A three-dimensional positioning method and system based on private search and roll call ranging

Abstract

The application relates to a three-dimensional positioning method based on private search and roll call ranging. In the device search stage, after a positioning node sends a search request through a private wireless communication mode, the positioning node receives response information returned by a positioned device, and generates a measurable device list based on the response information; in the positioning stage, the positioning node determines a target device from the measurable device list, and establishes a one-to-one ranging session in a roll call mode with the target device; during the one-to-one ranging session, the positioning node sends a ranging request to the target device, calculates distance information of the target device according to ranging response information returned by the target device, and acquires spatial direction description information of the target device in parallel; and a terminal controls fusion of the distance information and the spatial direction description information, so as to obtain three-dimensional position information of the target device. The technical scheme overcomes technical defects of concurrent conflict and channel interference, and can realize the technical effect of stably constructing a multi-device three-dimensional position space distribution model.

Description

Technical Field

[0001] This application relates to the field of three-dimensional positioning, and in particular to a three-dimensional positioning method, system, computer device, and computer-readable storage medium based on private search and point-to-point ranging. Background Technology

[0002] With the development of applications such as industrial inspection, asset inventory, and equipment management, more and more systems have a need for location acquisition and distributed deployment of wireless devices distributed in complex spatial environments.

[0003] In traditional wireless positioning systems, the acquisition of a device's location coordinates typically relies on standard high-precision positioning technologies (such as ultra-wideband time-of-flight ranging or two-way interactive protocols based on Bluetooth standard ranging Channel Sounding). Traditional 3D positioning usually depends on the pre-deployment of multiple fixed base stations in the measurement environment for collaborative measurement, and spatial intersection calculation through multi-point ranging.

[0004] In related technologies, in environments with a large number of devices, existing positioning methods based on broadcast or concurrent ranging are prone to channel conflicts, multipath interference, and ranging jitter, leading to deviations in positioning data. Furthermore, traditional technologies are highly dependent on fixed infrastructure, resulting in increased deployment costs and complex construction, making them unsuitable for specific scenarios such as temporary inspections or mobile measurements.

[0005] In addition, in existing technologies, the processes of device search, identification and positioning are carried out in a mixed manner. This coupled design is prone to problems such as complicated scheduling logic and reduced operating efficiency, making it difficult to maintain stable operation in actual engineering scenarios.

[0006] Currently, no effective solution has been proposed for the technical problems of poor positioning stability and inability to support standard high-precision positioning when facing the positioning needs of a large number of wireless devices due to power consumption, cost and protocol limitations. Summary of the Invention

[0007] This application provides a three-dimensional positioning method, system, computer device, and computer-readable storage medium based on private search and point-to-point ranging, to at least solve the problem that a large number of existing wireless devices in the related art support standard high-precision positioning technology.

[0008] In a first aspect, embodiments of this application provide a three-dimensional positioning method based on private search and point-to-point ranging, including a device search stage and a positioning stage that are functionally and temporally independent. The method includes: During the device search phase, after the positioning node sends a search request via a private wireless communication method, it receives the response information returned by the located device and generates a list of measurable devices based on the response information. The private wireless communication method is a connectionless broadcast and response mechanism, and no distance or direction measurement is performed during the device search phase. During the positioning phase, the positioning node determines the target device from the list of measurable devices and establishes a name-based one-to-one ranging session with the target device. During the one-to-one ranging session, the positioning node sends a ranging request to the target device, calculates the distance information of the target device based on the ranging response information returned by the target device, and obtains the spatial orientation description information of the target device in parallel. The control terminal fuses the distance information with the spatial direction description information through a single positioning node to obtain the three-dimensional position information of the target device.

[0009] In some embodiments, during the device search phase, the positioning node sends a search request via private wireless communication, obtains response information returned by the located device, and generates a list of measurable devices based on the response information, including: The positioning node broadcasts the search request within a predetermined frequency band; Receive the response information containing the device identifier returned by each of the located devices; The control terminal generates the list of measurable devices based on the received device identifiers, wherein only the discovery and identification of devices are completed during the device search phase.

[0010] In some embodiments, the positioning node determines a target device from the list of measurable devices and establishes a name-to-name, one-to-one ranging session with the target device, including: When the control terminal selects the target device, it controls the positioning node to establish the ranging session only with the target device; During the ranging session, other located devices besides the target device are configured to remain silent to avoid communication conflicts caused by multiple devices performing ranging concurrently.

