Positioning method and system of multi-positioning pile, electronic equipment and storage medium

Abstract

The application discloses a positioning method and system of multiple positioning piles, an electronic device and a storage medium. The method comprises the following steps: a time-providing device sends a time-providing signal to multiple first positioning piles on a first frequency band; each first positioning pile receives the time-providing signal on the first frequency band, and calibrates the time of each first positioning pile based on the time of the clock of the time-providing device; each first positioning pile sends a positioning signal in a corresponding coverage range; a positioning device receives positioning signals of multiple second positioning piles; and the positioning device determines target position information of the positioning device based on the time stamp of the received positioning signal of each second positioning pile, the receiving time of the positioning device receiving the positioning signal of each second positioning pile, the speed of light and the first position information of each received second positioning pile.

Description

Technical Field

[0001] This application relates to the field of positioning technology, specifically to a positioning method, system, electronic device, and storage medium for multiple positioning stakes. Background Technology

[0002] Currently, the most widely used positioning method is Global Positioning System (GPS) positioning, which mainly calculates the receiver's precise location by receiving signals from geostationary satellites. This technology's advantages lie in its global coverage and high accuracy, making it widely used in open outdoor navigation, vehicle tracking, and other fields. However, in complex natural environments such as scenic spots or indoor settings, GPS positioning signals may be blocked, resulting in lower positioning accuracy. Summary of the Invention

[0003] This application provides a positioning method, system, electronic device, and storage medium using multiple positioning stakes to achieve positioning and improve positioning accuracy.

[0004] In a first aspect, embodiments of this application provide a positioning method for multiple positioning stakes. This method is applied to a positioning system with multiple positioning stakes, which includes multiple first positioning stakes located in a target area, a timing device, and a positioning device. The method includes:

[0005] The timing device sends timing signals to multiple first positioning stakes on the first frequency band. The timing signals include the time of the timing device's clock, which is atomic. The maximum frequency of the first frequency band is less than a preset frequency.

[0006] Each first positioning stake receives a timing signal on the first frequency band and calibrates its time based on the clock time of the timing device.

[0007] Each first positioning stake sends a positioning signal within its corresponding coverage area. The positioning signal includes the first location information of the corresponding positioning stake and a timestamp of the positioning signal transmission.

[0008] 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;

[0009] The positioning device determines the target location information 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 of each second positioning stake.

[0010] Secondly, embodiments of this application provide a positioning system with multiple positioning stakes, the system comprising: multiple first positioning stakes located in a target area, a timing device, and a positioning device;

[0011] A timing device is used to send timing signals to multiple first positioning stakes on a first frequency band. The timing signals include 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 a preset frequency.

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

[0013] Each first positioning stake is used to send a positioning signal within its corresponding coverage area, wherein the positioning signal includes the first position information of the corresponding positioning stake and a timestamp of the positioning signal being sent.

[0014] A positioning device for receiving positioning signals from multiple second positioning stakes, wherein the multiple second positioning stakes are part or all of multiple first positioning stakes;

[0015] The positioning device is used to determine the target position information of the positioning device based on the timestamp of the positioning signal of each second positioning stake, the receiving time of the positioning signal of each second positioning stake, the speed of light, and the first position information of each second positioning stake.

[0016] Thirdly, embodiments of this application provide an electronic device, including: a processor and a memory, the processor being connected to the memory, the memory being used to store a computer program, and the processor being used to execute the computer program stored in the memory, so that the electronic device performs the method as described in the first aspect.

[0017] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that causes a computer to perform the method as described in the first aspect.

[0018] Fifthly, embodiments of this application provide a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and is operable to cause the computer to perform the method as described in the first aspect.

[0019] Implementing the embodiments of this application has the following beneficial effects:

[0020] As can be seen in this embodiment, the timing device sends timing signals to multiple first positioning posts on a first frequency band. The timing signal includes the time of the timing device's clock, which is atomic, and the maximum frequency of the first frequency band is less than a preset frequency. Each first positioning post receives the timing signal on the first frequency band and calibrates its time based on the time of the timing device's clock. Each first positioning post sends a positioning signal within its corresponding coverage area. The positioning signal includes the first position information of the corresponding positioning post and a timestamp of the sent positioning signal. The positioning device receives positioning signals from multiple second positioning posts, where the multiple second positioning posts are part or all of the multiple first positioning posts. The positioning device determines its target position information based on the timestamp of each received positioning signal from each second positioning post, the time at which the positioning device receives the positioning signal from each second positioning post, the speed of light, and the first position information of each received second positioning post. Firstly, by timing each first positioning post and calibrating its time using the timing device, the accuracy of each first positioning post's time is ensured, reducing time errors caused by clock drift and improving the accuracy of positioning the device.

[0021] Furthermore, positioning devices within the coverage area of ​​multiple first positioning stakes are located by sending positioning signals from each stake, instead of relying on GPS. This avoids the problem of GPS signals failing to reach buildings or dense forests in natural scenic areas due to its higher transmission frequency and the need for wider coverage. By deploying multiple first positioning stakes in the target area, the signals can cover the entire area. When a positioning device receives a signal from each stake (i.e., when it enters the target area), it can determine its target location based on the timestamp of each stake's signal, the moment it received the signal, the speed of light, and the initial position information of each stake. This prevents signal obstruction and improves the accuracy of positioning. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A schematic diagram of a positioning system with multiple positioning stakes provided in an embodiment of this application;

[0024] Figure 2 A schematic flowchart illustrating a positioning method using multiple positioning stakes provided in an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of the i-th second positioning pile group provided in an embodiment of this application;

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

[0027] Figure 5 A functional unit block diagram of a positioning system with multiple positioning stakes provided in an embodiment of this application;

[0028] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

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

[0032] See Figure 1 , Figure 1This is a schematic diagram of a multi-positioning stake positioning system provided in an embodiment of this application. The multi-positioning stake positioning system includes a plurality of first positioning stakes 101 located in a target area. Figure 1 The number of multiple first positioning stakes is merely an example and does not constitute a limitation on the number of first positioning stakes. Similarly, the positions of the multiple first positioning stakes are merely examples and do not constitute a limitation on the position of the first positioning stakes in the target area. The application also includes a timing device 102 and a positioning device 103. It should be noted that the target area can be an indoor area, such as a shopping mall, classroom, factory, or exhibition hall, or an outdoor area, such as a natural landscape area (e.g., dense forest, mountainous area), or a school playground. This application does not limit the scope of the target area. The positioning device 103 can be a smartphone or other devices with a wireless signal communication module and a processing module. This application does not limit the scope of the positioning device 103.

