Gallery positioning method and device based on double-base-station virtual observation

Abstract

The invention provides a corridor positioning method and device based on double-base-station virtual observation, and the method comprises the steps: arranging a first base station and a second base station at two ends of a corridor, and constructing two to-be-determined straight lines which pass through the two base stations and are perpendicular to a connecting line of the two base stations; positioning a first virtual base station and a second virtual base station on the first to-be-determined straight line, so that the distance between the first virtual base station and the second virtual base station is half of the distance between the two base stations, and positioning a third virtual base station and a fourth virtual base station on the second to-be-determined straight line, so that the distance between the third virtual base station and the second base station is half of the distance between the two base stations; actual observation distances from the terminal to the two base stations are obtained, and virtual observation distances from the terminal to the four virtual base stations are obtained; according to the coordinates of the base station and the virtual base station and various observation distances, determining the to-be-determined coordinates of the terminal by using a distance approaching method; projection coordinates of the terminal on a connecting line of the two base stations are determined, coordinate constraints are set with the coordinates as the center and the corridor width as the half-side length, and if the to-be-determined coordinates fall into the coordinates, the to-be-determined coordinates are determined as the actual coordinates of the terminal. According to the invention, the sub-meter positioning requirement can be met.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of indoor positioning, and in particular, to a corridor positioning method and device based on dual-base virtual observation. Background Art

[0002] As the "skeleton" connecting different indoor spaces, corridors have the characteristic of relatively fixed topological structure, and their positioning accuracy is crucial for indoor location services. In the corridor scenario, the length of the positioning area is usually significantly greater than the width, and the positions where base stations can be deployed are limited. If three or more base stations are used for positioning, it is easy to form a network shape with a large aspect ratio, resulting in an increase in the geometric dilution of precision GDOP, amplifying the positioning error and reducing the accuracy. At the same time, when the target moves, the signal is easily blocked by the body of the pedestrian, etc., and the visibility of the base station is poor, further affecting the effectiveness of the observation data. The relevant positioning technologies for corridors require high-density deployment of base stations, and it is difficult to stably achieve sub-meter-level positioning accuracy. In addition, the relevant technologies often design a linear intersection road network according to the corridor direction, and transfer the positioning coordinates to the central axis of the corridor through rules such as the shortest vertical distance. However, when the base stations are linearly deployed, the observation data is difficult to meet the requirements of the lateral positioning accuracy of the corridor and cannot effectively reflect the actual lateral displacement of the target in the corridor. Therefore, how to obtain stable and available observation information by expanding the geometric distance solution approach in the corridor scenario with linearly deployed base stations, improve the lateral positioning accuracy and avoid relying on high-density base stations has become an urgent problem to be solved in the current positioning technology. Summary of the Invention

[0003] In view of the above problems existing in the prior art, embodiments of the present invention provide a corridor positioning method and device based on dual-base virtual observation.

[0004] In a first aspect, an embodiment of the present invention provides a corridor positioning method based on dual-base station virtual observation, including: Step S1: Set a first base station at any position at one end of the corridor, and set a second base station at any position at the other end of the corridor. Obtain the coordinates of the first base station and the second base station in any two-dimensional coordinate system. In the any two-dimensional coordinate system, construct a first undetermined straight line passing through the coordinates of the first base station and perpendicular to the line connecting the first base station and the second base station, and a second undetermined straight line passing through the coordinates of the second base station and perpendicular to the line connecting the first base station and the second base station; Step S2: Locate the positions of the first virtual base station and the second virtual base station on the first undetermined straight line such that the distance from the first virtual base station to the first base station and the distance from the second virtual base station to the first base station are both half of the distance from the first base station to the second base station; Step S3: Locate the positions of the third virtual base station and the fourth virtual base station on the second undetermined straight line such that the distance from the third virtual base station to the second base station and the distance from the fourth virtual base station to the second base station are both half of the distance from the first base station to the second base station; Step S4: Obtain the first actual observation distance from the terminal to the first base station and the second actual observation distance from the terminal to the second base station. Based on the first actual observation distance and the second actual observation distance, obtain the first virtual observation distance from the terminal to the first virtual base station, the second virtual observation distance from the terminal to the second virtual base station, the third virtual observation distance from the terminal to the third virtual base station, and the fourth virtual observation distance from the terminal to the fourth virtual base station; Step S5: Based on the coordinates of the first base station, the second base station, the first virtual base station, the second virtual base station, the third virtual base station, and the fourth virtual base station, and the first actual observation distance, the second actual observation distance, the first virtual observation distance, the second virtual observation distance, the third virtual observation distance, and the fourth virtual observation distance, use the method of distance approximation to determine the undetermined coordinates of the terminal; Step S6: Based on the coordinates of the first base station and the first actual observation distance, and the coordinates of the second base station and the second actual observation distance, determine the projection coordinates of the terminal on the line connecting the first base station and the second base station; Step S7: Set a coordinate constraint with the projection coordinates as the center and the corridor width as the semi-side length. If the undetermined coordinates of the terminal fall within the constraint range, then determine the undetermined coordinates of the terminal as the actual coordinates of the terminal.