[0011] In some embodiments, calculating the distance information of the target device based on the ranging response information returned by the target device includes: After receiving the ranging request, the target device returns the ranging response information after a preset fixed time delay; The positioning node obtains the round-trip time between sending the ranging request and receiving the ranging response information; By combining the preset fixed time delay and the round-trip time, the distance information between the target device and the positioning node is calculated.

[0012] In some embodiments, the positioning node acquires the spatial orientation description information of the target device in parallel, including: During the distance measurement process, the positioning node synchronously measures the spatial orientation description information of the target device in different communication channels or different time windows. The spatial orientation description information includes at least horizontal and vertical angular information.

[0013] In some embodiments, the control terminal fuses the distance information with the spatial orientation description information through a single positioning node to obtain the three-dimensional position information of the target device, including: In a single positioning node coordinate system, based on the distance information, horizontal direction angle information and vertical direction angle information measured by the positioning node, spatial position calculation is performed to obtain the three-dimensional coordinate information of the target device.

[0014] In some embodiments, the method further includes: The three-dimensional position information of the target device is stored in the three-dimensional device position map; According to the preset scheduling strategy, other devices are selected from the list of measurable devices as target devices, and the point-to-point one-to-one ranging session and direction acquisition process are repeatedly executed to construct a three-dimensional device distribution map containing multiple devices.

[0015] Secondly, embodiments of this application provide a three-dimensional positioning system based on private search and point-to-point ranging. The system performs a device search phase and a positioning phase that are functionally and temporally independent to achieve three-dimensional positioning. The system includes: a search module, a session establishment module, a measurement module, and a solution module, wherein: The search module is used to, during the device search phase, after the positioning node sends a search request via a private wireless communication method, receive the response information returned by the located device, and generate a list of measurable devices based on the response information. The private wireless communication method is a connectionless broadcast and response mechanism, and no distance or direction measurement is performed during the device search phase. The session establishment module is used to, during the positioning phase, determine the target device from the list of measurable devices and establish a name-based one-to-one ranging session with the target device; The measurement module is used to, during the one-to-one ranging session, send a ranging request to the target device from the positioning node, calculate the distance information of the target device based on the ranging response information returned by the target device, and acquire the spatial orientation description information of the target device in parallel. The calculation module is used to allow the control terminal to fuse the distance information with the spatial direction description information through a single positioning node to obtain the three-dimensional position information of the target device.

[0016] Thirdly, this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the method described in the first aspect.

[0017] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the method described in the first aspect.

[0018] Compared to related technologies, the 3D positioning method and system based on private search and point-to-point ranging provided in this application overcomes the pain points of traditional positioning methods that require the pre-deployment of multiple fixed base stations and the technical defects of concurrent conflicts and channel interference, without establishing a standard communication connection or modifying the hardware of the located device, and achieves logical decoupling between the device search process and the positioning and ranging process. Furthermore, a point-to-point one-to-one ranging mechanism is introduced in the positioning phase to keep other devices besides the target device silent, blocking channel conflicts and interference caused by concurrent ranging of multiple devices. Finally, the round-trip time delay and spatial orientation angle of the target device are acquired in parallel during the point-to-point session, and the control terminal spatially fuses the distance and orientation information in a single positioning node coordinate system, thereby enabling a single positioning node to complete 3D positioning calculations without the need for a multi-base station system. The above technical solution overcomes the pain points of traditional positioning methods that require the pre-deployment of multiple fixed base stations and the technical defects of concurrent conflicts and channel interference, achieving the technical effect of stably constructing a multi-device 3D spatial distribution model, without establishing a standard communication connection, modifying the hardware of the located device, and relying only on the infrastructure of a single positioning node. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a flowchart of a three-dimensional positioning method based on private search and point-to-point ranging according to an embodiment of this application; Figure 2This is a structural block diagram of a three-dimensional positioning system based on private search and point-to-point ranging according to an embodiment of this application; Figure 3 This is a schematic diagram of the internal structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0021] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0022] In this application, the reference to "embodiment" means that a specific feature, structure, 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 in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0023] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0024] This embodiment provides a three-dimensional positioning method based on private search and point-to-point ranging. Figure 1 This is a flowchart illustrating a 3D positioning method based on private search and point-to-point ranging according to an embodiment of this application. In the workflow of this embodiment, the positioning task is divided into a device search stage and a positioning stage, which are functionally and temporally independent. This design decouples the device discovery logic from the precision measurement logic, ensuring that in a large-scale device environment, the target can be quickly traversed and locked before interference-free and accurate positioning is performed, thereby significantly improving the efficiency and stability of positioning. Figure 1 As shown, the process includes the following steps: In step S101, during the device search phase, the positioning node sends a search request via a private wireless communication method, obtains the response information returned by the located device, and generates a list of measurable devices based on the response information. The private wireless communication method is a connectionless broadcast and response mechanism, and distance and direction measurements are not performed during the device search phase.