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

[0034] The position information of each first positioning stake can be in the same coordinate system as the position information of the calibration center (i.e., the satellite), or it can be in a different coordinate system; this application does not impose a specific limitation. When they are in different coordinate systems, they can be converted using coordinate transformation methods.

[0035] The timing device 102 sends timing signals to multiple first positioning posts 101 on a first frequency band. The timing signals include the time of the clock of the timing device 102, which is atomic. The maximum frequency of the first frequency band is less than a preset frequency. Each first positioning post receives the timing signal on the first frequency band and calibrates its time based on the time of the clock of the timing device 102. Each first positioning post sends a positioning signal within its corresponding coverage area. The positioning signal includes the first position information of the corresponding positioning post and a timestamp of the positioning signal. The positioning device 103 receives positioning signals from multiple second positioning posts, which are part or all of the multiple first positioning posts. The positioning device 103 determines the target position information of the positioning device based on the timestamp of the positioning signal of each second positioning post, the reception time of the positioning signal of each second positioning post, the speed of light, and the first position information of each second positioning post.

[0036] As can be seen in this embodiment, the timing device sends timing signals to multiple first positioning posts on a first frequency band. The timing signal includes the time of the timing device's clock, which is atomic, and the maximum frequency of the first frequency band is less than a preset frequency. Each first positioning post receives the timing signal on the first frequency band and calibrates its time based on the time of the timing device's clock. Each first positioning post sends a positioning signal within its corresponding coverage area. The positioning signal includes the first location information of the corresponding positioning post and a timestamp of the sent positioning signal. The positioning device receives the positioning signal from each second positioning post. Based on the timestamp of the received positioning signal from each second positioning post, the receiving time of the positioning signal from each second positioning post, the speed of light, and the first location information of each second positioning post, the positioning device determines its target location information. Firstly, by timing each first positioning post and calibrating its time using the timing device, the accuracy of each first positioning post's time is ensured, reducing time errors caused by clock drift and improving the accuracy of positioning the device.

[0037] Furthermore, positioning devices within the coverage area of ​​multiple first positioning stakes are located by sending positioning signals from each stake, instead of relying on GPS. This avoids the problem of GPS signals failing to reach buildings or dense forests in natural scenic areas due to its higher transmission frequency and the need for wider coverage. By deploying multiple first positioning stakes in the target area, the signals can cover the entire area. When a positioning device receives a signal from each stake (i.e., when it enters the target area), it can determine its target location based on the timestamp of each stake's signal, the moment it received the signal, the speed of light, and the initial position information of each stake. This prevents signal obstruction and improves the accuracy of positioning.

[0038] See Figure 2 , Figure 2 This application provides a flowchart illustrating a positioning method for multiple positioning stakes, which includes, but is not limited to, steps S201-S205:

[0039] S201: The timing device sends timing signals to multiple first positioning stakes on the first frequency band.

[0040] For example, before step S201, the time of the timing device needs to be calibrated. Specifically, the time of the timing device can be calibrated using a satellite positioning system, including: the timing device receiving 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 at the calibration center and the second location 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 calibration signals periodically or at preset times, etc. Based on the third location information and the second location information of the timing device, the timing device determines a first distance between the timing device and the calibration center. It should be noted that the first distance refers to the actual distance between the calibration center and the timing device. 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 second distance between the timing device and the calibration center. It should be noted that the second distance is the distorted distance. The distortion is mainly due to measurement errors caused by the clock asynchrony between the calibration center and the timing equipment, resulting in transmission delay; and the fact that the propagation speed of the calibration signal sent by the calibration center changes when passing through the ionosphere and troposphere, no longer equal to the speed of light in a vacuum, thus causing errors in propagation speed. The measurement error caused by the signal propagation speed can be calculated using the correction parameters in the GPS navigation message according to a statistical model, thus obtaining the first preset correction distance.

[0041] Furthermore, based on the first distance, the second distance, the first preset correction distance, and the speed of light, the 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] Where 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 time synchronization device calibrates its time based on a first time difference. The first time difference is added to the clock time of the original time synchronization device to obtain the new clock time. This new clock time is then synchronized with the time at the calibration center, completing the time synchronization process from the calibration center to the original time synchronization device.

[0045] As can be seen in this embodiment, because the clock of the calibration center is an atomic clock, it is not prone to clock drift; and because atomic clocks are expensive, it would be very costly to install them directly into the timing device. Therefore, the synchronization between the timing device and the calibration center can be achieved at low cost by calibrating the clock of the timing device through the calibration center, so that the clock of the timing device also has atomicity, reducing the error caused by clock drift during the positioning process and improving the accuracy of positioning.