[0005] Based on the content of the above method embodiment, in the corridor positioning method based on dual-base station virtual observation provided in the embodiment of the present invention, the constructing, in the any two-dimensional coordinate system, a first undetermined straight line passing through the coordinates of the first base station and perpendicular to the line connecting the first base station and the second base station, and a second undetermined straight line passing through the coordinates of the second base station and perpendicular to the line connecting the first base station and the second base station, includes:

[0006]

[0007] Among them, l1 is the first line to be determined; l2 is the second line to be determined; x is the abscissa; y is the ordinate; A is the slope of the first line to be determined and the second line to be determined; B is the intercept of the line connecting the first base station and the second base station; B1 is the intercept of the first line to be determined; B2 is the intercept of the second line to be determined; x1 is the abscissa of the first base station; y1 is the ordinate of the first base station; x2 is the abscissa of the second base station; y2 is the ordinate of the second base station.

[0008] Based on the content of the above method embodiments, in the corridor positioning method based on dual-base-station virtual observation provided in the embodiments of the present invention, steps S2 and S3 include:

[0009]

[0010] Among them, D is half of the distance between the first base station and the second base station; x3 is the abscissa of the first virtual base station; y3 is the ordinate of the first virtual base station; x4 is the abscissa of the second virtual base station; y4 is the ordinate of the second virtual base station; x5 is the abscissa of the third virtual base station; y5 is the ordinate of the third virtual base station; x6 is the abscissa of the fourth virtual base station; y6 is the ordinate of the fourth virtual base station.

[0011] Based on the content of the above method embodiments, in the corridor positioning method based on dual-base-station virtual observation provided in the embodiments of the present invention, the obtaining of the first virtual observation distance from the terminal to the first virtual base station, the second virtual observation distance from the terminal to the second virtual base station, the third virtual observation distance from the terminal to the third virtual base station, and the fourth virtual observation distance from the terminal to the fourth virtual base station according to the first actual observation distance and the second actual observation distance includes:

[0012]

[0013] Among them, d1 is the first actual observation distance; d2 is the second actual observation distance; d3 is the first virtual observation distance; d4 is the second virtual observation distance; d5 is the third virtual observation distance; d6 is the fourth virtual observation distance.

[0014] Based on the content of the above method embodiments, in the corridor positioning method based on dual-base-station virtual observation provided in the embodiments of the present invention, the determination of the terminal's coordinates to be determined by using the distance approximation method according to the coordinates of the first base station, the second base station, the first virtual base station, the second virtual base station, the third virtual base station, and the fourth virtual base station, and the first actual observation distance, the second actual observation distance, the first virtual observation distance, the second virtual observation distance, the third virtual observation distance, and the fourth virtual observation distance includes:

[0015]

[0016] where min is the symbol for taking the minimum value; x zd is the abscissa to be determined of the terminal; y zd is the ordinate to be determined of the terminal.

[0017] Based on the content of the above method embodiments, in the corridor positioning method based on dual-base-station virtual observation provided in the embodiments of the present invention, the step of determining the projection coordinates of the terminal on the line connecting the first base station and the second base station according to the first base station coordinates and the first actual observation distance, and the second base station coordinates and the second actual observation distance, includes:

[0018]

[0019] where xzt is the abscissa of the projection of the terminal on the line connecting the first base station and the second base station; yzt is the ordinate of the projection of the terminal on the line connecting the first base station and the second base station; λ is the proportionality coefficient of the first actual observation distance to the first actual observation distance.

[0020] Based on the content of the above method embodiments, in the corridor positioning method based on dual-base-station virtual observation provided in the embodiments of the present invention, the step of setting coordinate constraints with the projection coordinates as the center and the corridor width as the semi-side length, and determining the to-be-determined coordinates of the terminal as the actual coordinates of the terminal if the to-be-determined coordinates of the terminal fall within the constraint range, includes:

[0021]

[0022] where xzs is the actual abscissa of the terminal; yzs is the actual ordinate of the terminal; r is the corridor width.

[0023] Second aspect, an embodiment of the present invention provides a corridor positioning device based on dual-base station virtual observation, including: a first main module for implementing step S1: setting a first base station at an arbitrary position at one end of the corridor and a second base station at an arbitrary position at the other end of the corridor, obtaining the coordinates of the first base station and the second base station in any two-dimensional coordinate system, constructing a first pending line passing through the coordinates of the first base station and perpendicular to the line connecting the first base station and the second base station, and a second pending line passing through the coordinates of the second base station and perpendicular to the line connecting the first base station and the second base station in the any two-dimensional coordinate system; a second main module for implementing step S2: positioning the positions of a first virtual base station and a second virtual base station on the first pending line such that the distance from the first virtual base station to the first base station and the distance from the second virtual base station to the first base station are both half of the distance from the first base station to the second base station; a third main module for implementing step S3: positioning the positions of a third virtual base station and a fourth virtual base station on the second pending line such that the distance from the third virtual base station to the second base station and the distance from the fourth virtual base station to the second base station are both half of the distance from the first base station to the second base station; a fourth main module for implementing step S4: obtaining a first actual observation distance from the terminal to the first base station and a second actual observation distance from the terminal to the second base station, and obtaining a first virtual observation distance from the terminal to the first virtual base station, a second virtual observation distance from the terminal to the second virtual base station, a third virtual observation distance from the terminal to the third virtual base station, and a fourth virtual observation distance from the terminal to the fourth virtual base station according to the first actual observation distance and the second actual observation distance; a fifth main module for implementing step S5: determining a pending coordinate of the terminal by using a distance approximation method according to the coordinates of the first base station, the second base station, the first virtual base station, the second virtual base station, the third virtual base station, and the fourth virtual base station, and the first actual observation distance, the second actual observation distance, the first virtual observation distance, the second virtual observation distance, the third virtual observation distance, and the fourth virtual observation distance; a sixth main module for implementing step S6: determining a projection coordinate of the terminal on the line connecting the first base station and the second base station according to the coordinates of the first base station and the first actual observation distance, and the coordinates of the second base station and the second actual observation distance; a seventh main module for implementing step S7: setting a coordinate constraint with the projection coordinate as the center and the corridor width as the semi-side length. If the pending coordinate of the terminal falls within the constraint range, then determining the pending coordinate of the terminal as the actual coordinate of the terminal.