[0025] Those skilled in the art will understand that in application scenarios such as industrial inspection or asset inventory, the overall structure involves a control terminal, positioning nodes, and multiple positioning devices distributed in space. The control terminal is used to control the overall positioning process, fuse measurement result data, and construct a 3D location map. As an example, the control terminal may be a cloud server, a local industrial control computer, an edge computing gateway, a smartphone, or a tablet computer, or other computing devices with data processing and scheduling capabilities.

[0026] The device being located is the target entity whose location coordinates need to be obtained. It is equipped with wireless communication capabilities to send device identification information and respond to various requests. As an example, the device being located may be a hardware device with a wireless transceiver module, such as an active asset tag, a smart badge, an IoT sensor node, an automated guided vehicle, or a smart safety helmet.

[0027] Location nodes are used to perform environmental device searches, spatial orientation measurements, and absolute distance measurements; as an example, location nodes can be mobile handheld terminals, inertial navigation locators, or mobile base stations equipped with ranging and angle measuring radio frequency arrays.

[0028] During execution, the process first enters the independent private device search phase. This phase, as a non-localization phase, aims to traverse and identify unknown devices within the space. The specific implementation includes the following sub-steps: S1, the control terminal sends a search command to the positioning node. Upon receiving the command, the positioning node activates its private wireless communication module and broadcasts the search request within a predetermined frequency band. It should be noted that this private wireless communication method differs from the standard Bluetooth or Wi-Fi connection establishment process; it is a connectionless communication mechanism. No specific logical link is established between the positioning node and the located device. After receiving the broadcast search request, the located device directly sends back an identity response packet. The interaction process does not require cumbersome handshake protocols or maintaining a long connection; it only broadcasts a data packet containing the trigger command with extremely low power. This connectionless mechanism eliminates the channel overhead associated with establishing a logical link, enabling rapid traversal and identification extraction of a large number of candidate devices in space within a very short time.

[0029] S2, upon receiving a search request, each device within the predetermined frequency band monitoring range is awakened and returns response information to the positioning node according to a preset backoff algorithm or time slot allocation mechanism. The data packet structure of this response information contains a unique device identifier (e.g., MAC address or private serial number) and the current operating status code for the corresponding device.

[0030] S3, the positioning node transparently transmits all received response information to the control terminal. The data processing engine inside the control terminal performs parsing, verification, and deduplication operations on each received device identifier, thereby generating a list of measurable devices containing all active positioned devices in the current space.

[0031] It is understood that during the device search phase in step S101, the positioning node and the device being located are configured to strictly prohibit any actions involving ranging pulse transmission and reception or angle of arrival calculation, and only complete the discovery and identification of the device, thereby ensuring the efficient operation of the search process and completely decoupling the device discovery logic from the subsequent positioning logic.

[0032] Step S102: In the positioning phase, the positioning node determines the target device from the list of measurable devices and establishes a name-based one-to-one ranging session with the target device. After the list of measurable devices is completed, the system switches to the positioning phase. To address the channel conflicts and multipath interference caused by concurrent ranging from multiple devices, this embodiment introduces a name-based communication scheduling mechanism, which includes the following sub-steps: S1, the scheduling algorithm inside the control terminal starts to run, and extracts a device identifier from the list of measurable devices according to a preset strategy (such as list sequence number order, signal strength priority or historical location correlation), and establishes the device to be located holding the identifier as the target device for the current round.

[0033] S2, the control terminal sends a naming instruction for the target device to the positioning node. Based on this, the positioning node broadcasts a session establishment data packet of a specific format throughout the space. The header of this data packet explicitly contains the unique device identifier of the target device.

