CN109029456B - Positioning method and device based on virtual coordinates - Google Patents
Positioning method and device based on virtual coordinates Download PDFInfo
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Abstract
The embodiment of the application provides a positioning method and device based on virtual coordinates, and relates to the technical field of positioning. The method comprises the following steps: positioning the positioning source according to a plurality of actual coordinates of a plurality of positioning base stations to obtain a plane coordinate of the positioning source in space; positioning the positioning source according to the virtual coordinate, the plurality of actual coordinates and the plane coordinate to obtain a three-dimensional coordinate of the positioning source in the space, wherein any one of the plurality of positioning base stations has a virtual coordinate which is not on the same plane; and determining the position of the positioning source in the space according to the plane coordinates and the three-dimensional coordinates. Therefore, the accurate positioning of the positioning source in the space is realized through the plane coordinate and the three-dimensional coordinate, and the technical problem that the positioning source cannot be accurately positioned under the condition that the positioning base stations are positioned on the same plane is solved.
Description
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a positioning method and apparatus based on virtual coordinates.
Background
In the current indoor accurate positioning technology, a plurality of positioning base stations are installed indoors, when a positioning source transmits a positioning signal, a positioning terminal utilizes the plurality of positioning base stations to acquire the positioning signal, and therefore accurate positioning of the positioning source can be achieved.
Disclosure of Invention
The application aims to provide a positioning method and device based on virtual coordinates to solve the technical problem that a positioning source cannot be accurately positioned under the condition that positioning base stations are located on the same plane.
In order to achieve the above object, embodiments of the present application are implemented as follows:
in a first aspect, an embodiment of the present application provides a positioning method based on virtual coordinates, which is applied to a positioning terminal, where the positioning terminal is connected to multiple positioning base stations located on the same plane, and the method includes: positioning the positioning source according to the actual coordinates of the positioning base stations to obtain the plane coordinate of the positioning source in the space; positioning the positioning source according to the virtual coordinate, the actual coordinates and the plane coordinate to obtain a three-dimensional coordinate of the positioning source in a space, wherein any one of the positioning base stations has the virtual coordinate which is not on the same plane; and determining the position of the positioning source in the space according to the plane coordinates and the three-dimensional coordinates.
With reference to the first aspect, in a possible implementation manner of the embodiment of the present application, the positioning source according to the virtual coordinate, the multiple actual coordinates, and the plane coordinate, and obtaining a stereoscopic coordinate of the positioning source in a space includes: obtaining the area of a positioning triangle according to the actual coordinate, the virtual coordinate and the plane coordinate of any one positioning base station, wherein the actual coordinate, the virtual coordinate and the plane coordinate of any one positioning base station form the positioning triangle; determining a positioning distance between the positioning source and the virtual coordinate according to the area of the positioning triangle; and positioning the positioning source according to the actual coordinates and the positioning distance to obtain the three-dimensional coordinates of the positioning source in the space.
With reference to the first aspect, in a possible implementation manner of the embodiment of the present application, the positioning a positioning source according to a plurality of actual coordinates of a plurality of positioning base stations to obtain a plane coordinate of the positioning source in a space includes: obtaining a plurality of positioning times sent by a plurality of positioning base stations, wherein each positioning time in the plurality of positioning times is the time required by a positioning signal transmitted by a positioning source to reach each corresponding positioning base station; and positioning the positioning source according to the positioning times and the actual coordinates of the positioning base station to obtain the plane coordinates of the positioning source in the space.
With reference to the first aspect, in a possible implementation manner of the embodiment of the present application, the positioning source according to the multiple positioning times and the multiple actual coordinates of the positioning base station to obtain a plane coordinate of the positioning source in a space includes: determining a plurality of actual distances which correspond to each other one by one between the positioning source and the positioning base stations according to the positioning times and the actual coordinates; positioning the positioning source according to the actual distances to obtain a plane coordinate of the positioning source in the space; correspondingly, the positioning source according to the actual coordinates and the positioning distance to obtain the three-dimensional coordinates of the positioning source in the space includes: and positioning the positioning source according to the actual distances corresponding to the actual coordinates and the positioning distance to obtain the three-dimensional coordinates of the positioning source in the space.
With reference to the first aspect, in a possible implementation manner of the embodiment of the present application, the positioning source according to the plurality of actual distances corresponding to the plurality of actual coordinates and according to the positioning distance to obtain a stereoscopic coordinate of the positioning source in a space includes: and calculating the plurality of actual distances and the positioning distances by calling a preset TDOA algorithm model, and positioning the positioning source by calculation to obtain the three-dimensional coordinates of the positioning source in the space.
