identifier.

[0078] For example, the preset frequency point list includes 8 frequency points, and the physical channel identifiers corresponding to the 8 frequency points are frequency point 0 to frequency point 7 in sequence. According to the order of the physical channel identifiers from low to high, the positioning device sends a ranging signal on frequency point 0, the target device receives the ranging signal on frequency point 0, and the target device and the positioning device use the multi-carrier phase difference algorithm to obtain the distance between the two; then, the positioning device sends a ranging signal on frequency point 1, the target device receives the ranging signal on frequency point 1, and the target device and the positioning device use the multi-carrier phase difference algorithm to obtain the distance between the two; and so on. The target device and the positioning device can obtain the distances obtained by using the multi-carrier phase difference algorithm for frequency points 0 to frequency point 7, and take the average value of the 8 distances obtained for frequency points 0 to frequency point 7 to obtain the first ranging result.

[0079] Correspondingly, the positioning device sends a ranging signal on frequency point 0, the target device receives the ranging signal on frequency point 0, and the target device and the positioning device use the RSSI algorithm to obtain the distance between the two; then, the positioning device sends a ranging signal on frequency point 1, the target device receives the ranging signal on frequency point 1, and the target device and the positioning device use the RSSI algorithm to obtain the distance between the two; and so on. The target device and the positioning device can obtain the distances obtained by using the RSSI algorithm for frequency points 0 to frequency point 7, and take the average value of the 8 distances obtained for frequency points 0 to frequency point 7 to obtain the second ranging result.

[0080] In some other embodiments, the target device and the positioning device can sequentially select frequency points from the preset frequency point list for ranging and positioning according to the order of the physical channel identifiers from high to low.

[0081] For example, the preset frequency point list includes 8 frequency points, and the physical channel identifiers corresponding to the 8 frequency points are frequency point 0 to frequency point 7 in sequence. According to the order of the physical channel identifiers from high to low, the positioning device sends a ranging signal on frequency point 7, the target device receives the ranging signal on frequency point 7, and the target device and the positioning device use the multi-carrier phase difference algorithm to obtain the distance between the two; then, the positioning device sends a ranging signal on frequency point 6, the target device receives the ranging signal on frequency point 6, and the target device and the positioning device use the multi-carrier phase difference algorithm to obtain the distance between the two; and so on. The target device and the positioning device can obtain the distances obtained by using the multi-carrier phase difference algorithm for frequency points 0 to frequency point 7, and take the average value of the 8 distances obtained for frequency points 0 to frequency point 7 to obtain the first ranging result.

[0082] In still some other embodiments, the target device and the positioning device can use the random frequency hopping method to select frequency points from the preset frequency point list for ranging and positioning.

[0083] Specifically, the target device and the positioning device use the same random selection method to randomly select the same frequency points from the preset frequency point list for ranging and positioning.

[0084] In a specific implementation, the above third ranging result can be:

[0085] ; (5)

[0086] where t1 is the time point when the target device in the ranging system emits a ranging signal, t2 is the time point when the positioning device in the ranging system receives the ranging signal, t3 is the time point when the positioning device emits a feedback signal to the target device after receiving the ranging signal, t4 is the time point when the target device receives the feedback signal, and c is the speed of light.

[0087] In a specific implementation, during one RTT ranging process, multiple RTT ranging operations can be performed to obtain multiple RTT positioning results. The multiple RTT positioning results are arithmetically averaged to obtain the above third ranging result. By performing multiple RTT rangings, the accuracy of ranging can be improved and the influence of factors such as multipath interference can be minimized.

[0088] As described above, during the process of obtaining the first ranging result, after synchronization in step 1), it is also necessary to obtain the synchronization error between the positioning device and the target device. In addition, during the process of obtaining the second ranging result, it is also necessary to synchronize the positioning device and the target device.

[0089] In an embodiment of the present invention, the positioning device can record the count value N1 of its system clock XTAL1 within a preset duration (i.e., the number of pulses of the system clock XTAL1 within the preset duration). The target device can record the count value N2 of its system clock XTAL2 within the preset duration (i.e., the number of pulses of the system clock XTAL2 within the preset duration). Based on the difference between N1 and N2, the target device can determine the synchronization deviation between it and the positioning device. Furthermore, the target device can perform synchronization compensation based on the determined synchronization deviation to achieve precise synchronization with the positioning device.

[0090] In an embodiment of the present invention, after the target device determines the target distances to N positioning devices, it can determine its own position information.

[0091] In a specific implementation, a preset three-dimensional positioning algorithm and the target distances between it and N positioning devices can be used to determine the x-axis coordinate xp of the target device and the y-axis coordinate yp of the target device. The above three-dimensional positioning algorithm can be a three-dimensional positioning algorithm based on least squares estimation (LSE), or a time difference of arrival (TOA) algorithm, etc. The N positioning devices can be located on the same horizontal plane.

