Positioning method and system for multiple positioning piles, electronic equipment and storage medium

Abstract

The invention discloses a positioning method and system for multiple positioning piles, electronic equipment and a storage medium. The method comprises the following steps: the time service equipment sends time service signals to the plurality of first positioning piles on a first frequency band; each first positioning pile receives the time service signal on the first frequency band, and the time of each first positioning pile is calibrated based on the time of a clock of the time service equipment; each first positioning pile sends a positioning signal in the corresponding coverage range; the positioning equipment receives positioning signals of a plurality of second positioning piles; and the positioning equipment determines the target position information of the positioning equipment based on the timestamp of the received positioning signal of each second positioning pile, the receiving time of the positioning signal of each second positioning pile received by the positioning equipment, the light velocity and the received first position information of each second positioning pile.

Description

Technical Field

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

[0002] Currently, the most widely used positioning method is the Global Positioning System (GPS), which calculates the receiver's precise location by receiving signals from geostationary satellites. This technology's global coverage and high accuracy have led to its widespread application in areas such as open-air navigation and vehicle tracking. However, in complex natural environments, such as scenic spots or indoors, GPS signals may be blocked, resulting in lower positioning accuracy. Summary of the Invention

[0003] The embodiments of the present application provide a positioning method, system, electronic device and storage medium for multiple positioning piles, which achieve positioning through multiple positioning piles and improve positioning accuracy.

[0004] In a first aspect, an embodiment of the present application provides a positioning method for multiple positioning piles, which is applied to a positioning system for multiple positioning piles. The positioning system for multiple positioning piles includes multiple first positioning piles located in a target area, a timing device, and a positioning device. The method includes:

[0005] The timing device sends a timing signal to the plurality of first positioning stakes in a first frequency band, wherein the timing signal includes the time of a clock of the timing device, the clock of the timing device is atomic, and the maximum frequency of the first frequency band is less than a preset frequency;

[0006] Each first positioning stake receives a timing signal in a first frequency band, and calibrates the time of each first positioning stake based on the time of a clock of a timing device;

[0007] Each first positioning pile sends a positioning signal within a corresponding coverage area, wherein the positioning signal includes first position information of the corresponding positioning pile and a timestamp of sending the positioning signal;

[0008] The positioning device receives positioning signals of a plurality of second positioning piles, wherein the plurality of second positioning piles are part or all of the plurality of first positioning piles;

[0009] The positioning device determines the target position information of the positioning device based on the timestamp of the positioning signal received from each second positioning pile, the receiving time of the positioning signal from each second positioning pile, the speed of light, and the first position information received from each second positioning pile.

[0010] In a second aspect, an embodiment of the present application provides a positioning system for multiple positioning stakes, the system comprising: a plurality of first positioning stakes located in a target area, a timing device, and a positioning device;

[0011] A timing device, configured to send a timing signal to a plurality of first positioning stakes in a first frequency band, wherein the timing signal includes a time of a clock of the timing device, the clock of the timing device is atomic, and a maximum frequency of the first frequency band is less than a preset frequency;

[0012] Each first positioning stake is used to receive a timing signal in a first frequency band and calibrate the time of each first positioning stake based on the time of a clock of the timing device;

[0013] Each first positioning pile is used to send a positioning signal within a corresponding coverage area, wherein the positioning signal includes first position information of the corresponding positioning pile and a timestamp of sending the positioning signal;

[0014] A positioning device, configured to receive positioning signals from a plurality of second positioning piles, wherein the plurality of second positioning piles are part or all of the plurality of first positioning piles;

[0015] The positioning device is configured to determine target position information of the positioning device based on a timestamp of a positioning signal received from each second positioning pile, a reception time of the positioning signal received by the positioning device from each second positioning pile, a speed of light, and first position information of each second positioning pile received.

[0016] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory, the processor being connected to the memory, the memory being used to store computer programs, and the processor being used to execute the computer programs stored in the memory, so that the electronic device performs the method of the first aspect.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program enables a computer to execute the method of the first aspect.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and is computer-operable to enable the computer to execute the method of the first aspect.

[0019] The implementation of the embodiments of the present application has the following beneficial effects:

[0020] It can be seen that in the embodiment of the present application, the timing device sends a timing signal to multiple first positioning stakes on the first frequency band, wherein the timing signal includes the time of the timing device's clock, the timing device's clock has atomicity, and the maximum frequency of the first frequency band is less than the preset frequency; each first positioning stake receives the timing signal on the first frequency band and calibrates the time of each first positioning stake based on the time of the timing device's clock; each first positioning stake sends a positioning signal within the corresponding coverage range, wherein the positioning signal includes the first position information of the corresponding positioning stake and the timestamp of sending the positioning signal; the positioning device receives positioning signals from multiple second positioning stakes, wherein the multiple second positioning stakes are part or all of the multiple first positioning stakes; the positioning device determines the target position information of the positioning device based on the timestamp of the positioning signal received from each second positioning stake, the receiving time of the positioning signal received by the positioning device from each second positioning stake, the speed of light, and the first position information received from each second positioning stake. First, the timing device is used to time each first positioning stake and calibrate the time of each first positioning stake to ensure the accuracy of the time of each first positioning stake, reduce the time error caused by clock drift, and improve the accuracy of positioning of the positioning device.

[0021] Furthermore, by transmitting a positioning signal through each first positioning stake, positioning devices within the coverage area of the multiple first positioning stakes are located, rather than through GPS positioning. This avoids the problem that GPS signals need to cover a larger coverage area and have a higher transmission frequency, resulting in poor penetration ability and inability to penetrate buildings to reach indoors, or inability to penetrate dense jungles to reach some natural scenic areas, resulting in the positioning signal being unable to reach the coverage received by the positioning device. By deploying multiple first positioning stakes in the target area to transmit positioning signals for positioning, the positioning signals transmitted by the multiple first positioning stakes can cover the entire target area. When the positioning device receives the positioning signal from each second positioning stake (that is, when the positioning device enters the target area), the target position information of the positioning device can be determined based on the timestamp of the positioning signal received from each second positioning stake, the time when the positioning device receives the positioning signal from each second positioning stake, the speed of light, and the first position information received from each second positioning stake. The positioning signal will not be blocked and thus the positioning device will not be unable to receive it, thereby improving the accuracy of positioning the positioning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 A schematic diagram of a positioning system for multiple positioning piles provided in an embodiment of the present application;

[0024] Figure 2 A schematic flow chart of a positioning method for multiple positioning piles provided in an embodiment of the present application;

[0025] Figure 3 A schematic diagram of an i-th second positioning pile group provided in an embodiment of the present application;

[0026] Figure 4 A schematic diagram of a j-th second positioning pile group provided in an embodiment of the present application;

[0027] Figure 5 A block diagram of the functional units of a positioning system with multiple positioning piles provided in an embodiment of the present application;

[0028] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0030] The terms "first," "second," "third," and "fourth," etc., in the specification, claims, and drawings of this application are used to distinguish between different objects, not to describe a particular order. In addition, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0031] References herein to "embodiments" mean that a particular feature, result, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] See Figure 1 , Figure 1Schematic diagram of a multi-positioning pile positioning system provided in an embodiment of the present application. The multi-positioning pile positioning system includes a plurality of first positioning piles 101 ( Figure 1 The number of the multiple first positioning piles is only an example and does not constitute a limitation on the number of the first positioning piles. The positions of the multiple first positioning piles are also only examples and do not constitute a limitation on the positions of the first positioning piles in the target area), timing device 102 and positioning device 103. It should be noted that the target area can be an indoor area, such as a shopping mall, classroom, factory, and exhibition hall, etc., or an outdoor area, such as a natural landscape area (such as a dense jungle, a mountainous area, etc.), a school playground, etc., and this application does not limit this. The positioning device 103 can be a smart phone, or other devices with a wireless signal communication module and a processing module, etc., and this application does not limit this.