[0034] During this ranging session, all targeted devices in the network will receive the session establishment packet. The target device compares the packet header identifier with its own identifier, confirms a successful match, and then enters the active positioning state, preparing to respond to subsequent ranging requests. Conversely, other targeted devices, besides the target device, immediately execute silence logic and enter a silent state when they find that the packet header identifier does not match their own identifier. Specifically, in the silent state, non-target devices suspend their wireless transmission front-end circuitry and refuse to respond to any ranging or query packets in that channel until the current point-of-spot session release command is issued.

[0035] The mechanism provided by step S102 completely eliminates communication conflicts and ranging jitter caused by multiple devices competing for the channel at the physical channel level by performing silent communication isolation on non-target devices.

[0036] In step S103, during a one-to-one ranging session, the positioning node sends a ranging request to the target device and calculates the distance information of the target device based on the ranging response information returned by the target device; at the same time, the positioning node acquires the direction information of the target device in parallel.

[0037] After establishing a clean one-to-one communication link, the positioning node begins to perform spatial dimension parameter measurements, in which distance measurement and orientation measurement are carried out in parallel and in coordination. The specific implementation includes the following sub-steps: S103a, Sub-step for calculating distance information: The main control unit of the positioning node triggers the timestamp recording module to record the current transmission timestamp and simultaneously sends a ranging request to the target device. After receiving the ranging request, the target device's internal processing unit needs to spend a certain amount of time parsing the protocol and encapsulating the response data packet. After this fixed time delay (which is calibrated as a known constant when the device leaves the factory or enters the network), the target device sends the ranging response information outward.

[0038] Furthermore, after successfully receiving the ranging response information, the positioning node records the current reception timestamp. The internal computing unit of the positioning node obtains the complete round-trip time by comparing the reception timestamp with the transmission timestamp. Subsequently, the positioning node combines the aforementioned round-trip time with the fixed time delay deducted by the target device, specifically using the time-of-flight calculation formula, to calculate the absolute distance information between the target device and the positioning node with high precision.

[0039] S103b, Parallel acquisition sub-step of direction information: During the round-trip flight of the ranging data packet acquiring distance information, the positioning node synchronously triggers its orientation-aware hardware module. Under different communication channels or different time window allocation mechanisms, the positioning node extracts spatial features from the radio frequency signals transmitted by the target device.

[0040] In one exemplary embodiment, the array antenna inside the positioning node receives the phase difference data of the target device signal and inputs it into the angle of arrival estimation algorithm matrix, thereby measuring the spatial orientation description information of the target device in the local coordinate system of the current single positioning node.

[0041] It should be noted that the spatial direction description information in this embodiment is output in the form of parameters in a spherical coordinate system, which includes at least the horizontal direction angle information of the target device relative to the normal direction of the positioning node, and the vertical direction angle information relative to the horizontal plane of the positioning node.

[0042] It is understandable that the direction extraction process and the distance measurement process operate independently using separate hardware channels or mutually exclusive time slots, without interfering with each other, thus ensuring the synchronization and integrity of the data.

[0043] In step S104, the control terminal fuses distance and direction information through a single positioning node to obtain the three-dimensional position information of the target device.

[0044] After the positioning node completes parameter acquisition of a single target device, it uploads a data set containing distance, horizontal angle, and vertical angle values ​​to the control terminal. The control terminal's fusion calculation engine is responsible for performing spatial coordinate transformation. In an exemplary embodiment, this includes the following sub-steps: The control terminal constructs a local spatial rectangular coordinate system with the physical geometric center of a single positioning node as the origin. Then, the computing engine extracts the absolute distance information from the input data set as the radius vector length of the spatial spherical coordinates; extracts the horizontal direction angle information as the azimuth parameter; and extracts the vertical direction angle information as the elevation parameter.

[0045] Furthermore, based on the aforementioned single positioning node coordinate system, the control terminal invokes a three-dimensional spatial position calculation model to convert vector data in polar coordinates into parameter values ​​in rectangular coordinates. By performing trigonometric function projection matrix operations, the spatial coordinate information of the target device on the X, Y, and Z axes is calculated respectively, thereby accurately outputting the three-dimensional coordinate information of the target device.

[0046] Step S104 completes spatial positioning calculation by relying solely on the fusion of a single positioning node. Compared to traditional 3D positioning methods, which require the pre-deployment of at least three fixed base stations in the measurement environment for spatial convergence, this solution achieves high-precision 3D positioning without the need for multi-base station collaboration, significantly reducing deployment costs and improving portability and mobile measurement capabilities in complex environments.