[0092] Calculate the horizontal distance between the vertical projection positions of the target device and each positioning device:

[0093] ; (6)

[0094] In the above formula (6), is the x-axis coordinate of positioning device n, is the y-axis coordinate of positioning device n; Positioning device n is any one of the N positioning devices.

[0095] Calculate the third side of the triangle formed by the distance between positioning device n and the horizontal plane :

[0096] ; (7)

[0097] In formula (7), is the distance between positioning device n and the target device.

[0098] Calculate the difference between the z-axis coordinate of each positioning device and the third side :

[0099] ; (8)

[0100] In formula (8), H is the z-axis coordinate of each of the positioning devices, is the difference between the z-axis coordinate of the nth positioning device and the third side.

[0101] Take the arithmetic mean of the differences corresponding to each positioning device as the z-axis coordinate of the target device. That is, the z-axis coordinate of the target device is: ( + +... + ) / N.

[0102] For example, if the number of positioning devices is 4, then based on the above formulas (6) to (8), the corresponding , , and of the 4 positioning devices can be calculated, and the z-axis coordinate zp of the target device is calculated as: zp = ( + + + ) / 4.

[0103] In the embodiments of the present invention, the ranging signal can adopt a frame format including a preamble, synchronization, payload, and cyclic redundancy check (CRC) code. Adopting the above frame format can effectively protect the security and privacy of the transmitted data when using the ISM general frequency band.

[0104] In summary, in the embodiments of the present invention, based on the first ranging result, and the second ranging result and / or the third ranging result, the target distances between the target device and each positioning device are determined. Furthermore, based on the target distances between the target device and each positioning device and the position information of each positioning device, the position information of the target device can be determined. By fusing the ranging results of the target device and each positioning device obtained by different algorithms, the target distances between the target device and the positioning devices are relatively accurate, and thus relatively accurate position information can be obtained.

[0105] Referring to Figure 3 , a positioning device 30 in the embodiments of the present invention is provided, including: a distance acquisition unit 301 and a positioning unit 302, where:

[0106] The distance acquisition unit 301 is configured to obtain the target distances between the target device and the positioning devices based on the first ranging result, and the second ranging result and / or the third ranging result; wherein, the first ranging result is the distance between the target device and the positioning device obtained by using the multi-carrier phase difference algorithm, the second ranging result is the distance between the target device and the positioning device obtained by using the received signal strength indication (RSSI) algorithm; the third ranging result is the distance between the target device and the positioning device obtained by using the round-trip time algorithm; the number of positioning devices is N, and N is a positive integer and N≥2;

[0107] The positioning unit 302 is configured to determine the position information of the target device based on the target distances between the target device and the positioning devices.

[0108] In specific implementation, the specific execution processes of the above distance acquisition unit 301 and positioning unit 302 can be correspondingly referred to steps 101 to step 102, which will not be elaborated here.

[0109] The embodiments of the present invention further provide a computer-readable storage medium, which is a non-volatile storage medium or a non-transient storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the steps of the positioning method provided in any of the above embodiments.

[0110] The embodiments of the present invention further provide another positioning device, including a memory and a processor, where a computer program that can run on the processor is stored on the memory, and when the processor runs the computer program, it executes the steps of the positioning method provided in any of the above embodiments.

[0111] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer-readable storage medium, which may include: ROM, RAM, magnetic disk or optical disk, etc.

[0112] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be subject to the scope defined by the claims.

Claims

1. A positioning method, characterized in that, Including: Based on the first ranging result, as well as the second ranging result and / or the third ranging result, obtain the target distance between the target device and the positioning device; wherein, the first ranging result is the distance between the target device and the positioning device obtained by using the multi-carrier phase difference algorithm, the second ranging result is the distance between the target device and the positioning device obtained by using the received signal strength indication (RSSI) algorithm; the third ranging result is the distance between the target device and the positioning device obtained by using the round-trip time algorithm; the number of positioning devices is N, N is a positive integer and N≥2; Based on the target distance between the target device and the positioning device, determine the position information of the target device.

2. The positioning method according to claim 1, characterized in that, The obtaining of the target distance between the target device and the positioning device based on the first ranging result, as well as the second ranging result and / or the third ranging result, includes: Based on the second ranging result and / or the third ranging result, determine the estimated distance between the target device and the positioning device; Based on the estimated distance, calibrate the first ranging result to obtain the target distance.

3. The positioning method according to claim 2, wherein The determining of the estimated distance between the target device and the positioning device based on the second ranging result and / or the third ranging result includes: When the ranging signal is a narrowband signal, determine the estimated distance based on the second ranging result; When the ranging signal is a broadband signal, determine the estimated distance based on the third ranging result.