[0033] It should be noted that the location information of each first positioning stake in the target area is determined in advance using a satellite positioning receiver. Specifically, the Global Positioning System (GPS) and the Beidou Satellite Navigation System (BDS) can be used. These systems have different constellation distributions and signal frequencies. To improve positioning accuracy, multi-constellation combined positioning can be used, that is, the signals of GPS and BDS are used simultaneously. Furthermore, a high-precision satellite positioning receiver is selected, whose accuracy indicators include horizontal accuracy and vertical accuracy. A receiver with centimeter-level accuracy is selected, such as a satellite positioning receiver using carrier phase difference technology. By receiving the differential signal sent by the satellite, this satellite positioning receiver can effectively eliminate common errors such as satellite orbit error and atmospheric delay error, greatly improving the positioning accuracy of each first positioning stake and improving the accuracy of the location information of each first positioning stake. Furthermore, when determining the location information of each first positioning stake, a time period with less interference can be selected to reduce the interference of other waves on the positioning signal.

[0034] The position information of each first positioning stake may be in the same coordinate system as the position information of the calibration center (ie, satellite), or in a different coordinate system, which is not specifically limited in this application. When in different coordinate systems, they can be converted using a coordinate conversion method.

[0035] The timing device 102 sends a timing signal to multiple first positioning piles 101 on a first frequency band, wherein the timing signal includes the time of the clock of the timing device 102, the clock of the timing device 102 is atomic, and the maximum frequency of the first frequency band is less than a preset frequency; each first positioning pile receives the timing signal on the first frequency band and calibrates the time of each first positioning pile based on the time of the clock of the timing device 102; each first positioning pile sends a positioning signal within a corresponding coverage range, wherein the positioning signal includes the first position information of the corresponding positioning pile and the timestamp of sending the positioning signal; the positioning device 103 receives positioning signals from multiple second positioning piles, wherein the multiple second positioning piles are part or all of the multiple first positioning piles; the positioning device 103 determines the target position information of the positioning device based on the timestamp of the positioning signal received from each second positioning pile, the time when the positioning device receives the positioning signal from each second positioning pile, the speed of light, and the first position information received from each second positioning pile.

[0036] It can be seen that in the embodiment of the present application, the timing device sends a timing signal to multiple first positioning stakes on the first frequency band, wherein the timing signal includes the time of the timing device's clock, the timing device's clock is atomic, and the maximum frequency of the first frequency band is less than the preset frequency; each first positioning stake receives the timing signal on the first frequency band and calibrates the time of each first positioning stake based on the time of the timing device's clock; each first positioning stake sends a positioning signal within the corresponding coverage range, wherein the positioning signal includes the first position information of the corresponding positioning stake and the timestamp of sending the positioning signal; the positioning device receives the positioning signal of each second positioning stake; the positioning device determines the target position information of the positioning device based on the timestamp of the positioning signal received from each second positioning stake, the receiving time of the positioning signal received by the positioning device from each second positioning stake, the speed of light, and the first position information received from each second positioning stake. First, the timing device is used to time each first positioning stake and calibrate the time of each first positioning stake to ensure the accuracy of the time of each first positioning stake, reduce the time error caused by clock drift, and improve the accuracy of positioning of the positioning device.

[0037] Furthermore, by transmitting a positioning signal through each first positioning stake, positioning devices within the coverage area of the multiple first positioning stakes are located, rather than through GPS positioning. This avoids the problem that GPS signals need to cover a larger coverage area and have a higher transmission frequency, resulting in poor penetration ability and inability to penetrate buildings to reach indoors, or inability to penetrate dense jungles to reach some natural scenic areas, resulting in the positioning signal being unable to reach the coverage received by the positioning device. By deploying multiple first positioning stakes in the target area to transmit positioning signals for positioning, the positioning signals transmitted by the multiple first positioning stakes can cover the entire target area. When the positioning device receives the positioning signal from each second positioning stake (that is, when the positioning device enters the target area), the target position information of the positioning device can be determined based on the timestamp of the positioning signal received from each second positioning stake, the time when the positioning device receives the positioning signal from each second positioning stake, the speed of light, and the first position information received from each second positioning stake. The positioning signal will not be blocked and thus the positioning device will not be unable to receive it, thereby improving the accuracy of positioning the positioning device.

[0038] See Figure 2 , Figure 2 A schematic flow chart of a positioning method for multiple positioning piles provided in an embodiment of the present application, the method includes but is not limited to steps S201-S205:

[0039] S201: The timing device sends a timing signal to a plurality of first positioning stakes in a first frequency band.

[0040] Exemplarily, before step S201, the time of the timing device needs to be calibrated. Specifically, the time of the timing device can be calibrated through a satellite positioning system, including: the timing device receives a calibration signal from a calibration center. The clock of the calibration center is an atomic clock. The calibration signal includes the time of the atomic clock of the calibration center and the second position information of the calibration center. The calibration center can be a satellite, and the calibration signal sent by the calibration center can be understood as a navigation message sent by the satellite. The calibration center can send the calibration signal periodically or at a preset time. The timing device determines the first distance between the timing device and the calibration center based on the third position information and the second position information of the timing device. It should be noted that the first distance refers to the actual distance between the calibration center and the timing device. The timing device determines the second distance between the timing device and the calibration center based on the arrival time of the calibration signal, the time of the atomic clock and the speed of light. It should be noted that the second distance is a distorted distance. This distortion is primarily due to measurement errors in transmission delay caused by clock asynchrony between the calibration center and the timing equipment. Furthermore, the calibration signal sent by the calibration center experiences changes in propagation speed as it passes through the ionosphere and troposphere, no longer equal to the speed of light in a vacuum. This propagation speed error can be calculated using the correction parameters in the GPS navigation message according to a statistical model to obtain the first preset corrected distance.

[0041] Furthermore, based on the first distance, the second distance, the first preset correction distance, and the speed of light, a first time difference between the clock of the timing device and the clock of the calibration center is determined. It should be noted that the first time difference T1 between the clock of the timing device and the clock of the calibration center can be determined by the following formula (1):

[0042]

[0043] Wherein, C represents the speed of light, L2 represents the second distance, L1 represents the first distance, and δ1 represents the first preset correction distance.

[0044] Furthermore, the timing device calibrates the time of the timing device based on the first time difference. The time of the timing device clock is added to the first time difference to obtain the new time of the timing device clock. The time of the timing device is synchronized with the time of the calibration center, completing the time service of the timing device by the calibration center.