[0046] For example, the timing device sends timing signals to multiple first positioning posts on a first frequency band. The timing signal includes the time of the timing device's clock, which is atomic because it is calibrated by a calibration center. The maximum frequency of the first frequency band is less than a preset frequency. The signal's penetration capability decreases as the frequency increases. Since this application is mainly used in scenic areas or indoor areas with many obstacles, direct GPS positioning would result in poor penetration capability due to the need for a wider coverage area and the higher transmission frequency of GPS signals. GPS signals would be unable to penetrate buildings to reach indoor areas or dense forests to reach some natural scenic areas, leading to lower positioning accuracy. Therefore, a timing device can be deployed in the target area, sending timing signals to multiple first positioning posts on the first frequency band to provide timing for each post. Because the timing device sends timing signals to multiple first positioning piles on the first frequency band, the timing signals have strong penetration capabilities. They can penetrate buildings to reach indoor spaces, or penetrate dense forests to reach some natural scenic areas, ensuring that each first positioning pile can receive the timing signals sent by the timing device.

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

[0048] For example, the third distance between each first positioning stake and the third position information is obtained. Since the positions of the positioning stakes and the timing device are measured in advance, the actual distance between each first positioning stake and the timing device is known, i.e., the third distance is known. The time when the timing signal arrives at each first positioning stake is obtained; based on the time when the timing signal arrives at each first positioning stake, the clock time of the timing device, and the speed of light, the fourth distance between the timing device and each first positioning stake is determined. It should be noted that the fourth distance is a distorted distance. The distortion is mainly due to the measurement error caused by the asynchronous clocks of the timing device and the positioning stakes, resulting in transmission delay; and the propagation speed of the timing signal sent by the timing device changes when passing through obstacles, no longer equal to the speed of light, thus causing an error in the propagation speed. The measurement error caused by the signal propagation speed can be calculated through multiple measurements to obtain a second preset correction 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] Where 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 that positioning stake to obtain the new time corresponding to that positioning stake, thereby realizing the synchronization of the time of each first positioning stake with the time of the positioning device, and completing the time synchronization of each first positioning stake by the timing device.

[0053] It should be noted that in the embodiments of this application, the time synchronization for each first positioning stake can be periodic, can be on a daily basis, and can be performed during periods of less signal interference, such as at night. This application does not limit this.

[0054] As can be seen from the embodiments of this application, the positioning stake is synchronized with the time of the positioning stake at low cost by using a time synchronization device, so that the time of the positioning stake's clock is also atomic, reducing the error caused by clock drift during the positioning process and improving the positioning accuracy.

[0055] Furthermore, this application does not directly synchronize the time of the positioning stakes through a calibration center, i.e., GPS. Instead, it uses a timing device to transmit time synchronization signals to the positioning stakes on a first frequency band. The strong penetrating power of the timing signal allows it to penetrate buildings and reach indoor spaces, or dense forests and natural scenic areas, ensuring that each positioning stake can receive the timing signal. This avoids the problem of direct GPS timing, where the GPS signal needs to cover a wider area and uses a higher transmission frequency, resulting in poorer penetration and the inability to penetrate buildings or dense forests to reach the positioning stakes. Therefore, synchronizing the time of each positioning stake with a timing device ensures that the stake receives the timing signal and calibrates its time, making the clock of the positioning stake atomic. This reduces errors caused by clock drift during positioning and improves positioning accuracy.

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

[0057] For example, each first positioning stake transmits a positioning signal within its corresponding coverage area. The positioning signal includes the first location information of the corresponding positioning stake and a timestamp of the transmission. It should be noted that the positioning signal can be transmitted using radio frequency modulation methods, such as Long Range Radio (LoRA), Fast Remote Communication (FLRC), and Gaussian Frequency Shift Keying (GFSK). These methods have stronger penetration capabilities and are less affected by target objects compared to communication methods like Bluetooth. Each first positioning stake transmits its first location information and the timestamp of the transmitted positioning signal. If a positioning device receives the positioning signal from this positioning stake, it can begin locating the device.

[0058] It should be noted that when setting up positioning stakes, it should be ensured that at least three positioning stakes can be received at each location in the target area; furthermore, it can also be ensured that at least four positioning stakes can be received at each location in the target area. The specific determination can be made according to the actual situation. The more positioning stakes that can be received at each location, the higher the positioning accuracy. This application does not make specific limitations here.

[0059] S204: The positioning device receives positioning signals from multiple second positioning stakes.

[0060] For example, the positioning device receives positioning signals from multiple second positioning stakes, where the multiple second positioning stakes are part or all of the multiple first positioning stakes. When the positioning device enters the target area, it receives positioning signals from multiple second positioning stakes because it is within the coverage area of ​​the positioning stakes in the target area. The number of second positioning stakes is related to the location of the positioning device and the coverage area of ​​each stake. If the coverage area of ​​each stake can cover the entire target area, then the multiple second positioning stakes are all of the multiple first positioning stakes, and the number of multiple second positioning stakes is equal to the number of multiple first positioning stakes. If at least three positioning signals are received from each location in the target area, then the number of multiple second positioning stakes is greater than 3. If at least four positioning signals are received from each location in the target area, then the number of multiple second positioning stakes is greater than 4.

[0061] S205: The positioning device determines the target location information 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 of each second positioning stake.

[0062] For example, the positioning device determines its target location information based on the timestamp of the positioning signal received from each second positioning stake, the time at which the positioning device receives the positioning signal from each second positioning stake, the speed of light, and the first position information of each second positioning stake. Optionally, the transmission time difference between the positioning signal from each second positioning stake and the positioning device is determined directly based on the timestamp of the positioning signal from each second positioning stake and the time at which the positioning signal is received from each second positioning stake. That is, the transmission time difference between the positioning signal from each second positioning stake and the positioning device is obtained by subtracting the timestamp of the corresponding positioning signal from the time at which the positioning signal is received from each second positioning stake. The distance between each second positioning stake and the positioning device is determined based on the transmission time difference between the positioning signal from each second positioning stake and the positioning device and the speed of light. That is, the distance between each second positioning stake and the positioning device is obtained by multiplying the transmission time difference between the positioning signal from each second positioning stake and the positioning device by the speed of light.