In a second aspect, an embodiment of the present application provides a positioning apparatus based on virtual coordinates, which is applied to a positioning terminal, where the positioning terminal is connected to a plurality of positioning base stations located on the same plane, and the apparatus includes: and the first positioning module is used for positioning the positioning source according to the actual coordinates of the positioning base stations to obtain the plane coordinate of the positioning source in the space. And the second positioning module is used for positioning the positioning source according to the virtual coordinate, the actual coordinates and the plane coordinate to obtain a three-dimensional coordinate of the positioning source in a space, wherein any one of the positioning base stations has the virtual coordinate which is not on the same plane. And the third positioning module is used for determining the position of the positioning source in the space according to the plane coordinate and the three-dimensional coordinate.
With reference to the first aspect, in a possible implementation manner of the embodiment of the present application, the second positioning module is further configured to obtain an area of a positioning triangle according to the actual coordinate, the virtual coordinate, and the plane coordinate of any one of the positioning base stations, where the actual coordinate, the virtual coordinate, and the plane coordinate of any one of the positioning base stations form the positioning triangle; determining a positioning distance between the positioning source and the virtual coordinate according to the area of the positioning triangle; and positioning the positioning source according to the actual coordinates and the positioning distance to obtain the three-dimensional coordinates of the positioning source in the space.
With reference to the first aspect, in a possible implementation manner of the embodiment of the present application, the first positioning module is further configured to obtain a plurality of positioning times sent by a plurality of positioning base stations, where each of the plurality of positioning times is a time required for a positioning signal transmitted by a positioning source to reach each corresponding positioning base station; and positioning the positioning source according to the positioning times and the actual coordinates of the positioning base station to obtain the plane coordinates of the positioning source in the space.
With reference to the first aspect, in a possible implementation manner of the embodiment of the present application, the first positioning module is further configured to determine, according to the multiple positioning times and the multiple actual coordinates, multiple actual distances that correspond to each other between the positioning source and multiple positioning base stations one to one; and positioning the positioning source according to the actual distances to obtain the plane coordinates of the positioning source in the space. Correspondingly, the second positioning module is further configured to position the positioning source according to the actual distances corresponding to the actual coordinates and according to the positioning distances, so as to obtain a three-dimensional coordinate of the positioning source in space.
With reference to the first aspect, in a possible implementation manner of the embodiment of the present application, the second location module is further configured to calculate the plurality of actual distances and the location distances by invoking a preset TDOA algorithm model, and locate the location source by calculation to obtain a three-dimensional coordinate of the location source in space.
In a third aspect, an embodiment of the present application provides a positioning terminal, where the positioning terminal includes: a processor, a memory, a bus and a communication module; the processor, the communication module and the memory are connected through the bus; the memory is used for storing programs; the processor is used for executing the positioning method based on the virtual coordinates by calling the program stored in the memory.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having non-volatile program code executable by a processor, the program code causing the processor to execute the virtual coordinate-based positioning method.
The beneficial effects of the embodiment of the application are that:
when the plurality of positioning base stations are located on the same plane, any one of the plurality of positioning base stations may be made to have virtual coordinates that are not on the same plane. Then, after the positioning source is positioned by using the plurality of actual coordinates of the plurality of positioning base stations and the planar coordinates of the positioning source in the space are obtained, the virtual coordinates, the plurality of actual coordinates and the planar coordinates can be reused to position the positioning source again because the virtual coordinates are not on the same plane, and further the three-dimensional coordinates of the positioning source in the space are obtained. Therefore, the accurate positioning of the positioning source in the space is realized through the plane coordinate and the three-dimensional coordinate, and the technical problem that the positioning source cannot be accurately positioned under the condition that the positioning base stations are positioned on the same plane is solved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a block diagram illustrating a positioning system according to a first embodiment of the present application;
fig. 2 is a block diagram illustrating a positioning terminal in a positioning system according to a first embodiment of the present application;
fig. 3 is a flowchart illustrating a positioning method based on virtual coordinates according to a second embodiment of the present application;
fig. 4 shows a block diagram of a positioning apparatus based on virtual coordinates according to a third embodiment of the present application.
Detailed Description
In the technology of accurately positioning a positioning source by using a plurality of positioning base stations, in order to realize accurate positioning, the plurality of positioning base stations need to be respectively installed on different planes, and accurate positioning of the positioning source can be realized by using the height difference formed between the plurality of positioning base stations.