[0045] It can be seen that in the embodiment of the present application, because the clock of the calibration center is an atomic clock, clock drift is not easy to occur; and because the cost of atomic clocks is relatively high, if they are directly installed in the timing equipment, the cost is very high. Therefore, the calibration center can calibrate the time of the clock of the timing equipment to achieve synchronization between the timing equipment and the calibration center at a low cost, so that the time of the clock of the timing equipment is also atomic, reducing the error caused by clock drift during the positioning process and improving the accuracy of positioning.

[0046] Exemplarily, a timing device transmits a timing signal to multiple first positioning stakes over a first frequency band. The timing signal includes the time of the timing device's clock. The timing signal is atomic because the time of the timing device's clock is calibrated by a calibration center. Therefore, the timing device's clock is also atomic. The maximum frequency of the first frequency band is less than a preset frequency. Signal penetration decreases with increasing frequency. Since this application is primarily used in scenic areas or indoor areas with many obstacles, if GPS positioning is used directly, the GPS signal needs to cover a larger coverage area, and the GPS transmission frequency is higher. Therefore, penetration is relatively poor, and it cannot penetrate buildings to reach indoors, or penetrate dense jungles to reach some natural scenic areas. This results in lower positioning accuracy if GPS positioning is used directly. Therefore, timing devices can be deployed in the target area, transmitting timing signals to multiple first positioning stakes over the first frequency band, providing timing for each first positioning stake. Since the timing device sends timing signals to multiple first positioning stakes in the first frequency band, the timing signals have strong penetration ability and can penetrate buildings to reach indoors, or penetrate dense jungles to reach some natural scenic spots, ensuring that each first positioning stake can receive the timing signal sent by the timing device.

[0047] S202: Each first positioning stake receives a timing signal in a first frequency band, and calibrates the time of each first positioning stake based on the time of a clock of a timing device.

[0048] Exemplarily, the third distance between each first positioning pile and the third position information is obtained. Since the position of the positioning pile and the position of the timing device are measured in advance, the actual distance between each first positioning pile and the timing device is known, that is, the third distance is known. The time when the timing signal arrives at each first positioning pile is obtained; based on the time when the timing signal arrives at each first positioning pile, the time of the clock of the timing device and the speed of light, the fourth distance between the timing device and each first positioning pile is determined. It should be noted that the fourth distance is a distorted distance. The distortion is mainly due to the measurement error of the transmission delay caused by the asynchrony of the clocks of the timing device and the positioning pile; and the propagation speed of the timing signal sent by the timing device will change when it passes through an obstacle and is no longer equal to the speed of light, thereby causing an error in the propagation speed. The measurement error caused by the propagation speed of the signal can be calculated through multiple measurements to obtain the second preset corrected distance.

[0049] Furthermore, based on the third distance, the fourth distance between the timing device and each first positioning stake, the second preset correction distance, and the speed of light, a second time difference between the clock of the timing device and the clock of each first positioning stake is determined. It should be noted that the second time difference T2 between the clock of the timing device and the clock of each first positioning stake can be determined by the following formula (2):

[0050]

[0051] Wherein, C represents the speed of light, L3 represents the third distance, L4 represents the fourth distance, and δ2 represents the second preset correction distance.

[0052] Furthermore, the time of each positioning device is synchronized based on the second time difference between the clock of the timing device and the clock of each first positioning stake. The time of each first positioning stake is added to the second time difference corresponding to the positioning stake to obtain the new time corresponding to the positioning stake, thereby achieving synchronization between the time of each first positioning stake and the time of the positioning device, completing the time synchronization of each first positioning stake by the timing device.

[0053] It should be noted that in the embodiment of the present application, the timing of each first positioning pile can be periodic, can be performed on a daily basis, and can be performed at night or other time periods with less signal interference. The present application does not limit this.

[0054] It can be seen that in the embodiment of the present application, the positioning pile is timed by the timing device, and the time synchronization of the positioning pile and the timing device is achieved at a low cost, so that the time of the positioning pile clock is also atomic, reducing the error caused by clock drift during the positioning process and improving the accuracy of positioning.

[0055] Furthermore, the present application does not directly time the positioning pile through the calibration center, that is, GPS, but rather uses the timing device to send the timing device to the positioning pile on the first frequency band. The timing signal has a strong penetrating ability to penetrate the building to reach indoors, or penetrate the dense jungle to reach some natural scenic spots, ensuring that each first positioning pile can receive the timing signal sent by the timing device. This avoids the problem that the timing signal cannot reach the positioning pile due to the fact that the GPS signal needs to cover a larger coverage area and the GPS transmission frequency is high, so the penetration ability is relatively poor and it cannot penetrate the building to reach indoors, or cannot penetrate the dense jungle to reach some natural scenic spots. Therefore, by using the timing device to time each first positioning pile, it can be ensured that the positioning pile can receive the timing signal and the time of the positioning pile is calibrated, so that the time of the positioning pile clock is also atomic, reducing the error caused by clock drift during the positioning process and improving the accuracy of positioning.

[0056] S203: Each first positioning pile sends a positioning signal within a corresponding coverage area.

[0057] Exemplarily, each first positioning pile sends a positioning signal within the corresponding coverage range. The positioning signal includes the first position information of the corresponding positioning pile and the timestamp of sending the positioning signal. It should be noted that the positioning signal can be sent by radio frequency modulation, for example: by long-range radio (LoRA), fast remote communication (FLRC) and Gaussian frequency shift keying (GFSK). Compared with communication methods such as Bluetooth, these methods have stronger penetration and are less affected by the target object. Each first positioning pile sends its own first position information and the timestamp of sending the positioning signal. If a positioning device receives the positioning signal of the positioning pile, it can start to locate the positioning device.

[0058] It should be noted that when deploying positioning piles, it should be ensured that each position in the target area can receive positioning signals sent by at least three positioning piles; further, it can also be ensured that each position in the target area can receive positioning signals sent by at least four positioning piles. It can be determined based on actual conditions. The more positioning signals from positioning piles that can be received at each position, the higher the positioning accuracy. This application does not make specific restrictions here.

[0059] S204: The positioning device receives positioning signals from a plurality of second positioning piles.

[0060] Exemplarily, the positioning device receives positioning signals from multiple second positioning piles, where the multiple second positioning piles are part or all of the multiple first positioning piles. When the positioning device enters the target area, due to the coverage of the positioning device and the positioning piles that have entered the target area, it will receive positioning signals from multiple second positioning piles. The number of second positioning piles is related to the position of the positioning device and the coverage of each positioning pile. If the coverage of each positioning pile can cover the entire target area, the multiple second positioning piles are all the multiple first positioning piles, and the number of the multiple second positioning piles is equal to the number of the multiple first positioning piles; if at least three positioning piles can receive positioning signals at each location in the target area, the number of the multiple second positioning piles is greater than 3; if at least four positioning piles can receive positioning signals at each location in the target area, the number of the multiple second positioning piles is greater than 4.

[0061] S205: The positioning device determines the target position information of the positioning device based on the timestamp of the positioning signal received from each second positioning pile, the receiving time of the positioning signal from each second positioning pile, the speed of light, and the first position information received from each second positioning pile.