[0024] Third aspect, an embodiment of the present invention provides an electronic device, including:

[0025] At least one processor, at least one memory, and a communication interface; wherein,

[0026] The processor, the memory, and the communication interface communicate with each other;

[0027] The memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the corridor positioning method based on dual-base station virtual observation provided by any one of the various implementations of the first aspect.

[0028] In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the corridor positioning method based on dual-base station virtual observation provided by any one of the various implementations of the first aspect.

[0029] For the corridor positioning method and device based on dual-base station virtual observation provided by the embodiments of the present invention, the base station positions can be flexibly arranged at any positions at both ends of the corridor without the need to be forced to be centered, which simplifies the construction difficulty; a fixed square virtual base station configuration is constructed to optimize the geometric dilution of precision (GDOP), improve the positioning stability and does not depend on additional information such as the corridor azimuth angle and width; virtual distance observations are generated to support the estimation of lateral displacement in the corridor, breaking through the limitation of the traditional method that tends to the central axis; through the projection coordinate constraint mechanism, the probability of unreasonable positioning results such as wall penetration is effectively reduced, and the positioning accuracy is improved by 38.1% compared with the traditional projection method, which can accurately reflect the target movement trend and meet the sub-meter positioning requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a schematic flowchart of the corridor positioning method based on dual-base station virtual observation provided by an embodiment of the present invention;

[0032] Figure 2 It is a schematic structural diagram of the corridor positioning device based on dual-base station virtual observation provided by an embodiment of the present invention;

[0033] Figure 3 It is a schematic physical structure diagram of an electronic device provided by an embodiment of the present invention;

[0034] Figure 4 It is a schematic diagram of the data acquisition environment effect provided by an embodiment of the present invention;

[0035] Figure 5 It is a schematic diagram of the virtual observation ranging error effect of the straight path and the broken path provided by an embodiment of the present invention.

[0036] Figure 6Schematic diagram of the real-time positioning effect of the straight path provided by the embodiment of the present invention.

[0037] Figure 7 Schematic diagram of the real-time positioning effect of the folded path provided by the embodiment of the present invention. Detailed implementation manners

[0038] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention. In addition, the technical features in each embodiment or individual embodiment provided by the present invention can be combined with each other arbitrarily to form a feasible technical solution. Such combination is not restricted by the order of steps and / or the pattern of structural composition, but must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions conflicts with each other or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the protection scope required by the present invention. If there are step numbers in the following embodiments, they are only set for the convenience of explanation and illustration, and no limitation is imposed on the order of steps. The execution order of each step in the embodiments can be adjusted adaptively according to the understanding of those skilled in the art.

[0039] The embodiment of the present invention provides a corridor positioning method based on dual-base virtual observation. Refer to Figure 1, the method includes: Step S1: Set a first base station at an arbitrary position at one end of the corridor and a second base station at an arbitrary position at the other end of the corridor, obtain the coordinates of the first base station and the second base station in any two-dimensional coordinate system, and construct a first line to be determined passing through the coordinates of the first base station and perpendicular to the line connecting the first base station and the second base station, and a second line to be determined passing through the coordinates of the second base station and perpendicular to the line connecting the first base station and the second base station in the any two-dimensional coordinate system; Step S2: Locate the positions of a first virtual base station and a second virtual base station on the first line to be determined, such that the distance from the first virtual base station to the first base station and the distance from the second virtual base station to the first base station are both half of the distance from the first base station to the second base station; Step S3: Locate the positions of a third virtual base station and a fourth virtual base station on the second line to be determined, such that the distance from the third virtual base station to the second base station and the distance from the fourth virtual base station to the second base station are both half of the distance from the first base station to the second base station; Step S4: Obtain a first actual observed distance from the terminal to the first base station and a second actual observed distance from the terminal to the second base station, and based on the first actual observed distance and the second actual observed distance, obtain a first virtual observed distance from the terminal to the first virtual base station, a second virtual observed distance from the terminal to the second virtual base station, a third virtual observed distance from the terminal to the third virtual base station, and a fourth virtual observed distance from the terminal to the fourth virtual base station; Step S5: Based on the coordinates of the first base station, the second base station, the first virtual base station, the second virtual base station, the third virtual base station, and the fourth virtual base station, as well as the first actual observed distance, the second actual observed distance, the first virtual observed distance, the second virtual observed distance, the third virtual observed distance, and the fourth virtual observed distance, use the method of distance approximation to determine the coordinates to be determined of the terminal; Step S6: Based on the coordinates of the first base station and the first actual observed distance, and the coordinates of the second base station and the second actual observed distance, determine the projected coordinates of the terminal on the line connecting the first base station and the second base station; Step S7: Set a coordinate constraint with the projected coordinates as the center and the width of the corridor as the semi-side length. If the coordinates to be determined of the terminal fall within the constraint range, then determine the coordinates to be determined of the terminal as the actual coordinates of the terminal.