However, the inventor has found through long-term practical research that in some cases, due to the limitation of field conditions, a plurality of positioning base stations cannot be installed on different planes. If a plurality of positioning base stations are installed on the same plane, the positioning source cannot be positioned, and thus, the precise positioning of the positioning source is limited.
The above prior art solutions have drawbacks that are the results of practical and careful study of the inventor, and therefore, the discovery process of the above problems and the solutions proposed by the following embodiments of the present application for the above problems should be the contributions of the inventor to the present application in the process of the present application.
Based on the above research, the embodiment of the application provides a positioning method and device based on virtual coordinates. When the plurality of positioning base stations are located on the same plane, any one of the plurality of positioning base stations may be made to have virtual coordinates that are not on the same plane. Then, after the positioning source is positioned by using the plurality of actual coordinates of the plurality of positioning base stations and the planar coordinates of the positioning source in the space are obtained, the virtual coordinates, the plurality of actual coordinates and the planar coordinates can be reused to position the positioning source again because the virtual coordinates are not on the same plane, and further the three-dimensional coordinates of the positioning source in the space are obtained. Therefore, the accurate positioning of the positioning source in the space is realized through the plane coordinate and the three-dimensional coordinate, the technical problem that the positioning source cannot be accurately positioned under the condition that a plurality of positioning base stations are positioned on the same plane is solved, and the limitation on the accurate positioning of the positioning source under the condition that the plurality of positioning base stations are positioned on the same plane is avoided.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without inventive step, are within the scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
First embodiment
Referring to fig. 1, an embodiment of the present application provides a positioning system 10, where the positioning system 10 includes: a plurality of positioning base stations 11 and positioning terminals 20.
The plurality of positioning base stations 11 may be conventional positioning base stations on the market, the plurality of positioning base stations 11 may be installed indoors, and the installation positions of the plurality of positioning base stations 11 may also be located on the same plane, that is, the plurality of positioning base stations 11 may also be located on the same plane to accurately position an indoor positioning source.
The positioning terminal 20 may be a smart phone, a tablet computer, a notebook computer, or a personal computer, etc. having data processing capability. In this embodiment, after the plurality of positioning base stations 11 receive the signal sent by the positioning source, the plurality of positioning base stations 11 can generate and send the corresponding data value positioning terminal 20, and the positioning terminal 20 can execute a positioning method based on virtual coordinates to position the indoor positioning source by receiving the data sent by the plurality of positioning base stations 11.
As shown in fig. 2, the positioning terminal 20 may include: memory 21, communication module 22, bus 23, and processor 24. The processor 24, the communication module 22 and the memory 21 are connected by a bus 23. The processor 24 is for executing executable modules, such as computer programs, stored in the memory 21. The components and configuration of the positioning terminal 20 shown in fig. 2 are exemplary only, and not limiting, and the positioning terminal 20 may have other components and configurations as desired.
The Memory 21 may include a high-speed Random Access Memory (Random Access Memory RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. In the present embodiment, the memory 21 stores a program necessary for the positioning method based on the virtual coordinates.
The bus 23 may be an ISA bus, a PCI bus, an EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 2, but this does not indicate only one bus or one type of bus.
The method performed by the flow process or the defined device disclosed in any of the embodiments of the present invention may be applied to the processor 24 or implemented by the processor 24. After the processor 24 receives the execution instruction and calls the program stored in the memory 21 through the bus 23, the processor 24 controls the communication module 22 through the bus 23 to execute the flow of the positioning method based on the virtual coordinates.
Second embodiment
The present embodiment provides a virtual coordinate-based positioning method, it should be noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions, and that while a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order different than here. The present embodiment will be described in detail below.
Referring to fig. 3, in the positioning method based on virtual coordinates provided in this embodiment, the positioning method based on virtual coordinates is applied to a positioning terminal, and the positioning method based on virtual coordinates includes: step S100, step S200, and step S300.
Step S100: and positioning the positioning source according to the actual coordinates of the positioning base stations to obtain the plane coordinate of the positioning source in the space.
Step S200: and positioning the positioning source according to the virtual coordinate, the actual coordinates and the plane coordinate to obtain a three-dimensional coordinate of the positioning source in a space, wherein any one of the positioning base stations has the virtual coordinate which is not on the same plane.
Step S300: and determining the position of the positioning source in the space according to the plane coordinates and the three-dimensional coordinates.
The scheme of the present application will be specifically described below.
Step S100: and positioning the positioning source according to the actual coordinates of the positioning base stations to obtain the plane coordinate of the positioning source in the space.
When the positioning source is positioned in the room, the positioning source can be accurately positioned in the room. The positioning source may be an object carrying the positioning signal transmitting device, and the object and the device are regarded as the positioning source as a whole.