[0062] Exemplarily, the positioning device determines the target location information of the positioning device based on the timestamp of the positioning signal received from each second positioning pile, the time at which the positioning device receives the positioning signal from each second positioning pile, the speed of light, and the first location information of each second positioning pile received. Optionally, the device directly determines the transmission time difference of the positioning signal received from each second positioning pile to the positioning device based on the timestamp of the positioning signal received from each second positioning pile and the time at which the positioning signal was received from each second positioning pile, i.e., subtracting the timestamp of the positioning signal received from each second positioning pile from the time at which the positioning signal was received from each second positioning pile to obtain the transmission time difference of the positioning signal received from each second positioning pile to the positioning device. The device also determines the distance between each second positioning pile and the positioning device based on the transmission time difference of the positioning signal received from each second positioning pile to the positioning device and the speed of light, i.e., multiplying the transmission time difference of the positioning signal received from each second positioning pile to the positioning device by the speed of light to obtain the distance between each second positioning pile and the positioning device.

[0063] Optionally, after obtaining the distance between each second positioning pile and the positioning device, you can select the distance between three second positioning piles and the positioning device and the position information of the three second positioning piles, take each of the three second positioning piles as the center of the circle and the distance as the radius, establish three equations, and finally obtain the target position information of the positioning device.

[0064] Optionally, after determining the distance between each second locating pile and the positioning device, the plurality of second locating piles are divided into a plurality of second locating pile groups. The number of second locating piles in each second locating pile group is a preset number, which is greater than or equal to 3 and less than or equal to the number of the plurality of second locating piles. In this application, the preset number of 3 is used as an example for illustration. When the preset number is other values, the processing method is similar to that when the preset number is 3, and this application does not elaborate further. Based on the distance between the second locating piles in each second locating pile group and the positioning device, and the first position information of the second locating piles in each second locating pile group, a plurality of candidate position information corresponding to the positioning device is determined. Each candidate position information corresponds to each second locating pile group. For example, the distance between the second locating piles in the i-th second locating pile group and the positioning device, and the position information of the second locating piles in the i-th second locating pile group are used to determine the i-th candidate position information corresponding to the positioning device. The i-th second locating pile group is any one of the plurality of second locating pile groups, and the i-th candidate position information is the candidate position information corresponding to the i-th second locating pile group. The position information of the three second positioning piles in the i-th second positioning pile group can be expressed as (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3) in three-dimensional coordinates respectively. The distances between the second positioning piles in the i-th second positioning pile group and the positioning device are r1, r2 and r3 respectively. Therefore, the i-th candidate position information (x, y, z) corresponding to the positioning device can be expressed by formula (3):

[0065]

[0066] Among them, (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3) are the three-dimensional coordinates of the three second positioning piles in the i-th second positioning pile group, r1, r2 and r3 are the distances between the second positioning piles in the i-th second positioning pile group and the positioning device, and (x, y, z) is the i-th candidate position information corresponding to the positioning device.

[0067] It should be noted that based on the distance between the second positioning pile in the i-th second positioning pile group and the positioning device, and the position information of the second positioning pile in the i-th second positioning pile group, the method for determining the i-th candidate position information corresponding to the positioning device is based on formula (3), and each candidate position information corresponding to each second positioning pile group is determined. Because the determination method is similar, this application will not repeat it here.

[0068] Furthermore, based on the plurality of candidate position information and the first position information of the second positioning pile in each second positioning pile group, the target position information is determined from the plurality of candidate position information. Based on the plurality of candidate position information and the first position information of the second positioning pile in each second positioning pile group, the volume of the closed figure formed by the second positioning pile in each second positioning pile group and the corresponding candidate position is determined. For example, Figure 3 As shown, continue to take the i-th second positioning pile group and the i-th candidate position information as an example to illustrate, Figure 3 The number of second positioning piles in the i-th second positioning pile group is 3. First, the i-th candidate position information of the positioning device is used as the vertex, and the plane formed by the i-th second positioning pile group is used as the ground. Through mathematical calculation, the area of the first closed figure formed by the i-th second positioning pile group and the i-th candidate position information is obtained.

[0069] Furthermore, since the candidate position information determined based on different second positioning pile groups has small differences, in order to obtain the most accurate position information from multiple candidate position information, the volume of the closed figure can be used as a measure. Specifically, the positioning pile group with the largest volume of the closed figure corresponding to the multiple second positioning pile groups is used as the target second positioning pile group; and the candidate position information corresponding to the target second positioning pile group is used as the target position information. Continuing with the above example, as shown in FIG. Figure 4 As shown, the j-th second positioning pile group and the j-th candidate position information of the positioning device are used as an example for explanation. The j-th second positioning pile group is any one of the multiple second positioning pile groups except the i-th second positioning pile group, and the j-th candidate position information is the candidate position information corresponding to the j-th second positioning pile group. First, the j-th candidate position information of the positioning device is taken as the vertex, and the plane formed by the j-th second positioning pile group is taken as the ground. Through mathematical operations, the area of the second closed figure formed by the j-th second positioning pile group and the j-th candidate position information is obtained. It can be seen that the area of the second closed figure is smaller than the area of the first closed figure. Therefore, if there are only the j-th candidate position information and the i-th candidate position information among the multiple candidate position information, the i-th candidate position information is taken as the target position information.

[0070] It can be seen that in the embodiment of the present application, the volume of the corresponding closed figure in the multiple second positioning pile groups characterizes the distribution of the second positioning piles in the multiple second positioning pile groups, reflecting the amplification effect of the closed figure formed between the positioning device and the second positioning piles in the multiple second positioning pile groups on the ranging error. Under the condition of the same ranging accuracy, the larger the volume of the corresponding closed figure in the multiple second positioning pile groups, the more robust the closed figure formed between the positioning device and the second positioning piles in the multiple second positioning pile groups is, the smaller the amplification effect on the ranging error is, and the higher the accuracy of the determined candidate position information. Therefore, the positioning pile group with the largest volume of the corresponding closed figure in the multiple second positioning pile groups is used as the target second positioning pile group, so that the second positioning piles in the determined target second positioning pile group are not concentrated in one area, but can be evenly distributed in different azimuth areas, reducing the amplification effect on the ranging error. Further, using the candidate position information corresponding to the target second positioning pile group as the target position information can make the determined target position information more accurate.

[0071] In one embodiment of the present application, if the preset number is greater than or equal to a preset threshold, and the transmission time difference includes a time error between the time of the positioning device and the time of the clock of the timing device, the present application also provides a method for time calibration of the positioning device.

[0072] It should be noted that the transmission time difference of the positioning signal received from each second positioning pile to the positioning device is determined based on the timestamp of the positioning signal received from each second positioning pile and the reception time of the positioning signal received from each second positioning pile. The transmission time difference determined by this method also includes the time error caused by the asynchrony between the clock time of the timing device and the time of each second positioning pile. Therefore, in the embodiment of the present application, the transmission time difference of the positioning signal from each second positioning pile to the positioning device includes the actual time difference plus the time error. The preset threshold can be 4. When the preset number is greater than or equal to 4, the time error can also be determined. This application is described with the preset number being 4. When the preset number is other values greater than 4, the processing method is similar to that when the preset number is 4, and this application will not elaborate on it.