[0063] Optionally, after obtaining the distance between each second positioning stake and the positioning device, three second positioning stakes can be randomly selected to have their distances to the positioning device and their position information. Using each of the three second positioning stakes as the center and the distance as the radius, three equations can be established to finally obtain the target position information of the positioning device.

[0064] Optionally, after obtaining the distance between each second positioning stake and the positioning device, the multiple second positioning stakes are divided into multiple second positioning stake groups. The number of second positioning stakes in each second positioning stake group is a preset number, which is greater than or equal to 3 and less than or equal to the number of multiple second positioning stakes. In this application, a preset number of 3 is used as an example. When the preset number is other values, the processing method is similar to that when the preset number is 3, and will not be elaborated further. Based on the distance between the second positioning stakes in each second positioning stake group and the positioning device, and the first position information of the second positioning stakes in each second positioning stake group, multiple candidate position information corresponding to the positioning device is determined. Each candidate position information corresponds one-to-one with each second positioning stake group. For example, taking the distance between the second positioning stake in the i-th second positioning stake group and the positioning device, and the position information of the second positioning stakes in the i-th second positioning stake group, the determination of the i-th candidate position information corresponding to the positioning device is explained as an example. The i-th second positioning stake group is any one of the multiple second positioning stake groups, and the i-th candidate position information is the candidate position information corresponding to the i-th second positioning stake group. The position information of the three second positioning stakes in the i-th second positioning stake group can be represented by three-dimensional coordinates as (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), respectively. The distances between the second positioning stakes in the i-th second positioning stake 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 represented by formula (3):

[0065]

[0066] Where (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3) are the three-dimensional coordinates of the three second positioning stakes in the i-th second positioning stake group, r1, r2 and r3 are the distances between the second positioning stakes in the i-th second positioning stake 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 the method for determining the i-th candidate position information corresponding to the positioning device based on the distance between the second positioning pile in the i-th second positioning pile group and the positioning device, as recorded in formula (3), determines each candidate position information corresponding to each second positioning pile group. Since the determination method is similar, this application will not elaborate on it here.

[0068] Furthermore, based on multiple candidate location information and the first location information of the second positioning stakes in each second positioning stake group, the target location information is determined from the multiple candidate location information. Based on the multiple candidate location information and the first location information of the second positioning stakes in each second positioning stake group, the volume of the closed shape formed by the second positioning stakes in each second positioning stake group and the corresponding candidate locations is determined. For example, ... Figure 3 As shown, the explanation will continue using the location information of the i-th second positioning stake group and the i-th candidate as an example. Figure 3 The number of second positioning stakes in the i-th second positioning stake group is 3. First, the i-th candidate position information of the positioning device is taken as the vertex, and the plane formed by the i-th second positioning stake group is taken as the ground. The area of ​​the first closed figure formed by the i-th second positioning stake group and the i-th candidate position information is obtained through mathematical calculation.

[0069] Furthermore, since the candidate location information determined based on different sets of second positioning stakes has only minor differences, the volume of the closed shape can be used as a metric to obtain the most accurate location information from multiple candidate locations. Specifically, the positioning stake set with the largest volume of the closed shape among the multiple sets of second positioning stakes is taken as the target second positioning stake set; the candidate location information corresponding to the target second positioning stake set is taken as the target location information. Continuing with the above example, as follows... Figure 4 As shown, the example uses the j-th second positioning stake group and the j-th candidate position information of the positioning device. The j-th second positioning stake group is any one of the multiple second positioning stake groups except the i-th second positioning stake group, and the j-th candidate position information is the candidate position information corresponding to the j-th second positioning stake 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 stake group is taken as the ground. Through mathematical calculation, the area of ​​the second closed figure formed by the j-th second positioning stake 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 only the j-th and i-th candidate position information are available among the multiple candidate position information, then the i-th candidate position information is taken as the target position information.

[0070] As can be seen from the embodiments of this application, the volume of the closed shape corresponding to the multiple second positioning stake groups represents the distribution of the second positioning stakes in the multiple second positioning stake groups, reflecting the amplification effect of the closed shape formed by the positioning device and the second positioning stakes in the multiple second positioning stake groups on the ranging error. Under the condition of the same ranging accuracy, the larger the volume of the closed shape corresponding to the multiple second positioning stake groups, the more robust the closed shape formed by the positioning device and the second positioning stakes in the multiple second positioning stake groups is, the smaller the amplification effect on the ranging error, and the higher the accuracy of the determined candidate position information. Therefore, taking the positioning stake group with the largest volume of the closed shape corresponding to the multiple second positioning stake groups as the target second positioning stake group ensures that the second positioning stakes in the determined target second positioning stake group are not concentrated in one area, but are evenly distributed in different directional areas, reducing the amplification effect on the ranging error. Furthermore, taking the candidate position information corresponding to the target second positioning stake group as the target position information can make the accuracy of the determined target position information higher.

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

[0072] It should be noted that the transmission time difference between the received positioning signal of each second positioning stake and the positioning device is determined based on the timestamp of the positioning signal received from each second positioning stake and the reception time of the positioning signal received from each second positioning stake. 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 stake. Therefore, in this embodiment, the transmission time difference between the positioning signal of each second positioning stake and 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 uses a preset number of 4 for explanation. When the preset number is other values ​​greater than 4, the processing method is similar to that when the preset number is 4, and will not be described in detail here.