[0040] Based on the content of the above method embodiment, as an optional embodiment, in the corridor positioning method based on dual-base-station virtual observation provided in the embodiments of the present invention, the constructing a first line to be determined passing through the coordinates of the first base station and perpendicular to the line connecting the first base station and the second base station, and a second line to be determined passing through the coordinates of the second base station and perpendicular to the line connecting the first base station and the second base station in the any two-dimensional coordinate system includes:

[0041]

[0042] Wherein, l1 is the first line to be determined; l2 is the second line to be determined; x is the abscissa; y is the ordinate; A is the slope of the first line to be determined and the second line to be determined; B is the intercept of the line connecting the first base station and the second base station; B1 is the intercept of the first line to be determined; B2 is the intercept of the second line to be determined; x1 is the abscissa of the first base station; y1 is the ordinate of the first base station; x2 is the abscissa of the second base station; y2 is the ordinate of the second base station.

[0043] Based on the content of the above method embodiments, as an alternative embodiment, in the corridor positioning method based on dual-base-station virtual observation provided in the embodiments of the present invention, steps S2 and S3 include:

[0044]

[0045] Wherein, D is half of the distance between the first base station and the second base station; x3 is the abscissa of the first virtual base station; y3 is the ordinate of the first virtual base station; x4 is the abscissa of the second virtual base station; y4 is the ordinate of the second virtual base station; x5 is the abscissa of the third virtual base station; y5 is the ordinate of the third virtual base station; x6 is the abscissa of the fourth virtual base station; y6 is the ordinate of the fourth virtual base station. It should be noted that the first virtual base station and the third virtual base station are above the line connecting the two base stations, and the second virtual base station and the fourth virtual base station are below the line connecting the two base stations. The 4 virtual base stations form a square geometric configuration, with a relatively good geometric dilution of precision GDOP, and it does not change as the terminal moves in the corridor; at the same time, the calculation of the coordinates of the 4 virtual base stations only depends on the known coordinates of the two base stations.

[0046] Based on the content of the above method embodiments, as an alternative embodiment, in the corridor positioning method based on dual-base-station virtual observation provided in the embodiments of the present invention, the obtaining of the first virtual observation distance from the terminal to the first virtual base station, the second virtual observation distance from the terminal to the second virtual base station, the third virtual observation distance from the terminal to the third virtual base station, and the fourth virtual observation distance from the terminal to the fourth virtual base station according to the first actual observation distance and the second actual observation distance includes:

[0047]

[0048] Wherein, d1 is the first actual observation distance; d2 is the second actual observation distance; d3 is the first virtual observation distance; d4 is the second virtual observation distance; d5 is the third virtual observation distance; d6 is the fourth virtual observation distance.

[0049] Based on the content of the above method embodiments, as an alternative embodiment, in the corridor positioning method based on dual-base station virtual observation provided in the embodiments of the present invention, the method for determining the to-be-determined coordinates of the terminal by using the distance approximation method according to the coordinates of the first base station, the coordinates of the second base station, the coordinates of the first virtual base station, the coordinates of the second virtual base station, the coordinates of the third virtual base station, the coordinates of the fourth virtual base station, the first actual observation distance, the second actual observation distance, the first virtual observation distance, the second virtual observation distance, the third virtual observation distance, and the fourth virtual observation distance includes:

[0050]

[0051] wherein, min is the symbol for taking the minimum value; x zd is the to-be-determined abscissa of the terminal; y zd is the to-be-determined ordinate of the terminal.

[0052] Based on the content of the above method embodiments, as an alternative embodiment, in the corridor positioning method based on dual-base station virtual observation provided in the embodiments of the present invention, the method for determining the projection coordinates of the terminal on the line connecting the first base station and the second base station according to the coordinates of the first base station and the first actual observation distance, and the coordinates of the second base station and the second actual observation distance includes:

[0053]

[0054] wherein, xzt is the projection abscissa of the terminal on the line connecting the first base station and the second base station; yzt is the projection ordinate of the terminal on the line connecting the first base station and the second base station; λ is the proportionality coefficient of the first actual observation distance to the first actual observation distance.

[0055] Based on the content of the above method embodiments, as an alternative embodiment, in the corridor positioning method based on dual-base station virtual observation provided in the embodiments of the present invention, the method for setting coordinate constraints with the projection coordinates as the center and the corridor width as the semi-side length, and determining the to-be-determined coordinates of the terminal as the actual coordinates of the terminal if the to-be-determined coordinates of the terminal fall within the constraint range includes:

[0056]

[0057] wherein, xzs is the actual abscissa of the terminal; yzs is the actual ordinate of the terminal; r is the corridor width.