[0073] Exemplarily, the time error is determined based on the distance between the second positioning piles in the target second positioning pile group and the positioning device, and the position information of the second positioning piles in the target second positioning pile group. Because the preset number is 4, the number of second positioning piles in the target second positioning pile group is 4. Continuing with the above example, if the target second positioning pile group is the i-th second positioning pile group, in this embodiment, the preset number is 4. Therefore, the number of second positioning piles in the i-th second positioning pile group in this embodiment is 4. The position information of the four second positioning piles in the target second positioning pile group can be respectively expressed by three-dimensional coordinates as (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) and (x4, y4, z4). The actual time difference between the four second positioning piles in the target second positioning pile group and the positioning device is t1, t2, t3 and t4 respectively. The time error between the time of the positioning device and the time of the clock of the timing device is Δt. Therefore, the target position information (x, y, z) and the time error Δt corresponding to the positioning device can be expressed by formula (4):

[0074]

[0075] Among them, (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) and (x4, y4, z4) are the three-dimensional coordinates of the four second positioning piles in the target second positioning pile group, t1, t2, t3 and t4 are the actual time differences between the four second positioning piles in the target second positioning pile group and the positioning device, (x, y, z) is the target position information corresponding to the positioning device, Δt is the time error, and c is the speed of light.

[0076] The time error can be determined by the above formula (4). It should be noted that if the preset number is greater than or equal to 4, the i-th candidate position information corresponding to the positioning device in the above example can be calculated by formula (4), that is, the i-th candidate position information and the time error corresponding to the i-th second positioning pile group can be directly determined. Therefore, after determining the target second positioning pile group, the positioning device can directly obtain the time error corresponding to the target second positioning pile group. The time of the positioning device is calibrated based on the time error. That is, the time of the positioning device is added to the time error to obtain the new time of the positioning device, thereby realizing the calibration of the time of the positioning device.

[0077] It should be noted that in the embodiment of the present application, the time calibration of the positioning device can be periodic, in units of days, or time calibration can be performed when the positioning device is detected to enter the target area for the first time, etc. This application does not limit this.

[0078] As can be seen, in the embodiment of the present application, the positioning device determines the time error based on the distance between the second positioning pile in the target second positioning pile group and the positioning device, and the position information of the second positioning pile in the target second positioning pile group; the positioning device calibrates the time of the positioning device based on the time error. Calibrating the time of the positioning device based on the time error corresponding to the position information of the target second positioning pile with the highest accuracy can improve the time synchronization between the positioning device and the positioning pile, reduce the positioning error caused by time synchronization in the next positioning, and improve the positioning accuracy of the positioning device.

[0079] In one embodiment of the present application, if the number of received positioning signals from each second positioning pile is multiple, determining the transmission time difference of the received positioning signal from each second positioning pile to the positioning device based on the timestamp of the received positioning signal from each second positioning pile and the reception time of the positioning device receiving the positioning signal from each second positioning pile includes:

[0080] Obtain the received power of the multiple positioning signals received by the positioning device from each second positioning pile; determine the first attenuation power of each positioning signal from each second positioning pile based on the received power of the multiple positioning signals from each second positioning pile and the transmit power of the positioning signal. That is, subtract the received power from the transmit power to obtain the first attenuation power. Based on the first attenuation power of each positioning signal from each second positioning pile, determine the target positioning signal of each second positioning pile from the multiple positioning signals of each second positioning pile, wherein the first attenuation power corresponding to the target positioning signal is the smallest among the first attenuation powers of the multiple positioning signals from each second positioning pile; based on the timestamp of the target positioning signal of each second positioning pile and the reception time of the target positioning signal from each second positioning pile by the positioning device, obtain the transmission time difference of the positioning signal from each second positioning pile to the positioning device, that is, use the difference between the reception time and the timestamp as the transmission time difference.

[0081] Because each first positioning pile sends positioning signals in different directions based on the signal transmission method, the positioning signal may be reflected or diffracted during transmission. Therefore, the positioning device may receive different positioning signals from the same positioning pile at the same time. Therefore, the multiple positioning signals of each second positioning pile can be screened based on the received power of the multiple positioning signals of each second positioning pile to determine the target second positioning signal, that is, to determine the first attenuation power of each positioning signal of each second positioning pile. The positioning signal with the smallest first attenuation power among the multiple positioning signals of each second positioning pile is used as the target positioning signal of each second positioning pile. The smallest first attenuation power of the target positioning signal indicates that the target positioning signal encounters less obstruction during transmission and the transmission conditions are better. Therefore, the target positioning signal is more reliable than other positioning signals.

[0082] As can be seen, in this embodiment of the present application, the difference between the timestamp of the target positioning signal of each second positioning stake and the time when the positioning device receives the target positioning signal of each second positioning stake is used as the transmission time difference of the positioning signal from each second positioning stake to the positioning device. Because the target positioning signal is more reliable, the transmission time difference determined based on the target positioning signal is also more accurate, which can reduce positioning errors caused by time asynchrony.

[0083] In one embodiment of the present application, the present application provides multiple application scenarios.

[0084] Optionally, the target area can be an outdoor scenic area. Since the scenic area includes mountainous areas or dense forests, the GPS positioning method cannot perform accurate positioning in such scenarios. Therefore, positioning can be performed using a positioning method using multiple positioning piles. Specifically, multiple first positioning piles are set up in the scenic area. When deploying the positioning piles, it is ensured that each location in the scenic area can receive positioning signals sent by at least three positioning piles; further, it is also necessary to ensure that each location in the target area can receive positioning signals sent by at least four positioning piles. This can be determined based on actual conditions. The more positioning signals from the positioning piles that can be received at each location, the higher the positioning accuracy. This application does not make any specific restrictions here.

[0085] For example, in an application scenario where the target area is a scenic spot, the positioning device can be a locator with positioning function held by a tour guide or a locator with positioning function held by a tourist, etc., and this application does not limit this. The positioning method of multiple positioning piles described in the above embodiment can accurately locate the positioning device, so that tourists or tour guides can always know their location and avoid getting lost in a complex scenic environment.

[0086] Optionally, the target area can be a school area. Since the floor structure of the school area is relatively complex, the GPS positioning method cannot perform accurate positioning in this scenario. Therefore, positioning can be performed using a positioning method using multiple positioning piles. Specifically, multiple first positioning piles are set in the school area. When arranging the positioning piles, it is ensured that each location in the school area can receive positioning signals sent by at least three positioning piles; further, it is also necessary to ensure that each location in the target area can receive positioning signals sent by at least four positioning piles. This can be determined based on actual conditions. The more positioning signals from the positioning piles that can be received at each location, the higher the positioning accuracy. This application does not make any specific restrictions here.

[0087] For example, in a scenario where the target area is a study area, the positioning device can be a device with a positioning function, such as a student card held by a student. The student card can be positioned using the positioning method of multiple positioning piles described in the above embodiment, thereby achieving accurate positioning of the student. Furthermore, the location information of the student card can be uploaded to the server to facilitate student management. For example, when a student's student card is detected in a preset dangerous area (such as the top floor), the corresponding management personnel can be notified to search for the corresponding student at the location of the student card and provide assistance, etc., to increase the protection of student safety.