[0073] For example, the time error is determined based on the distance between the second positioning stake in the target second positioning stake group and the positioning device, and the position information of the second positioning stake in the target second positioning stake group. Since the preset quantity is 4, the number of second positioning stakes in the target second positioning stake group is 4. Continuing with the above example, if the target second positioning stake group is the i-th second positioning stake group mentioned above, in this embodiment, the preset quantity is 4. Therefore, the number of second positioning stakes in the i-th second positioning stake group in this embodiment is 4. The position information of the four second positioning stakes in the target second positioning stake group can be represented by three-dimensional coordinates as (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) and (x4, y4, z4), respectively. The actual time differences between the four second positioning stakes in the target second positioning stake group and the positioning device are t1, t2, t3 and t4, respectively. The time error between the positioning device and 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 represented by formula (4):

[0074]

[0075] Where (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), and (x4, y4, z4) are the three-dimensional coordinates of the four second positioning stakes in the second positioning stake group of the target, t1, t2, t3, and t4 are the actual time differences between the four second positioning stakes in the second positioning stake group of the target and the positioning device, (x, y, z) are 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 using 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 using 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, thus achieving the calibration of the positioning device's time.

[0077] It should be noted that in the embodiments of this application, the time calibration of the positioning device can be periodic, can be on a daily basis, 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 this embodiment, the positioning device determines the time error based on the distance between the second positioning stake in the target second positioning stake group and the positioning device, and the position information of the second positioning stake in the target second positioning stake group; the positioning device calibrates its time based on the time error. Calibrating the positioning device's time based on the time error corresponding to the position information of the target second positioning stake with the highest accuracy can improve the time synchronization between the positioning device and the positioning stakes, reduce positioning errors caused by time asynchrony in the next positioning, and improve the accuracy of positioning.

[0079] In one embodiment of this application, if there are multiple positioning signals received from each second positioning stake, the transmission time difference between the positioning signal of each second positioning stake and the positioning device is determined based on the timestamp of the positioning signal of each second positioning stake and the reception time of the positioning signal of each second positioning stake, including:

[0080] The system acquires the received power of multiple positioning signals from each second positioning stake received by the positioning device. Based on the received power of the multiple positioning signals from each second positioning stake and the transmitted power of the positioning signals, it determines the first attenuation power of each positioning signal from each second positioning stake. That is, the first attenuation power is obtained by subtracting the received power from the transmitted power. Based on the first attenuation power of each positioning signal from each second positioning stake, the target positioning signal of each second positioning stake is determined from the multiple positioning signals of each second positioning stake. Among the first attenuation powers of the multiple positioning signals of each second positioning stake, the first attenuation power corresponding to the target positioning signal is the smallest. Based on the timestamp of the target positioning signal of each second positioning stake and the reception time of the target positioning signal received by the positioning device from each second positioning stake, the transmission time difference from the positioning signal of each second positioning stake to the positioning device is obtained. That is, the difference between the reception time and the timestamp is used as the transmission time difference.

[0081] Because each first positioning stake sends positioning signals in different directions according to its signal transmission method, the positioning signals may be reflected or diffracted during transmission. Therefore, the positioning device may receive different positioning signals from the same positioning stake at the same time. Thus, the target second positioning signal can be determined by filtering the multiple positioning signals from each second positioning stake based on their received power; that is, by determining the first attenuation power of each positioning signal from each second positioning stake. The positioning signal with the lowest first attenuation power among the multiple positioning signals from each second positioning stake is taken as the target positioning signal for that second positioning stake. The lowest first attenuation power of the target positioning signal indicates less obstruction during transmission and better transmission conditions; therefore, the target positioning signal is more reliable than other positioning signals.

[0082] As can be seen, in this embodiment, 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 from the positioning signal of 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 the positioning error caused by time asynchrony.

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

[0084] Optionally, the target area can be an outdoor scenic area. Since scenic areas may include mountainous areas or dense forests, GPS positioning methods cannot achieve accurate positioning in such scenarios. Therefore, positioning can be achieved using a multi-locator positioning method. Specifically, multiple first-level positioning stakes are set up in the scenic area. When deploying the positioning stakes, it is ensured that each location in the scenic area can receive positioning signals from at least three positioning stakes. Furthermore, it is also possible to ensure that each location in the target area can receive positioning signals from at least four positioning stakes. This can be determined based on the actual situation. The more positioning signals received at each location, the higher the positioning accuracy. This application does not impose specific limitations here.

[0085] For example, in an application scenario where the target area is a scenic area, 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 it in this way. Through the positioning method of multiple positioning stakes described in the above embodiments, the positioning device is accurately positioned, so that tourists or tour guides can know their location at all times and avoid getting lost in the complex scenic environment.

[0086] Optionally, the target area can be a school area. Since the building structure of school areas is relatively complex, GPS positioning methods cannot achieve accurate positioning in such scenarios. Therefore, a multi-locator positioning method can be used. Specifically, multiple first-level locators are set up in the school area. When deploying the locators, it is ensured that each location in the school area can receive positioning signals from at least three locators. Furthermore, it can also be ensured that each location in the target area can receive positioning signals from at least four locators. The specific method can be determined based on the actual situation. The more positioning signals received at each location, the higher the positioning accuracy. This application does not impose specific limitations here.

[0087] For example, in a scenario where the target area is a learning area, the positioning device can be a student's ID card or other device with positioning capabilities. Using the multi-locator positioning method described in the above embodiments, the student's ID card is located, thereby achieving accurate student positioning. Furthermore, the student's ID card location information can be uploaded to a server for student management. For instance, when a student's ID card is detected in a preset danger zone (e.g., the rooftop), the corresponding management personnel can be notified to locate the student at the ID card's location and provide assistance, thus increasing student safety.

[0088] Optionally, the target area can be a factory area. Since factory areas have complex floor structures and are mostly enclosed indoor areas, GPS positioning methods cannot achieve accurate positioning in such scenarios. Positioning can be achieved using a multi-locator method. Specifically, multiple first-level locators are set up in the factory area. When deploying the locators, it is ensured that each location in the factory area can receive positioning signals from at least three locators. Furthermore, it can also be ensured that each location in the target area can receive positioning signals from at least four locators. The specific method can be determined based on the actual situation. The more positioning signals received at each location, the higher the positioning accuracy. This application does not impose specific limitations here.