[0047] Step S105: Store the three-dimensional location information of the target device in the three-dimensional device location map; according to the preset scheduling strategy, select other devices as target devices from the list of measurable devices in turn, and repeat the point-to-point one-to-one ranging session and direction acquisition process to construct a three-dimensional device distribution map containing multiple devices.

[0048] After the location calculation for a single target device is completed, the control terminal enters the data persistence and global iteration process, which includes the following sub-steps: First, the control terminal binds the calculated 3D coordinate information with the device identifier of the target equipment, storing it as a valid 3D location information record in the 3D device location map database maintained internally by the system. In some alternatives, this 3D location map is also replaced with a spatial probability distribution map or a specific regional thermal model to adapt to different industrial management needs.

[0049] Subsequently, the control terminal sends a command to the positioning node to terminate the current session and release channel resources. The control terminal returns to step S102 and, according to the preset scheduling strategy, sequentially extracts the next unlocated device identifier from the list of measurable devices as the new target device. The system repeatedly executes a series of operations such as device wake-up, one-to-one ranging session, parallel direction acquisition, and coordinate fusion until all devices in the list of measurable devices have been traversed.

[0050] By overlaying the data from the above multiple positioning results and projecting the spatial location, the control terminal finally constructs a complete three-dimensional equipment distribution map that reflects the physical location status of all equipment in the current industrial site or measurement space.

[0051] Through steps S101 to S105 above, this application restructures the technical architecture to address the pain points of existing technologies. Without establishing a standard communication connection protocol, it significantly improves the operational efficiency of system resource scheduling by decoupling time-consuming device search and precise positioning and ranging in terms of timing and logic. It reduces concurrent conflicts by relying on a named one-to-one communication isolation mechanism and achieves vector fusion calculation of distance and direction signals under a single positioning node. This method not only effectively reduces the deployment cost of hardware infrastructure but is also suitable for 3D spatial positioning modeling of various constrained devices, possessing extremely high engineering application value and scenario generalization capability.

[0052] Furthermore, this application also provides a 3D positioning system based on private search and point-to-point ranging. This system performs 3D positioning by executing a device search phase and a positioning phase that are functionally and temporally independent. The entire positioning task is divided into a device search phase and a positioning phase that are functionally and temporally independent. This design decouples the device discovery logic from the precision measurement logic, ensuring that in a large-scale device environment, the target can be quickly traversed and locked before interference-free and accurate positioning is performed, thereby significantly improving the efficiency and stability of positioning. Figure 2 This is a structural block diagram of a three-dimensional positioning system based on private search and point-to-point ranging according to an embodiment of this application, such as... Figure 2 As shown, the system includes: a search module 20, a session establishment module 21, a measurement module 22, and a solution module 23, wherein: The search module 20 is used to, during the device search phase, after the positioning node sends a search request via a private wireless communication method, receive the response information returned by the located device, and generate a list of measurable devices based on the response information. The private wireless communication method is a connectionless broadcast and response mechanism, and no distance and direction measurement is performed during the device search phase. The session establishment module 21 is used to, during the positioning phase, determine the target device from the list of measurable devices and establish a name-based one-to-one ranging session with the target device; The measurement module 22 is used to, during a one-to-one ranging session, send a ranging request to the target device from the positioning node, calculate the distance information of the target device based on the ranging response information returned by the target device, and acquire the spatial orientation description information of the target device in parallel. The calculation module 23 is used by the control terminal to fuse distance information and spatial direction description information through a single positioning node to obtain the three-dimensional position information of the target device.

[0053] The above system overcomes the technical defects of concurrent conflicts and channel interference, and achieves the technical effect of stably constructing a three-dimensional spatial distribution model of multiple devices, without establishing a standard communication connection, without modifying the hardware of the located device, and relying only on the infrastructure of a single positioning node.

[0054] In one embodiment, Figure 3 This is a schematic diagram of the internal structure of an electronic device according to an embodiment of this application, such as... Figure 3 As shown, an electronic device is provided, which can be a server, and its internal structure diagram can be as follows. Figure 3 As shown, the electronic device includes a processor, a network interface, internal memory, and non-volatile memory connected via an internal bus. The non-volatile memory stores the operating system, computer programs, and a database. The processor provides computing and control capabilities, the network interface communicates with external terminals via a network connection, the internal memory provides the environment for the operating system, the computer programs are executed by the processor to implement a 3D positioning method based on private search and point-to-point ranging, and the database stores data.