[0058] The corridor positioning method based on dual-base station virtual observations provided by the embodiments of the present invention allows the base station positions to be flexibly arranged at any positions at both ends of the corridor without the need for forced centering, simplifying the construction difficulty; constructs a fixed square virtual base station configuration, optimizes the geometric dilution of precision (GDOP), improves the positioning stability and does not rely on additional information such as the corridor azimuth and width; generates virtual distance observations, supports the estimation of lateral displacement within the corridor, breaking through the limitation of traditional methods that tend to the central axis; through the projection coordinate constraint mechanism, effectively reduces the probability of unreasonable positioning results such as passing through walls, and the positioning accuracy is improved by 38.1% compared with the traditional projection method, can accurately reflect the target movement trend, and meets the sub-meter positioning requirements.

[0059] As Figure 4 , a base station is installed at each end of a 35-meter-long corridor with an average width of 2.6 meters. Using a smartphone ( Figure 4 the three white squares at the bottom are the smartphone) as the application terminal, a person carries the device and walks at a speed of about 1 meter per second to collect dynamic ranging data: First, start from a position 1 meter away from the #1 base station (i.e., the first base station) inside the corridor, face the #2 base station (i.e., the second base station), and move back and forth along the path in the direction of the line connecting the two base stations and the path of the corridor fold line respectively, and collect the base station ranging data in real time. The virtual observation data at the corresponding positions are further estimated through formula (3). Marking points are set every 1 meter inside the corridor. The reference distance at the corresponding marked position is calculated based on the coordinates of each marking point and the coordinates of the virtual base station, and the Euclidean distance between this distance vector and the estimated virtual distance vector is used as the error index to statistically analyze the virtual distance observation errors on the straight round-trip path and the fold-line round-trip path. Among them, the positions of the ground marking points are measured by a SNDWAY-100G laser rangefinder. Figure 5 For the virtual observation errors on the straight round-trip path ( Figure 5 the upper part) and the fold-line round-trip path ( Figure 5 the lower part), Table 1 shows the error statistical results. It can be seen from the chart that the overall mean and RMSE of the constructed virtual observation errors are approximately 0.9 meters and 1.03 meters respectively, and the error distribution has no obvious relationship with the path type.

[0060] Table 1

[0061]

[0062] As Figure 6 and Figure 7 , affected by the accuracy of virtual ranging observations, there are longitudinal fluctuations in the positioning coordinate results for both straight-line tests and fold-line tests, and there are certain differences in the horizontal direction from the positions of the marking points. However, due to the regular geometric configuration of the constructed virtual base stations, the estimated position outputs can correctly express the movement intention of the terminal. Among them, as Figure 6 , the positioning RMSE of the straight-line test is 0.40 meters; asFigure 7 For the fold line test, the positioning RMSE is 0.52 m. Compared with the traditional projection positioning method, the virtual observation positioning method reflects the true state of the terminal turning back at the upper and lower boundaries of the corridor, with the RMSE improved by 38.1% compared to 0.84 m of the projection method, optimizing the spatial attributes of the positioning result.

[0063] The implementation basis of each embodiment of the present invention is achieved through programmed processing by a device with a processor function. Therefore, in engineering practice, the technical solutions and functions of each embodiment of the present invention can be encapsulated into various modules. Based on this actual situation, on the basis of the above embodiments, an embodiment of the present invention provides a corridor positioning device based on dual-base virtual observation, which is used to execute the corridor positioning method based on dual-base virtual observation in the above method embodiments. See Figure 2, the device includes: a first main module for implementing step S1: setting a first base station at an arbitrary position at one end of the corridor and a second base station at an arbitrary position at the other end of the corridor, obtaining the coordinates of the first base station and the second base station in any two-dimensional coordinate system, constructing a first pending line passing through the coordinates of the first base station and perpendicular to the line connecting the first base station and the second base station in the any two-dimensional coordinate system, and a second pending line passing through the coordinates of the second base station and perpendicular to the line connecting the first base station and the second base station; a second main module for implementing step S2: locating the positions of a first virtual base station and a second virtual base station on the first pending line such that the distance from the first virtual base station to the first base station and the distance from the second virtual base station to the first base station are both half of the distance from the first base station to the second base station; a third main module for implementing step S3: locating the positions of a third virtual base station and a fourth virtual base station on the second pending line such that the distance from the third virtual base station to the second base station and the distance from the fourth virtual base station to the second base station are both half of the distance from the first base station to the second base station; a fourth main module for implementing step S4: obtaining a first actual observed distance from the terminal to the first base station and a second actual observed distance from the terminal to the second base station, and obtaining a first virtual observed distance from the terminal to the first virtual base station, a second virtual observed distance from the terminal to the second virtual base station, a third virtual observed distance from the terminal to the third virtual base station, and a fourth virtual observed distance from the terminal to the fourth virtual base station according to the first actual observed distance and the second actual observed distance; a fifth main module for implementing step S5: determining the pending coordinates of the terminal by using a distance approximation method according to the coordinates of the first base station, the second base station, the first virtual base station, the second virtual base station, the third virtual base station, and the fourth virtual base station, and the first actual observed distance, the second actual observed distance, the first virtual observed distance, the second virtual observed distance, the third virtual observed distance, and the fourth virtual observed distance; a sixth main module for implementing step S6: determining the projection coordinates of the terminal on the line connecting the first base station and the second base station according to the coordinates of the first base station and the first actual observed distance, and the coordinates of the second base station and the second actual observed distance; a seventh main module for implementing step S7: setting a coordinate constraint with the projection coordinates as the center and the corridor width as the semi-side length. If the pending coordinates of the terminal fall within the constraint range, then determining the pending coordinates of the terminal as the actual coordinates of the terminal.