The positioning source may emit a positioning signal when the positioning source needs to be accurately positioned indoors, wherein the positioning signal may be a radio frequency signal with a high frequency, but is not limited thereto. Accordingly, a plurality of positioning base stations can each receive the positioning signal. However, since each of the plurality of positioning base stations has a certain distance from the positioning source, the positioning signal can reach each positioning base station only by the distance between each positioning base station and the positioning source. Alternatively, each base station may record a reception time point at which the positioning signal is received. In addition, when the positioning source generates the positioning signal, the positioning source may write the transmission time point at which the positioning signal is to be transmitted into the positioning signal and transmit the positioning signal at the transmission time point, that is, the positioning signal carries the transmission time point. Therefore, each positioning base station can obtain the transmission time point by analyzing the obtained positioning signal. Each positioning base station can determine each corresponding positioning time by making a difference between the receiving time point and the transmitting time point when receiving the positioning signal, and it can be understood that each positioning time is the time required for the positioning signal transmitted by the positioning source to reach each corresponding positioning base station. Optionally, to implement positioning of the positioning source, each positioning base station may send each positioning time to the positioning terminal for processing.
Accordingly, the positioning terminal can obtain each positioning time transmitted by each positioning base station, that is, obtain a plurality of positioning times transmitted by a plurality of positioning base stations. In this embodiment, since the installation positions of the plurality of positioning base stations in the indoor space are different, and the distance between each positioning base station and the positioning source is not exactly the same, the receiving time points at which each positioning base station receives the positioning signal are also not exactly the same, and thus each positioning time obtained by each positioning base station is also not exactly the same. For example, if the distance between the positioning base station a and the positioning source is a little bit far, the positioning time T1 of the positioning base station a is a little bit longer, and if the distance between the positioning base station B and the positioning source is a little bit close, the positioning time T2 of the positioning base station B is a little bit shorter.
Alternatively, the positioning terminal is based on the characteristics that each positioning Time is not identical, so that the positioning terminal can use a TDOA algorithm (Time difference of Arrival algorithm) to perform indoor accurate positioning on the positioning source.
Specifically, the positioning terminal multiplies each positioning time by the speed of light C to obtain each actual distance between the positioning source and each positioning base station, so as to obtain a plurality of actual distances. And the positioning terminal calls a TDOA algorithm model, and calculates a plurality of actual distances through the TDOA algorithm model so as to determine the plane coordinates of the positioning source in the indoor space.
It can be understood that, since the plurality of positioning base stations are located on the same plane, in this case, the plane coordinates of the positioning source in the plane can be determined, that is, the x-axis and y-axis coordinates of the positioning source are determined, but the z-axis coordinates of the positioning source cannot be determined.
Step S200: and positioning the positioning source according to the virtual coordinate, the actual coordinates and the plane coordinate to obtain a three-dimensional coordinate of the positioning source in a space, wherein any one of the positioning base stations has the virtual coordinate which is not on the same plane.
After the plane coordinates of the positioning source are obtained, the positioning source needs to be positioned continuously to obtain the three-dimensional coordinates of the positioning source. Since the three-dimensional coordinates of the positioning source are obtained by requiring that the plurality of positioning base stations are not completely located on the same plane, the positioning terminal can establish a virtual coordinate of any one of the plurality of positioning base stations for any one of the plurality of positioning base stations under the condition that the plurality of positioning base stations are completely located on the same plane, and the virtual coordinate is not located on the same plane.
It is understood that the virtual coordinate is the position where the actual position of any one of the positioning base stations is not located at the virtual coordinate, but it is assumed that any one of the positioning base stations is located at the virtual coordinate. For example, the actual coordinates of any one of the positioning base stations are (3, 5, 3), but the virtual coordinates of the any one of the positioning base stations are (3, 5).
As one way, the positioning terminal may establish the virtual coordinate for the any one positioning base station in advance, that is, before the positioning terminal obtains the positioning time sent by each positioning base station, the positioning terminal already establishes the virtual coordinate of the any one positioning base station.
As another mode, the positioning terminal may establish the virtual coordinate for any one of the positioning base stations in real time, that is, after the positioning terminal obtains the positioning time sent by each positioning base station, the positioning terminal randomly selects any one of the positioning base stations from the plurality of positioning base stations and establishes the virtual coordinate of any one of the positioning base stations.
It should be noted that any positioning base station that establishes the virtual coordinate should be the positioning base station that receives the best signal among the plurality of positioning base stations.