[0055] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0056] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc. The above embodiments merely illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described; however, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0057] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A three-dimensional positioning method based on private search and point-to-point ranging, characterized in that, The method includes a device search phase and a location phase that are functionally and temporally independent. During the device search phase, after the positioning node sends a search request via a private wireless communication method, it receives the response information returned by the located device and generates a list of measurable devices based on the response information. The private wireless communication method is a connectionless broadcast and response mechanism, and no distance or direction measurement is performed during the device search phase. During the positioning phase, the positioning node determines the target device from the list of measurable devices and establishes a name-based one-to-one ranging session with the target device. During the one-to-one ranging session, the positioning node sends a ranging request to the target device, calculates the distance information of the target device based on the ranging response information returned by the target device, and obtains the spatial orientation description information of the target device in parallel. The control terminal fuses the distance information with the spatial direction description information through a single positioning node to obtain the three-dimensional position information of the target device.

2. The method according to claim 1, characterized in that, During the device search phase, the positioning node sends a search request via private wireless communication, obtains response information returned by the located device, and generates a list of measurable devices based on the response information, including: The positioning node broadcasts the search request within a predetermined frequency band; Receive the response information containing the device identifier returned by each of the located devices; The control terminal generates the list of measurable devices based on the received device identifiers, wherein only the discovery and identification of devices are completed during the device search phase.

3. The method according to claim 1, characterized in that, The positioning node determines the target device from the list of measurable devices and establishes a name-based one-to-one ranging session with the target device, including: When the control terminal selects the target device, it controls the positioning node to establish the ranging session only with the target device; During the ranging session, other located devices besides the target device are configured to remain silent to avoid communication conflicts caused by multiple devices performing ranging concurrently.

4. The method according to claim 1, characterized in that, Based on the ranging response information returned by the target device, the distance information of the target device is calculated, including: After receiving the ranging request, the target device returns the ranging response information after a preset fixed time delay; The positioning node obtains the round-trip time between sending the ranging request and receiving the ranging response information; By combining the preset fixed time delay and the round-trip time, the distance information between the target device and the positioning node is calculated.

5. The method according to claim 1, characterized in that, The positioning node acquires the spatial orientation description information of the target device in parallel, including: During the distance measurement process, the positioning node synchronously measures the spatial orientation description information of the target device in different communication channels or different time windows. The spatial orientation description information includes at least horizontal and vertical angular information.

6. The method according to claim 5, characterized in that, The control terminal fuses the distance information with the spatial direction description information through a single positioning node to obtain the three-dimensional position information of the target device, including: In a single positioning node coordinate system, based on the distance information, horizontal direction angle information and vertical direction angle information measured by the positioning node, spatial position calculation is performed to obtain the three-dimensional coordinate information of the target device.

7. The method according to claim 1, characterized in that, The method further includes: The three-dimensional position information of the target device is stored in the three-dimensional device position map; According to the preset scheduling strategy, other devices are selected from the list of measurable devices as target devices, and the point-to-point one-to-one ranging session and direction acquisition process are repeatedly executed to construct a three-dimensional device distribution map containing multiple devices.

8. A three-dimensional positioning system based on private search and point-to-point ranging, characterized in that, The system performs device search and positioning phases that are independent of each other in function and timing to achieve three-dimensional positioning. The system includes: a search module, a session establishment module, a measurement module, and a solution module, wherein: The search module is used to, during the device search phase, after the positioning node sends a search request via a private wireless communication method, receive the response information returned by the located device, and generate a list of measurable devices based on the response information. The private wireless communication method is a connectionless broadcast and response mechanism, and no distance and direction measurements are performed during the device search phase. The session establishment module is used to, during the positioning phase, determine the target device from the list of measurable devices and establish a name-based one-to-one ranging session with the target device. The measurement module is used to, during the one-to-one ranging session, send a ranging request to the target device from the positioning node, calculate the distance information of the target device based on the ranging response information returned by the target device, and acquire the spatial orientation description information of the target device in parallel. The calculation module is used to allow the control terminal to fuse the distance information with the spatial direction description information through a single positioning node to obtain the three-dimensional position information of the target device.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1 to 7.

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