[0089] For example, in a scenario where the target area is a factory area, the positioning device can be a worker's name tag or other device with positioning capabilities. Using the multi-location stake positioning method described in the above embodiments, the name tag is located, thereby achieving precise worker positioning. Furthermore, the location information of the name tag can be uploaded to a server for worker management. For instance, when a worker's name tag is detected to be in a preset hazardous area (such as a burning area), the corresponding manager can be notified to locate the worker at the name tag's location and provide assistance, thus increasing worker safety.

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

[0091] S301: Based on the coverage radius of the nth first positioning stake and the positioning signal transmission method of the nth first positioning stake, determine multiple transmission paths for the positioning signal transmitted by the nth first positioning stake, wherein the nth first positioning stake is any one of the multiple first positioning stakes.

[0092] For example, based on the positioning signal transmission method of each positioning stake, multiple propagation paths of the positioning stake are determined, that is, one propagation path is determined for each radiation angle, and the length of each propagation path is the coverage radius of the positioning stake.

[0093] S302: Obtain the obstacles on each corresponding propagation path for the nth first positioning stake.

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

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

[0096] A digital twin is created for the target area to determine the propagation distance of each propagation path on each obstacle. For example, based on the digital twin model, the propagation distance of each propagation path on each obstacle is determined; that is, based on the actual internal layout, the propagation distance of each propagation path on each obstacle is determined. The type of each obstacle along each propagation path is obtained. Based on the mapping relationship between obstacle type and attenuation coefficient, the attenuation coefficient corresponding to each obstacle type is determined, where the attenuation coefficient represents the amount of attenuation of the positioning signal power per unit transmission distance on the obstacle. Based on the type of each obstacle, the attenuation coefficient of each obstacle is determined; that is, by pre-configuring the correspondence between obstacles and attenuation coefficients, the attenuation coefficient corresponding to each obstacle can be obtained.

[0097] Optionally, the transmission power of the nth first positioning stake is determined based on the attenuation coefficient of each obstacle and the propagation distance on each obstacle. Specifically, this includes: determining the second attenuation power of the positioning signal of the nth first positioning stake on each obstacle based on the attenuation coefficient of each obstacle and the propagation distance on each obstacle; that is, using the product of the attenuation coefficient of each obstacle and the corresponding propagation distance as the second attenuation power of the positioning signal of the nth first positioning stake on each obstacle. Based on the second attenuation power of the positioning signal of the nth first positioning stake on each obstacle, the total attenuation power of the nth first positioning stake on each propagation path is determined; that is, summing the second attenuation power of the positioning signal of the nth first positioning stake on each obstacle to obtain the total attenuation power of the nth first positioning stake on each propagation path. Based on the total attenuation power of the nth first positioning stake on each propagation path, the target attenuation power of the nth first positioning stake is determined, where the target attenuation power is the maximum total attenuation power among the total attenuation powers of the nth first positioning stake on each propagation path.

[0098] The transmission power is determined based on the target attenuation power of the nth first positioning stake and the minimum received power of the nth first positioning stake, where the minimum received power is the minimum received power required for the positioning device to receive the positioning signal. Specifically, this includes determining candidate powers based on the target attenuation power of the nth first positioning stake and the minimum received power of the nth first positioning stake. It can be understood that if the power of the positioning signal received by the positioning device is less than the minimum received power, the positioning signal cannot be correctly resolved. For example, the sum of the minimum received power and the target attenuation power of each positioning stake is used as the candidate power for each positioning stake.

[0099] While accurately determining the optimal power (candidate power) for transmitting the positioning signal to the nth positioning stake is crucial to resist signal attenuation and achieve true coverage with the coverage radius, each stake can only provide multiple power levels, not a single arbitrary power. Therefore, it's necessary to select the transmission power from multiple preset power levels (i.e., multiple transmission power levels) offered by each stake. For example, if the candidate power belongs to any of the preset power levels, it is used as the transmission power. If the candidate power does not belong to any of the preset power levels, the target preset power with the smallest power difference from the candidate power, and greater than the candidate power, is used as the transmission power, ensuring that the coverage range of each positioning stake is greater than or equal to the coverage radius.

[0100] As can be seen, in this embodiment of the application, the attenuation of the positioning signal by obstacles is considered, and the transmission power of each positioning stake is calculated. This ensures that after the positioning signal is attenuated by passing through obstacles, the coverage area is still greater than or equal to the coverage radius of each positioning stake, thereby achieving full coverage of the positioning signal and ensuring the accuracy of positioning of the positioning device.

[0101] See Figure 5 , Figure 5 This is a functional unit block diagram of a positioning system with multiple positioning stakes provided in an embodiment of this application. The positioning system with multiple positioning stakes includes: multiple first positioning stakes 501, a timing device 502, and a positioning device 503;

[0102] The timing device 502 is used to send timing signals to multiple first positioning stakes on a first frequency band. The timing signals include the time of the clock of the timing device. The clock of the timing device is atomic. The maximum frequency of the first frequency band is less than a preset frequency.

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

[0104] Each first positioning stake (each of the plurality of first positioning stakes 501) is used to send a positioning signal within the corresponding coverage area, wherein the positioning signal includes the first position information of the corresponding positioning stake and a timestamp of the positioning signal being sent.

[0105] The positioning device 503 is used to receive positioning signals from multiple second positioning stakes, wherein the multiple second positioning stakes are part or all of the multiple first positioning stakes;

[0106] The positioning device 503 is used to determine the target position information of the positioning device based on the timestamp of the positioning signal of each second positioning stake, the receiving time of the positioning signal of each second positioning stake, the speed of light, and the first position information of each second positioning stake.

[0107] In one embodiment of this application, the timing device 502 is specifically used for:

[0108] The timing device receives a calibration signal from the calibration center, where 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, as well as the second position information of the calibration center;

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

[0110] The timing device determines a second distance between itself 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 the first time difference between the clock of the timing device and the 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 time synchronization device calibrates its time based on the first time difference.