[0064] The corridor positioning device based on dual-base-station virtual observation provided by the embodiment of the present invention adopts Figure 2For several modules therein, the base station positions can be flexibly arranged at any positions at both ends of the corridor without being forced to be centered, which simplifies the construction difficulty; a fixed square virtual base station configuration is constructed to optimize the geometric dilution of precision (GDOP), improve the positioning stability and not rely on additional information such as the corridor azimuth and width; virtual distance observations are generated to support the estimation of lateral displacement within the corridor, breaking through the limitation of traditional methods that tend to the central axis; through the projection coordinate constraint mechanism, the probability of unreasonable positioning results such as wall penetration is effectively reduced, and the positioning accuracy is improved by 38.1% compared with the traditional projection method, which can accurately reflect the target movement trend and meet the sub-meter positioning requirements.

[0065] It should be noted that the device in the device embodiment provided by the present invention can be used not only to implement the method in the above method embodiment, but also to implement the methods in other method embodiments provided by the present invention. The difference is only to set the corresponding functional modules. The principle is basically the same as that of the above device embodiment provided by the present invention. As long as those skilled in the art, on the basis of the above device embodiment, refer to the specific technical solutions in other method embodiments, obtain the corresponding technical means by combining technical features, and the technical solutions composed of these technical means, and ensure the practicability of the technical solutions, the device in the above device embodiment can be improved, so as to obtain the corresponding device type embodiment for implementing the methods in other method type embodiments. For example:

[0066] Based on the content of the above device embodiment, as an optional embodiment, the corridor positioning device based on dual-base station virtual observation provided in the embodiment of the present invention further includes: a first sub-module for implementing constructing a first undetermined straight line passing through the first base station coordinate and perpendicular to the connection line between the first base station and the second base station, and a second undetermined straight line passing through the second base station coordinate and perpendicular to the connection line between the first base station and the second base station in any two-dimensional coordinate system, including:

[0067]

[0068] Wherein, l1 is the first undetermined straight line; l2 is the second undetermined straight line; x is the abscissa; y is the ordinate; A is the slope of the first undetermined straight line and the second undetermined straight line; B is the intercept of the connection line between the first base station and the second base station; B1 is the intercept of the first undetermined straight line; B2 is the intercept of the second undetermined straight line; x1 is the abscissa of the first base station; y1 is the ordinate of the first base station; x2 is the abscissa of the second base station; y2 is the ordinate of the second base station.

[0069] Based on the content of the above device embodiment, as an optional embodiment, the corridor positioning device based on dual-base station virtual observation provided in the embodiment of the present invention further includes: a second sub-module for implementing the step S2 and step S3, including:

[0070]

[0071] Wherein, D is half of the distance between the first base station and the second base station; x3 is the abscissa of the first virtual base station; y3 is the ordinate of the first virtual base station; x4 is the abscissa of the second virtual base station; y4 is the ordinate of the second virtual base station; x5 is the abscissa of the third virtual base station; y5 is the ordinate of the third virtual base station; x6 is the abscissa of the fourth virtual base station; y6 is the ordinate of the fourth virtual base station.

[0072] Based on the content of the above device embodiment, as an optional embodiment, the corridor positioning device based on dual-base-station virtual observation provided in the embodiments of the present invention further includes: a third sub-module, configured to implement obtaining a first virtual observation distance from the terminal to the first virtual base station, a second virtual observation distance from the terminal to the second virtual base station, a third virtual observation distance from the terminal to the third virtual base station, and a fourth virtual observation distance from the terminal to the fourth virtual base station according to the first actual observation distance and the second actual observation distance, including:

[0073]

[0074] Wherein, d1 is the first actual observation distance; d2 is the second actual observation distance; d3 is the first virtual observation distance; d4 is the second virtual observation distance; d5 is the third virtual observation distance; d6 is the fourth virtual observation distance.

[0075] Based on the content of the above device embodiment, as an optional embodiment, the corridor positioning device based on dual-base-station virtual observation provided in the embodiments of the present invention further includes: a fourth sub-module, configured to implement determining the pending coordinates of the terminal by using the distance approximation method according to the first base station coordinates, the second base station coordinates, the first virtual base station coordinates, the second virtual base station coordinates, the third virtual base station coordinates, the fourth virtual base station coordinates, the first actual observation distance, the second actual observation distance, the first virtual observation distance, the second virtual observation distance, the third virtual observation distance, and the fourth virtual observation distance, including:

[0076]

[0077] Wherein, min is the symbol for taking the minimum value; x zd is the pending abscissa of the terminal; y zd is the pending ordinate of the terminal.