[0088] Optionally, the target area can be a factory area. Since the floor structure of the factory area is relatively complex and most of it is a closed indoor area, the GPS positioning method cannot perform precise positioning in this scenario. Positioning can be performed using a positioning method using multiple positioning piles. Specifically, multiple first positioning piles are set in the factory area. When arranging the positioning piles, it is ensured that each position in the factory area can receive positioning signals sent by at least three positioning piles; further, it is also necessary to ensure that each position in the target area can receive positioning signals sent by at least four positioning piles. It can be determined based on actual conditions. The more positioning signals from the positioning piles that can be received at each position, the higher the accuracy of positioning. This application does not make specific limitations here.

[0089] For example, in a scenario where the target area is a factory area, the positioning device can be a device with a positioning function, such as a work badge held by a worker. The work badge can be positioned by the positioning method of multiple positioning piles described in the above embodiment, thereby achieving accurate positioning of the worker. Furthermore, the location information of the work badge can be uploaded to the server to facilitate the management of the workers. For example, when it is detected that a worker's work badge is in a preset dangerous area (such as an incineration area, etc.), the corresponding management personnel can be notified to find the corresponding worker at the location of the work badge and provide assistance, etc., to increase the protection of workers' safety.

[0090] In one embodiment of the present application, a method for determining the transmission power of multiple first positioning piles is further provided. The positioning system of multiple positioning piles further includes a server. The method for determining the transmission power of the multiple first positioning piles is executed by the server. The method includes steps S301-S303:

[0091] S301: Determine multiple transmission paths of a positioning signal transmitted by an nth first positioning pile based on a coverage radius of the nth first positioning pile and a positioning signal transmission mode of the nth first positioning pile, wherein the nth first positioning pile is any one of the multiple first positioning piles.

[0092] Exemplarily, based on the positioning signal transmission mode of each positioning pile, multiple propagation paths of the positioning pile are determined, that is, a propagation path is determined at each radiation angle, and the length of each propagation path is the coverage radius of the positioning pile.

[0093] S302: Obtain obstacles on each corresponding propagation path of the n-th first positioning stake.

[0094] For example, a digital twin model of the target area is first constructed, and the digital twin model obtains the actual internal layout of the target area; alternatively, the actual internal layout of the target area is directly obtained (this application does not limit the method for obtaining the actual internal layout). Then, based on the actual internal layout, the obstacles on each corresponding propagation path of the nth first positioning stake are determined.

[0095] S303: Determine the transmission power based on the obstacles of the nth first positioning stake on each propagation path.

[0096] Perform digital twinning of the target area to determine the propagation distance of each propagation path on each obstacle. Exemplarily, based on the digital twin model, determine the propagation distance of each propagation path on each obstacle, that is, based on the actual internal layout, determine the propagation distance of each propagation path on each obstacle. Obtain the type of each obstacle in the obstacles on each propagation path. Based on the mapping relationship between the obstacle type and the attenuation coefficient, determine the attenuation coefficient corresponding to each obstacle type, where the attenuation coefficient represents the attenuation of the positioning signal power per unit transmission distance on the obstacle; based on the type of each obstacle, determine the attenuation coefficient of each obstacle, that is, pre-configure the corresponding relationship between the obstacle and the attenuation coefficient, and then obtain the attenuation coefficient corresponding to each obstacle.

[0097] Optionally, the transmission power of the nth first positioning pile is determined based on the attenuation coefficient of each obstacle and the propagation distance at each obstacle. This specifically includes: determining a second attenuation power of the positioning signal of the nth first positioning pile at each obstacle based on the attenuation coefficient of each obstacle and the propagation distance at each obstacle; that is, multiplying the product of the attenuation coefficient of each obstacle and the propagation distance corresponding to each obstacle as the second attenuation power of the positioning signal of the nth first positioning pile at each obstacle. Determining a total attenuation power of the nth first positioning pile on each propagation path based on the second attenuation power of the positioning signal of the nth first positioning pile at each obstacle; that is, summing the second attenuation power of the positioning signal of the nth first positioning pile at each obstacle to obtain the total attenuation power of the nth first positioning pile on each propagation path. Determining a target attenuation power of the nth first positioning pile based on the total attenuation power of the nth first positioning pile on each propagation path, wherein the target attenuation power is the maximum total attenuation power of the total attenuation power of the nth first positioning pile on each propagation path.

[0098] The transmit power is determined based on the target attenuation power of the nth first positioning pile and the minimum receive power of the nth first positioning pile, where the minimum receive power is the minimum receive power required for the positioning device to receive the positioning signal. Specifically, the candidate power is determined based on the target attenuation power of the nth first positioning pile and the minimum receive power of the nth first positioning pile. It will be understood that if the power of the positioning signal received by the positioning device is less than the minimum receive power, the positioning signal cannot be correctly parsed. Exemplarily, the sum of the minimum receive power and the target attenuation power of each positioning pile is used as the candidate power for each positioning pile.

[0099] Although it is necessary to accurately locate the nth first positioning pile with how much power (candidate power) to transmit the positioning signal in order to resist attenuation and achieve the real coverage range of the coverage radius, each positioning pile can only provide multiple gears of transmission power and cannot provide any one transmission power. Therefore, it is necessary to select the transmission power from the multiple preset powers (i.e., multiple transmission power gears) provided by each positioning pile. Exemplarily, if the candidate power belongs to any one of the multiple preset powers, the candidate power is used as the transmission power. If the candidate power does not belong to any one of the multiple preset powers, the target preset power with the smallest power difference with the candidate power and greater than the candidate power is used as the transmission power to ensure that the coverage range of each positioning pile is greater than or equal to the coverage radius.

[0100] It can be seen that in the embodiment of the present application, the attenuation of the positioning signal by obstacles is taken into account, and the transmission power of each positioning pile is calculated, so that after the positioning signal passes through the obstacle and is attenuated, the coverage range is still greater than or equal to the coverage radius of each positioning pile, thereby achieving full coverage of the positioning signal, thereby ensuring the accuracy of positioning of the positioning device.

[0101] See Figure 5 , Figure 5 This is a block diagram of the functional units of a multi-positioning pile positioning system provided in an embodiment of the present application. The multi-positioning pile positioning system includes: a plurality of first positioning piles 501, a timing device 502, and a positioning device 503;

[0102] A timing device 502 is configured to send a timing signal to a plurality of first positioning stakes in a first frequency band, wherein the timing signal includes a time of a clock of the timing device, the clock of the timing device is atomic, and a maximum frequency of the first frequency band is less than a preset frequency;

[0103] Each first positioning stake (each first positioning stake in the plurality of first positioning stakes 501) is configured to receive a timing signal on a first frequency band and calibrate the time of each first positioning stake based on the time of a clock of the timing device;

[0104] Each first positioning pile (each first positioning pile in the plurality of first positioning piles 501) is configured to send a positioning signal within a corresponding coverage area, wherein the positioning signal includes first position information of the corresponding positioning pile and a timestamp of sending the positioning signal;

[0105] A positioning device 503 is configured to receive positioning signals from a plurality of second positioning piles, wherein the plurality of second positioning piles are part or all of the plurality of first positioning piles;

[0106] The positioning device 503 is configured to determine the target position information of the positioning device based on the timestamp of the positioning signal received from each second positioning pile, the time when the positioning device receives the positioning signal from each second positioning pile, the speed of light, and the first position information received from each second positioning pile.