[0113] In one embodiment of this application, the timing signal further includes third location information of the timing device. Specifically, the timing device 502 is used for calibrating the time of each first positioning stake based on the clock time of the timing device:

[0114] Obtain the third distance between each first positioning stake and the third position information;

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

[0116] Based on the time when the timing signal arrives at each first positioning stake, the time of the timing device's clock, and the speed of light, the fourth distance between the timing device and each first positioning stake is determined.

[0117] 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, the second time difference between the clock of the timing device and the clock of each first positioning stake is determined.

[0118] 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.

[0119] In one embodiment of this application, the positioning device 503 is specifically used for determining the target location information of the positioning device based on the timestamp of the positioning signal of each second positioning stake, the time at which the positioning device receives the positioning signal of each second positioning stake, the speed of light, and the first position information of each second positioning stake.

[0120] Based on the timestamp of the positioning signal of each second positioning stake and the reception time of the positioning signal of each second positioning stake, the transmission time difference of the positioning signal of each second positioning stake to the positioning device is determined.

[0121] Based on the transmission time difference between the positioning signal received from each second positioning stake and the positioning device and the speed of light, the distance between each second positioning stake and the positioning device is determined.

[0122] The multiple second positioning stakes are divided into multiple second positioning stake groups, wherein the number of second positioning stakes in each second positioning stake group is a preset number;

[0123] Based on the distance between the second positioning stake in each second positioning stake group and the positioning device, and the first position information of the second positioning stake in each second positioning stake group, multiple candidate position information corresponding to the positioning device are determined, wherein each candidate position information corresponds one-to-one with each second positioning stake group.

[0124] The target location information is determined from multiple candidate location information and the first location information of the second positioning stake in each second positioning stake group.

[0125] In one embodiment of this application, the positioning device 503, in determining the target location information from multiple candidate location information based on multiple candidate location information and the first location information of the second positioning stakes in each second positioning stake group, is specifically used for:

[0126] Based on multiple candidate location information and the first location information of the second positioning pile in each second positioning pile group, the volume of the closed shape formed by the second positioning pile in each second positioning pile group and the corresponding candidate location is determined.

[0127] The positioning pile group with the largest volume of the corresponding closed shape among the multiple second positioning pile groups is taken as the target second positioning pile group.

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

[0129] In one embodiment of this application, if the number of received positioning signals from each second positioning stake is multiple, the positioning device 503 is specifically used to determine the transmission time difference between the received positioning signals from each second positioning stake and the positioning device receiving the positioning signals from each second positioning stake based on the timestamp of the received positioning signals from each second positioning stake and the receiving time of the positioning device receiving the positioning signals from each second positioning stake, the positioning device 503 is specifically used for:

[0130] The received power of multiple positioning signals received by the positioning device from each second positioning stake is obtained;

[0131] Based on the received power and transmitted power of multiple positioning signals of each second positioning stake, the first attenuation power of each positioning signal of each second positioning stake is determined;

[0132] Based on the first attenuation power of each positioning signal of each second positioning stake, the target positioning signal of each second positioning stake is determined from multiple positioning signals of each second positioning stake, 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 stake.

[0133] Based on 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, the transmission time difference between the positioning signal of each second positioning stake and the positioning device is obtained.

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

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

[0136] The positioning device calibrates its time based on 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 this 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 stores computer programs and data, and can transfer data stored in the memory 603 to the processor 602.

[0138] The processor 602 can integrate the functions of the aforementioned multiple first positioning posts, timing devices, and positioning devices. Specifically, the timing devices send timing signals to the multiple first positioning posts on a first frequency band. The timing signals include the time of the timing device's clock, which is atomic, and the maximum frequency of the first frequency band is less than a preset frequency. Each first positioning post receives the timing signal on the first frequency band and calibrates its time based on the time of the timing device's clock. Each first positioning post sends a positioning signal within its corresponding coverage area. The positioning signal includes the first position information of the corresponding positioning post and a timestamp of the sent positioning signal. The positioning device receives positioning signals from multiple second positioning posts, which are part or all of the multiple first positioning posts. The positioning device determines its target position information based on the timestamp of the received positioning signal from each second positioning post, the time at which the positioning device receives the positioning signal from each second positioning post, the speed of light, and the first position information of each second positioning post.

[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 a program, and when the program stored in the memory 603 is executed by the processor 602, the processor 602 and the transceiver 601 are used to execute the various steps of a multi-positioning stake positioning method according to an embodiment of this application.

[0140] The processor 602 may be a general-purpose central processing unit (CPU), microprocessor, application specific integrated circuit (ASIC), graphics processing unit (GPU), or one or more integrated circuits, used to execute relevant programs to realize the functions required by the multi-positioning stake positioning system, or to execute a multi-positioning stake positioning method according to an embodiment 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 mentioned in this application may include smartphones (such as Android phones, iOS phones, Windows Phones, etc.), tablet computers, PDAs, laptops, mobile internet devices (MIDs), or wearable devices. The above-mentioned electronic devices are merely examples and not exhaustive, and include, but are not limited to, the electronic devices described above. In practical applications, the above-mentioned electronic devices may also include: intelligent in-vehicle terminals, computer equipment, etc.

[0143] This application also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement some or all of the steps of any of the multi-positioning stake positioning methods described in the above method embodiments.

[0144] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the multi-positioning stake positioning methods described in the above method embodiments.

[0145] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0146] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

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

[0148] The units described as separate components may or may not be physically separate. The 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0149] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.