[0078] Based on the content of the above device embodiment, as an optional embodiment, the corridor positioning device based on dual-base-station virtual observation provided in the embodiments of the present invention further includes: a fifth sub-module, configured to implement determining the projection coordinates of the terminal on the connection line between the first base station and the second base station according to the first base station coordinates and the first actual observation distance, and the second base station coordinates and the second actual observation distance, including:

[0079]

[0080] Among them, xzt is the abscissa of the projection of the terminal on the line connecting the first base station and the second base station; yzt is the ordinate of the projection of the terminal on the line connecting the first base station and the second base station; λ is the proportionality coefficient of the first actual observation distance to the first actual observation distance.

[0081] Based on the content of the above device embodiments, as an optional embodiment, the corridor positioning device based on dual-base station virtual observation provided in the embodiments of the present invention further includes: a sixth sub-module, configured to implement setting coordinate constraints with the projection coordinates as the center and the corridor width as the semi-side length. If the to-be-determined coordinates of the terminal fall within the constraint range, then determine the to-be-determined coordinates of the terminal as the actual coordinates of the terminal, including:

[0082]

[0083] Among them, xzs is the actual abscissa of the terminal; yzs is the actual ordinate of the terminal; r is the corridor width.

[0084] The method of the embodiments of the present invention is implemented relying on an electronic device. Therefore, it is necessary to introduce the relevant electronic device. For this purpose, the embodiments of the present invention provide an electronic device, as Figure 3 shown, the electronic device includes: at least one processor, a communication interface, at least one memory, and a communication bus. Among them, at least one processor, the communication interface, and at least one memory complete communication with each other through the communication bus. The at least one processor can call the logical instructions in the at least one memory to execute all or part of the steps of the methods provided in the foregoing method embodiments.

[0085] In addition, when the logic instructions in the above-mentioned at least one memory are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various method embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0086] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0087] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disks, optical discs, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments.

[0088] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. With this understanding, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks may occur in a different order than that noted in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or sometimes in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or by a combination of dedicated hardware and computer instructions.

[0089] It should be noted that the term "comprising", "including", or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a series of elements includes not only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or apparatus. Without further limitation, the elements defined by the statement "comprising..." do not preclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the said elements. For any "predetermined threshold", "preset threshold" or similar expression, if no specific value is indicated, a person of ordinary skill in the art can determine its specific value through simple experiments or corresponding debugging.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, such modifications or replacements do not depart from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A corridor positioning method based on dual-base station virtual observation, characterized in that Including: Step S1: Set a first base station at an arbitrary position at one end of the corridor, and set a second base station at an arbitrary position at the other end of the corridor. Obtain the coordinates of the first base station and the second base station in any two-dimensional coordinate system. In the any two-dimensional coordinate system, construct a first undetermined line passing through the coordinates of the first base station and perpendicular to the line connecting the first base station and the second base station, and a second undetermined line passing through the coordinates of the second base station and perpendicular to the line connecting the first base station and the second base station; Step S2: Locate the positions of the first virtual base station and the second virtual base station on the first undetermined line, so that the distance from the first virtual base station to the first base station and the distance from the second virtual base station to the first base station are both half of the distance from the first base station to the second base station; Step S3: Locate the positions of the third virtual base station and the fourth virtual base station on the second undetermined line, so that the distance from the third virtual base station to the second base station and the distance from the fourth virtual base station to the second base station are both half of the distance from the first base station to the second base station; Step S4: Obtain the first actual observed distance from the terminal to the first base station and the second actual observed distance from the terminal to the second base station. According to the first actual observed distance and the second actual observed distance, obtain the first virtual observed distance from the terminal to the first virtual base station, the second virtual observed distance from the terminal to the second virtual base station, the third virtual observed distance from the terminal to the third virtual base station, and the fourth virtual observed distance from the terminal to the fourth virtual base station; Step S5: According to the coordinates of the first base station, the second base station, the first virtual base station, the second virtual base station, the third virtual base station, and the fourth virtual base station, as well as the first actual observed distance, the second actual observed distance, the first virtual observed distance, the second virtual observed distance, the third virtual observed distance, and the fourth virtual observed distance, use the method of distance approximation to determine the undetermined coordinates of the terminal; Step S6: According to the coordinates of the first base station and the first actual observed distance, and the coordinates of the second base station and the second actual observed distance, determine the projection coordinates of the terminal on the line connecting the first base station and the second base station; Step S7: Set a coordinate constraint with the projection coordinates as the center and the width of the corridor as the semi-side length. If the undetermined coordinates of the terminal fall within the constraint range, then determine the undetermined coordinates of the terminal as the actual coordinates of the terminal.

2. The corridor positioning method based on dual-base station virtual observation according to claim 1, characterized in that The constructing the first undetermined line passing through the coordinates of the first base station and perpendicular to the line connecting the first base station and the second base station, and the second undetermined line passing through the coordinates of the second base station and perpendicular to the line connecting the first base station and the second base station in the any two-dimensional coordinate system includes: Wherein, l1 is the first undetermined line; l2 is the second undetermined line; x is the abscissa; y is the ordinate; A is the slope of the first undetermined line and the second undetermined line; B is the intercept of the line connecting the first base station and the second base station; B1 is the intercept of the first undetermined line; B2 is the intercept of the second undetermined line; x1 is the abscissa of the first base station; y1 is the ordinate of the first base station; x2 is the abscissa of the second base station; y2 is the ordinate of the second base station.