4. The positioning method according to claim 2, wherein The determining of the estimated distance between the target device and the positioning device based on the second ranging result and / or the third ranging result includes: Take the arithmetic mean of the second ranging result and the third ranging result as the estimated distance.

5. The positioning method according to claim 1, characterized in that The target device and the positioning device calculate the distance between the target device and the positioning device at different frequency points by using the multi-carrier phase difference algorithm according to a preset frequency hopping sequence; the first ranging result is the arithmetic mean of the distances obtained at different frequency points.

6. The positioning method according to claim 5, wherein The first ranging result is: ; Wherein, is the first ranging result, c is the speed of light value, is the frequency difference of different frequency points; is the phase difference of the ranging signals sent by the positioning device at different frequency points received by the target device, and = - ; wherein, , ; is the phase of the (k + 1)-th transmitted ranging signal at time point t, is the phase of the k-th transmitted ranging signal at time point t, and the frequency of the ranging signal is ; is the residual frequency offset of the (k + 1)-th transmitted ranging signal, is the residual frequency offset of the k-th transmitted ranging signal, is the synchronization error of the (k + 1)-th transmitted ranging signal, is the synchronization error of the k-th transmitted ranging signal; is the channel frequency of the target device when the k-th transmitted ranging signal is sent, is the channel frequency of the target device when the (k + 1)-th transmitted ranging signal is sent; is the channel frequency of the positioning device when the k-th transmitted ranging signal is sent, is the channel frequency of the positioning device when the (k + 1)-th transmitted ranging signal is sent, and τ is the ratio of the distance between the positioning device and the target device to the speed of light.

7. The positioning method according to claim 1, characterized in that The target device and the positioning device calculate the distance between the target device and the positioning device at different frequency points by using the RSSI algorithm according to a preset frequency hopping sequence; the second ranging result is the arithmetic mean of the distances obtained at different frequency points.

8. The positioning method according to claim 7, wherein The second ranging result is: ; Wherein, is the second ranging result, is the wireless environment fading factor, is the reference received signal strength indication, is the ranging correction value; rssi is the average value of RSSI at different frequency points.

9. The positioning method according to claim 5 or 8, characterized in that, The preset frequency hopping sequence includes at least one of the following: in the preset frequency point list in ascending order of physical channel identifier, in the preset frequency point list in descending order of physical channel identifier, randomly hopping in the preset frequency point list.

10. The positioning method according to claim 1, characterized in that, The third ranging result is: ； Among them, is the third ranging result, t1 is the time point when the positioning device emits a ranging signal, t2 is the time point when the target device receives the ranging signal, t3 is the time point when the target device emits a feedback signal to the positioning device after receiving the ranging signal, t4 is the time point when the positioning device receives the feedback signal, and c is the speed of light value.

11. The positioning method according to any one of claims 1 to 10, characterized in that, The determining of the position information of the target device based on the target distance between the target device and the positioning device includes: Using a preset three-dimensional positioning algorithm, based on the target distance, determine the x-axis coordinate of the target device , y-axis coordinate ; The horizontal distance between each positioning device and the vertical projection position of the target device is calculated as follows: ; is the x-axis coordinate of the positioning device n, is the y-axis coordinate of the positioning device n; Calculate the third side of the triangle formed by the distances of each of the positioning devices from the horizontal plane as : ; is the distance between the positioning device n and the target device; Calculate the difference between the z-axis coordinate of each positioning device and the third side : ; H is the z-axis coordinate of each positioning device; Take the arithmetic mean of the differences corresponding to each positioning device as the z-axis coordinate of the target device.

12. A positioning device, characterized in that, Including: A distance acquisition unit, configured to acquire a target distance between a target device and a positioning device based on a first ranging result, as well as a second ranging result and / or a third ranging result; wherein, the first ranging result is the distance between the target device and the positioning device obtained by using a multi-carrier phase difference algorithm, the second ranging result is the distance between the target device and the positioning device obtained by using a received signal strength indication (RSSI) algorithm; the third ranging result is the distance between the target device and the positioning device obtained by using a round-trip time algorithm; the number of the positioning devices is N, N is a positive integer and N≥2; A positioning unit, configured to determine position information of the target device based on the target distance between the target device and the positioning device.

13. A computer-readable storage medium, the computer-readable storage medium being a non-volatile storage medium or a non-transitory storage medium, having a computer program stored thereon, characterized in that, When the computer program is run by a processor, it executes the steps of the positioning method according to any one of claims 1 to 11.

14. A positioning device, comprising a memory and a processor, wherein a computer program capable of running on the processor is stored on the memory, characterized in that, When the processor runs the computer program, it executes the steps of the positioning method according to any one of claims 1 to 11.

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