[0150] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

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

[0152] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A positioning method for multiple positioning stakes, characterized in that, The method is applied to a multi-positioning stake positioning system, which includes multiple first positioning stakes 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 on a 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 a 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 clock of the timing device; Within its corresponding coverage area, each first positioning stake transmits a positioning signal according to its transmission power. The positioning signal includes the first location information of the corresponding positioning stake and a timestamp of the transmission of the positioning signal. The positioning device receives positioning signals from a plurality of second positioning stakes, wherein the plurality of second positioning stakes are part or all of the plurality of first positioning stakes; The positioning device determines its target location information based on the timestamp of the positioning signal received from each second positioning stake, the time at which the positioning device receives the positioning signal from each second positioning stake, the speed of light, and the first location information of each second positioning stake. This includes: If there are multiple received second positioning stakes, the transmission time difference between the positioning signals of each second positioning stake and the positioning device is determined based on the timestamp of the positioning signal of each second positioning stake and the reception time of the positioning signal of each second positioning stake; the distance between each second positioning stake and the positioning device is determined based on the transmission time difference between the positioning signals of each second positioning stake and the positioning device and the speed of light; the multiple second positioning stakes are divided into multiple second positioning stake groups, wherein the number of second positioning stakes in each second positioning stake group is a preset number; based on the distance between the second positioning stakes in each second positioning stake group and the positioning device, and the first position information of the second positioning stakes in each second positioning stake group, multiple candidate position information corresponding to the positioning device is determined, wherein each candidate position information corresponds one-to-one with each second positioning stake group; Based on the multiple candidate location information and the first location information of the second positioning pile in each second positioning pile group, the volume of the closed shape formed by the second positioning pile in each second positioning pile group and the corresponding candidate location information is determined; the positioning pile group with the largest volume of the corresponding closed shape among the multiple second positioning pile groups is taken as the target second positioning pile group; the candidate location information corresponding to the target second positioning pile group is taken as the target location information.

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

3. The method according to claim 2, characterized in that, The timing signal also includes third location information of the timing device, and the calibration of the time of each first positioning stake based on the time of the clock of the timing device includes: Obtain the third distance between each first positioning stake and the third position information; Obtain the time when the timing signal arrives at each first positioning stake; Based on the time when the timing signal arrives at each first positioning stake, the time of the clock of the timing device, and the speed of light, a fourth distance between the timing device and each first positioning stake is determined. 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; The time of each first positioning stake is synchronized 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 claim 1, characterized in that, If the preset quantity is greater than or equal to a preset threshold, and the transmission time difference includes the time error between the positioning device and the timing device, the method further includes: The positioning device determines the time error based on the distance between the second positioning stake in the second positioning stake group and the positioning device, and the position information of the second positioning stake in the second positioning stake group. The positioning device calibrates its time based on the time error.

5. The method according to claim 4, characterized in that, If there are multiple positioning signals received from each second positioning stake, determining the transmission time difference between the positioning signal from each second positioning stake to the positioning device based on the timestamp of the positioning signal from each second positioning stake and the reception time of the positioning signal from each second positioning stake by the positioning device includes: The received power of multiple positioning signals received by the positioning device from each second positioning stake is obtained; Based on the received power and transmitted power of multiple positioning signals of each second positioning stake, the first attenuation power of each positioning signal of each second positioning stake is determined; Based on the first attenuation power of each positioning signal of each second positioning stake, a target positioning signal of each second positioning stake is determined from multiple positioning signals of each second positioning stake, 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 stake; Based on 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, the transmission time difference between the positioning signal of each second positioning stake and the positioning device is obtained.

6. A positioning system with multiple positioning stakes, characterized in that, The system includes: multiple first positioning stakes located in the target area, a timing device, and a positioning device; The timing device is used to send timing signals to the plurality of first positioning stakes on a 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 a preset frequency. Each first positioning stake is used to receive the timing signal on the first frequency band and to calibrate the time of each first positioning stake based on the time of the clock of the timing device; Each first positioning stake is used to transmit a positioning signal within its corresponding coverage area according to the transmission power of each first positioning stake. The positioning signal includes the first position information of the corresponding positioning stake and the timestamp of transmitting the positioning signal. The positioning device is used to receive positioning signals from a plurality of second positioning stakes, wherein the plurality of second positioning stakes are part or all of the plurality of first positioning stakes; The positioning device is configured to determine the target location information of the positioning device based on the timestamp of the positioning signal received from each second positioning stake, the time at which the positioning device receives the positioning signal from each second positioning stake, the speed of light, and the first position information of each second positioning stake, including: If there are multiple received second positioning stakes, the transmission time difference between the positioning signals of each second positioning stake and the positioning device is determined based on the timestamp of the positioning signal of each second positioning stake and the reception time of the positioning signal of each second positioning stake; the distance between each second positioning stake and the positioning device is determined based on the transmission time difference between the positioning signals of each second positioning stake and the positioning device and the speed of light; the multiple second positioning stakes are divided into multiple second positioning stake groups, wherein the number of second positioning stakes in each second positioning stake group is a preset number; based on the distance between the second positioning stakes in each second positioning stake group and the positioning device, and the first position information of the second positioning stakes in each second positioning stake group, multiple candidate position information corresponding to the positioning device is determined, wherein each candidate position information corresponds one-to-one with each second positioning stake group; Based on the multiple candidate location information and the first location information of the second positioning pile in each second positioning pile group, the volume of the closed shape formed by the second positioning pile in each second positioning pile group and the corresponding candidate location information is determined; the positioning pile group with the largest volume of the corresponding closed shape among the multiple second positioning pile groups is taken as the target second positioning pile group; the candidate location information corresponding to the target second positioning pile group is taken as the target location information.

7. An electronic device, characterized in that, include: A processor and a memory, the processor being connected to the memory, the memory being used to store a computer program, and the processor being used to execute the computer program stored in the memory to cause the electronic device to perform the method as claimed in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, A computer-readable storage medium stores a computer program that is executed by a processor to implement the method as claimed in any one of claims 1-5.

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