[0107] In one embodiment of the present application, the timing device 502 is specifically configured to:

[0108] The timing device receives a calibration signal from a calibration center, wherein the clock of the calibration center is an atomic clock, and the calibration signal includes the time of the atomic clock of the calibration center and the second position information of the calibration center;

[0109] The timing device determines a first distance between the timing device and the calibration center based on the third position information and the second position information of the timing device;

[0110] The timing device determines a second distance between the timing device and the calibration center based on the arrival time of the calibration signal, the time of the atomic clock, and the speed of light;

[0111] The timing device determines a first time difference between a clock of the timing device and a clock of the calibration center based on the first distance, the second distance, the first preset correction distance, and the speed of light;

[0112] The timing device calibrates the time of the timing device based on the first time difference.

[0113] In one embodiment of the present application, the timing signal further includes third position information of the timing device. In calibrating the time of each first positioning stake based on the time of the clock of the timing device, the timing device 502 is specifically configured to:

[0114] Obtaining a third distance between each first positioning pile and the third position information;

[0115] Obtain the time when the timing signal arrives at each first positioning stake;

[0116] determining a fourth distance between the timing device and each first positioning stake based on the time when the timing signal reaches each first positioning stake, the time of the clock of the timing device, and the speed of light;

[0117] Determining a second time difference between a clock of the timing device and a clock of each first positioning stake based on the third distance, a fourth distance between the timing device and each first positioning stake, the second preset correction distance, and the speed of light;

[0118] The time of each positioning device is serviced based on the second time difference between the clock of the timing device and the clock of each first positioning stake.

[0119] In one embodiment of the present application, in determining the target position information of the positioning device based on the timestamp of the positioning signal received from each second positioning stake, the time when the positioning device receives the positioning signal from each second positioning stake, the speed of light, and the first position information received from each second positioning stake, the positioning device 503 is specifically configured to:

[0120] Determine the transmission time difference of the received positioning signal of each second positioning pile to the positioning device based on the timestamp of the positioning signal of each second positioning pile and the receiving time of the positioning signal of each second positioning pile;

[0121] determining the distance between each second positioning pile and the positioning device based on the transmission time difference of the positioning signal received from each second positioning pile to the positioning device and the speed of light;

[0122] Dividing the plurality of second positioning piles into a plurality of second positioning pile groups, wherein the number of second positioning piles in each second positioning pile group is a preset number;

[0123] Determine a plurality of candidate position information corresponding to the positioning device based on the distance between the second positioning piles in each second positioning pile group and the positioning device, and the first position information of the second positioning piles in each second positioning pile group, wherein each candidate position information corresponds to each second positioning pile group in a one-to-one manner;

[0124] The target position information is determined from the plurality of candidate position information based on the plurality of candidate position information and the first position information of the second positioning piles in each second positioning pile group.

[0125] In one embodiment of the present application, in determining target location information from multiple candidate location information based on multiple candidate location information and the first location information of the second positioning pile in each second positioning pile group, the positioning device 503 is specifically configured to:

[0126] Determine the volume of a closed figure formed by the second positioning pile in each second positioning pile group and the corresponding candidate position based on the plurality of candidate position information and the first position information of the second positioning pile in each second positioning pile group;

[0127] The positioning pile group with the largest volume of the corresponding closed figure among the plurality of second positioning pile groups is used as the target second positioning pile group;

[0128] The candidate position information corresponding to the target second positioning pile group is used as the target position information.

[0129] In one embodiment of the present application, if the number of received positioning signals from each second positioning pile is multiple, in determining the transmission time difference between the positioning signals received from each second positioning pile and the positioning device based on the timestamp of the positioning signal received from each second positioning pile and the time when the positioning device receives the positioning signal from each second positioning pile, the positioning device 503 is specifically configured to:

[0130] Obtaining received power of multiple positioning signals of each second positioning pile received by the positioning device;

[0131] Determining a first attenuation power of each positioning signal of each second positioning pile based on the received power of the multiple positioning signals of each second positioning pile and the transmitted power of the positioning signal;

[0132] determining a target positioning signal of each second positioning pile from the multiple positioning signals of each second positioning pile based on the first attenuation power of each positioning signal of each second positioning pile, wherein the first attenuation power corresponding to the target positioning signal is the smallest among the first attenuation powers of the multiple positioning signals of each second positioning pile;

[0133] Based on the timestamp of the target positioning signal of each second positioning pile and the reception time of the target positioning signal of each second positioning pile by the positioning device, the transmission time difference of the positioning signal of each second positioning pile to the positioning device is obtained.

[0134] In one embodiment of the present application, if the preset number is greater than or equal to the preset threshold, and the transmission time difference includes a time error between the time of the positioning device and the time of the clock of the timing device, the positioning device 503 is specifically configured to:

[0135] The positioning device determines the time error based on the distance between the second positioning pile in the target second positioning pile group and the positioning device and the position information of the second positioning pile in the target second positioning pile group;

[0136] The positioning device calibrates the time of the positioning device based on the time error.

[0137] See Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 6 As shown, the electronic device 600 includes a transceiver 601, a processor 602, and a memory 603. These are connected via a bus 604. The memory 603 is used to store computer programs and data, and can transmit the data stored in the memory 603 to the processor 602.

[0138] The processor 602 may integrate the functions of the above-mentioned multiple first positioning piles, timing devices, and positioning devices. Specifically, the timing device sends a timing signal to the multiple first positioning piles on the first frequency band, wherein the timing signal includes the time of the clock of the timing device, the clock of the timing device is atomic, and the maximum frequency of the first frequency band is less than the preset frequency; each first positioning pile receives the timing signal on the first frequency band and calibrates the time of each first positioning pile based on the time of the clock of the timing device; each first positioning pile sends a positioning signal within the corresponding coverage range, wherein the positioning signal includes the first position information of the corresponding positioning pile and the timestamp of sending the positioning signal; the positioning device receives positioning signals from multiple second positioning piles, wherein the multiple second positioning piles are part or all of the multiple first positioning piles; the positioning device determines the target position information of the positioning device based on the timestamp of the positioning signal received from each second positioning pile, the receiving time when the positioning device receives the positioning signal from each second positioning pile, the speed of light, and the first position information received from each second positioning pile.

[0139] The memory 603 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 603 may store programs. When the program stored in the memory 603 is executed by the processor 602, the processor 602 and the transceiver 601 are used to perform the various steps of the multi-positioning pile positioning method according to the embodiment of the present application.

[0140] The processor 602 can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), a graphics processing unit (GPU) or one or more integrated circuits, which is used to execute relevant programs to implement the functions required to be performed by the positioning system of multiple positioning piles, or to execute a positioning method for multiple positioning piles in an embodiment of the method of the present application.

[0141] Figure 6 Other functions of the electronic device can refer to the functions described in the above embodiments, and this application does not limit them here.

[0142] It should be understood that the electronic devices in this application may include smartphones (such as Android phones, iOS phones, Windows Phone phones, etc.), tablet computers, PDAs, laptops, mobile Internet devices (MIDs) or wearable devices. The above electronic devices are only examples and are not exhaustive, including but not limited to the above electronic devices. In actual applications, the above electronic devices may also include: smart car terminals, computer equipment, etc.