3. The corridor positioning method based on dual-base station virtual observation according to claim 2, wherein, The said Step S2 and Step S3 include: Wherein, D is half of the distance between the first base station and the second base station; x3 is the abscissa of the first virtual base station; y3 is the ordinate of the first virtual base station; x4 is the abscissa of the second virtual base station; y4 is the ordinate of the second virtual base station; x5 is the abscissa of the third virtual base station; y5 is the ordinate of the third virtual base station; x6 is the abscissa of the fourth virtual base station; y6 is the ordinate of the fourth virtual base station.

4. The corridor positioning method based on dual-base station virtual observation according to claim 3, characterized in that Obtaining the first virtual observation distance from the terminal to the first virtual base station, the second virtual observation distance from the terminal to the second virtual base station, the third virtual observation distance from the terminal to the third virtual base station, and the fourth virtual observation distance from the terminal to the fourth virtual base station according to the first actual observation distance and the second actual observation distance includes: Wherein, d1 is the first actual observation distance; d2 is the second actual observation distance; d3 is the first virtual observation distance; d4 is the second virtual observation distance; d5 is the third virtual observation distance; d6 is the fourth virtual observation distance.

5. The corridor positioning method based on dual-base station virtual observation according to claim 4, wherein, Determining the to-be-determined coordinates of the terminal by using the distance approximation method according to the coordinates of the first base station, the coordinates of the second base station, the coordinates of the first virtual base station, the coordinates of the second virtual base station, the coordinates of the third virtual base station, the coordinates of the fourth virtual base station, the first actual observation distance, the second actual observation distance, the first virtual observation distance, the second virtual observation distance, the third virtual observation distance, and the fourth virtual observation distance includes: Among them, min is the symbol for taking the minimum value; x zd is the abscissa to be determined for the terminal; y zd is the ordinate to be determined for the terminal.

6. The corridor positioning method based on dual-base station virtual observation according to claim 5, characterized in that, Determining the projection coordinates of the terminal on the line connecting the first base station and the second base station according to the coordinates of the first base station and the first actual observation distance, and the coordinates of the second base station and the second actual observation distance includes: Wherein, xzt is the projection abscissa of the terminal on the line connecting the first base station and the second base station; yzt is the projection ordinate of the terminal on the line connecting the first base station and the second base station; λ is the proportionality coefficient of the first actual observation distance to the first actual observation distance.

7. The corridor positioning method based on dual-base station virtual observation according to claim 6, wherein Setting a coordinate constraint with the projection coordinates as the center and half of the corridor width as the side length. If the to-be-determined coordinates of the terminal fall within the constraint range, then determining the to-be-determined coordinates of the terminal as the actual coordinates of the terminal includes: Wherein, xzs is the actual abscissa of the terminal; yzs is the actual ordinate of the terminal; r is the corridor width.

8. A corridor positioning device based on dual-base virtual observation, characterized in that, Includes: The first main module is used to implement step S1: Set the first base station at an arbitrary position at one end of the corridor, and set the second base station at an arbitrary position at the other end of the corridor, obtain the coordinates of the first base station and the second base station in any two-dimensional coordinate system, construct a first to-be-determined line passing through the coordinates of the first base station and perpendicular to the line connecting the first base station and the second base station, and a second to-be-determined line passing through the coordinates of the second base station and perpendicular to the line connecting the first base station and the second base station in the any two-dimensional coordinate system; The second main module is used to implement step S2: Locate the positions of the first virtual base station and the second virtual base station on the first to-be-determined line so that the distance from the first virtual base station to the first base station and the distance from the second virtual base station to the first base station are both half of the distance from the first base station to the second base station; The third main module is used to implement step S3: locate the positions of the third virtual base station and the fourth virtual base station on the second pending straight line, so that the distances from the third virtual base station to the second base station and from the fourth virtual base station to the second base station are both half of the distance from the first base station to the second base station; The fourth main module is used to implement step S4: obtain the first actual observation distance from the terminal to the first base station and the second actual observation distance from the terminal to the second base station, and obtain the first virtual observation distance from the terminal to the first virtual base station, the second virtual observation distance from the terminal to the second virtual base station, the third virtual observation distance from the terminal to the third virtual base station, and the fourth virtual observation distance from the terminal to the fourth virtual base station according to the first actual observation distance and the second actual observation distance; The fifth main module is used to implement step S5: determine the pending coordinates of the terminal by using the method of distance approximation according to the coordinates of the first base station, the second base station, the first virtual base station, the second virtual base station, the third virtual base station and the fourth virtual base station, and the first actual observation distance, the second actual observation distance, the first virtual observation distance, the second virtual observation distance, the third virtual observation distance and the fourth virtual observation distance; The sixth main module is used to implement step S6: determine the projection coordinates of the terminal on the connection line between the first base station and the second base station according to the coordinates of the first base station and the first actual observation distance, and the coordinates of the second base station and the second actual observation distance; The seventh main module is used to implement step S7: set coordinate constraints with the corridor width as the semi-side length centered on the projection coordinates. If the pending coordinates of the terminal fall within the constraint range, determine the pending coordinates of the terminal as the actual coordinates of the terminal.

9. An electronic device, characterized in that, Comprising: At least one processor, at least one memory and a communication interface; wherein, The processor, the memory and the communication interface communicate with each other; The memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the method according to any one of claims 1 to 7.

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