[0143] An embodiment of the present application further provides a computer-readable storage medium storing a computer program, which is executed by a processor to implement part or all of the steps of any one of the multi-positioning pile positioning methods described in the above method embodiments.

[0144] An embodiment of the present application further provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all steps of any of the multi-positioning pile positioning methods described in the above method embodiments.

[0145] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of actions, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0146] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0147] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0148] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0149] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or in the form of software program modules.

[0150] If the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0151] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program. The program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0152] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of the present application. At the same time, for those skilled in the art, based on the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A positioning method for multiple positioning piles, characterized in that: The method is applied to a positioning system of multiple positioning piles, wherein the positioning system of multiple positioning piles includes multiple first positioning piles located in a target area, a timing device, and a positioning device. The method includes: The timing device sends a timing signal to the plurality of first positioning stakes in a first frequency band, wherein the timing signal includes the time of a clock of the timing device, the clock of the timing device is atomic, and the maximum frequency of the first frequency band is less than a preset frequency; Each first positioning stake receives the timing signal in the first frequency band, and calibrates the time of each first positioning stake based on the time of the clock of the timing device; Each first positioning pile sends a positioning signal within a corresponding coverage area, wherein the positioning signal includes first position information of the corresponding positioning pile and a timestamp of sending the positioning signal; The positioning device receives positioning signals of a plurality of second positioning piles, wherein the plurality of second positioning piles are part or all of the plurality of first positioning piles; The positioning device determines the target position information of the positioning device based on the timestamp of the positioning signal received from each second positioning pile, the receiving time of the positioning signal from each second positioning pile, the speed of light, and the first position information of each second positioning pile received.

2. The method according to claim 1, characterized in that The method further comprises: The timing device receives a calibration signal from a calibration center, wherein the clock of the calibration center is an atomic clock, and the calibration signal includes the time of the atomic clock of the calibration center and the second position information of the calibration center; The timing device determines a first distance between the timing device and the calibration center based on the third position information of the timing device and the second position information; The timing device determines a second distance between the timing device and the calibration center based on the arrival time of the calibration signal, the time of the atomic clock, and the speed of light; The timing device determines a first time difference between a clock of the timing device and a clock of the calibration center based on the first distance, the second distance, a first preset correction distance, and the speed of light; The timing device calibrates the time of the timing device based on the first time difference.

3. The method according to claim 2, characterized in that The timing signal further includes third position information of the timing device, and the calibrating the time of each first positioning stake based on the time of the clock of the timing device includes: Obtaining a third distance between each first positioning pile and the third position information; Obtaining the time when the timing signal arrives at each first positioning stake; determining a fourth distance between the timing device and each first positioning stake based on the time when the timing signal reaches each first positioning stake, the time of the clock of the timing device, and the speed of light; Determining a second time difference between a clock of the timing device and a clock of each first positioning stake based on the third distance, a fourth distance between the timing device and each first positioning stake, a second preset correction distance, and the speed of light; The time of each positioning device is serviced based on the second time difference between the clock of the timing device and the clock of each first positioning stake.

4. The method according to any one of claims 1 to 3, characterized in that The determining the target position information of the positioning device based on the timestamp of the positioning signal received from each second positioning pile, the time when the positioning device receives the positioning signal from each second positioning pile, the speed of light, and the first position information of each second positioning pile received, includes: Determine a transmission time difference between the received positioning signal of each second positioning pile and the positioning device based on the timestamp of the positioning signal of each second positioning pile and the receiving time of the positioning signal of each second positioning pile; determining the distance between each second positioning pile and the positioning device based on the transmission time difference of the positioning signal received from each second positioning pile to the positioning device and the speed of light; Dividing the plurality of second positioning piles into a plurality of second positioning pile groups, wherein the number of second positioning piles in each second positioning pile group is a preset number; Determine a plurality of candidate position information corresponding to the positioning device based on the distance between the second positioning piles in each second positioning pile group and the positioning device, and the first position information of the second positioning piles in each second positioning pile group, wherein each candidate position information corresponds to each second positioning pile group in a one-to-one manner; The target position information is determined from the plurality of candidate position information based on the plurality of candidate position information and the first position information of the second positioning piles in each second positioning pile group.

5. The method according to claim 4, characterized in that The determining the target position information from the plurality of candidate position information based on the plurality of candidate position information and the first position information of the second positioning pile in each second positioning pile group includes: Determine the volume of a closed figure formed by the second positioning pile in each second positioning pile group and the corresponding candidate position based on the plurality of candidate position information and the first position information of the second positioning pile in each second positioning pile group; The positioning pile group with the largest volume of the corresponding closed figure among the plurality of second positioning pile groups is used as the target second positioning pile group; The candidate position information corresponding to the target second positioning pile group is used as the target position information.

6. The method according to claim 4 or 5, characterized in that If the preset number is greater than or equal to a preset threshold, and the transmission time difference includes a time error between the time of the positioning device and the time of the clock of the timing device, the method further includes: The positioning device determines the time error based on the distance between the second positioning pile in the target second positioning pile group and the positioning device and the position information of the second positioning pile in the target second positioning pile group; The positioning device calibrates the time of the positioning device based on the time error.

7. The method according to claim 6, characterized in that If there are multiple positioning signals received from each second positioning pile, determining the transmission time difference between the positioning signals received from each second positioning pile and the positioning device based on the timestamp of the positioning signal received from each second positioning pile and the time when the positioning device receives the positioning signal from each second positioning pile includes: Obtaining received power of multiple positioning signals of each second positioning pile received by the positioning device; Determining a first attenuation power of each positioning signal of each second positioning pile based on the received power of the multiple positioning signals of each second positioning pile and the transmitted power of the positioning signal; determining a target positioning signal of each second positioning pile from the multiple positioning signals of each second positioning pile based on the first attenuation power of each positioning signal of each second positioning pile, wherein the first attenuation power corresponding to the target positioning signal is the smallest among the first attenuation powers of the multiple positioning signals of each second positioning pile; Based on the timestamp of the target positioning signal of each second positioning pile and the reception time of the target positioning signal of each second positioning pile by the positioning device, the transmission time difference of the positioning signal of each second positioning pile to the positioning device is obtained.

8. A positioning system for multiple positioning piles, characterized in that: The system includes: a plurality of first positioning stakes, a timing device and a positioning device located in a target area; The timing device is configured to send a timing signal to the plurality of first positioning stakes in a first frequency band, wherein the timing signal includes a time of a clock of the timing device, the clock of the timing device is atomic, and the maximum frequency of the first frequency band is less than a preset frequency; Each first positioning stake is configured to receive the timing signal in the first frequency band and calibrate the time of each first positioning stake based on the time of the clock of the timing device; Each first positioning pile is used to send a positioning signal within a corresponding coverage area, wherein the positioning signal includes first position information of the corresponding positioning pile and a timestamp of sending the positioning signal; The positioning device is configured to receive positioning signals from a plurality of second positioning piles, wherein the plurality of second positioning piles are part or all of the plurality of first positioning piles; The positioning device is configured to determine the target position information of the positioning device based on the timestamp of the positioning signal received from each second positioning pile, the time when the positioning device receives the positioning signal from each second positioning pile, the speed of light, and the first position information received from each second positioning pile.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the processor is connected to the memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 7.

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