In this embodiment, the specific process of the positioning terminal positioning the positioning source by using the virtual coordinate may be as follows:
the actual coordinates, the virtual coordinates and the plane coordinates of any one of the positioning base stations may form a positioning triangle in the indoor space, and since the actual coordinates and the virtual coordinates of any one of the positioning base stations are determined, the bottom side of the positioning triangle is determined. In the case of determining the plane coordinates, the x-axis coordinate or the y-axis coordinate in the plane coordinates is taken as the height of the positioning triangle, and then the height of the positioning triangle is determined. The area of the positioning triangle is determined, that is, in the case of determining the base and the height, the area of the positioning triangle does not change regardless of the stereo coordinates of the positioning source. Therefore, the positioning terminal can determine the area of the positioning triangle according to the actual coordinate, the virtual coordinate and the plane coordinate of any positioning base station. Optionally, the positioning terminal may further call a preset helenlun formula model, and calculate the area of the positioning triangle through the helenlun formula model to determine another unknown side length of the positioning triangle, that is, the determined another unknown side length is a positioning distance between the positioning source and the virtual coordinate.
Based on this, the positioning distance obtained by the positioning terminal is equivalent to the distance from the positioning signal to the actual positioning base station under the condition that the actual positioning base station exists at the virtual coordinate. In this case, the positioning terminal can accurately position the positioning source by using the distance from the positioning signal to the actual positioning base station and the originally obtained plurality of actual distances, thereby determining the three-dimensional coordinates of the positioning source.
Optionally, the positioning terminal may also call a TDOA algorithm model, calculate a plurality of actual distances corresponding to the plurality of actual coordinates and the determined positioning distance through the TDOA algorithm model, and position the positioning source through calculation, so as to calculate a three-dimensional coordinate of the positioning source, that is, determine a z-axis coordinate of the positioning source in the indoor space.
Step S300: and determining the position of the positioning source in the space according to the plane coordinates and the three-dimensional coordinates.
After the positioning terminal obtains the three-dimensional coordinates, the plane coordinates and the three-dimensional coordinates form the three-dimensional coordinates of the positioning source in the indoor space, so that the positioning terminal can accurately determine the position of the positioning source in the indoor space according to the plane coordinates and the three-dimensional coordinates.
Third embodiment
Referring to fig. 4, an embodiment of the present application provides a positioning apparatus 100 for virtual coordinates, where the positioning apparatus 100 for virtual coordinates is applied to a positioning terminal, and the positioning apparatus 100 for virtual coordinates includes:
the first positioning module 110 is configured to position the positioning source according to the multiple actual coordinates of the multiple positioning base stations, and obtain a planar coordinate of the positioning source in space.
A second positioning module 120, configured to position the positioning source according to the virtual coordinate, the multiple actual coordinates, and the plane coordinate, and obtain a three-dimensional coordinate of the positioning source in a space, where any one of the multiple positioning base stations has the virtual coordinate that is not on the same plane.
And a third positioning module 130, configured to determine a position of the positioning source in the space according to the planar coordinates and the stereoscopic coordinates.
The second positioning module 120 is further configured to obtain an area of a positioning triangle according to the actual coordinate, the virtual coordinate, and the plane coordinate of any one of the positioning base stations, where the actual coordinate, the virtual coordinate, and the plane coordinate of any one of the positioning base stations form the positioning triangle; determining a positioning distance between the positioning source and the virtual coordinate according to the area of the positioning triangle; and positioning the positioning source according to the actual coordinates and the positioning distance to obtain the three-dimensional coordinates of the positioning source in the space.
The first positioning module 110 is further configured to obtain a plurality of positioning times sent by a plurality of positioning base stations, where each of the plurality of positioning times is a time required for a positioning signal transmitted by a positioning source to reach each corresponding positioning base station; and positioning the positioning source according to the positioning times and the actual coordinates of the positioning base station to obtain the plane coordinates of the positioning source in the space.
The first positioning module 110 is further configured to determine, according to the plurality of positioning times and the plurality of actual coordinates, a plurality of actual distances that correspond to each other between the positioning source and the plurality of positioning base stations; and positioning the positioning source according to the actual distances to obtain the plane coordinates of the positioning source in the space.
Correspondingly, the second positioning module 120 is further configured to obtain the three-dimensional coordinates of the positioning source in the space according to the actual distances corresponding to the actual coordinates and the positioning of the positioning source according to the positioning distances
The second positioning module 120 is further configured to calculate the plurality of actual distances and the positioning distances by invoking a preset TDOA algorithm model, and position the positioning source by calculation to obtain a three-dimensional coordinate of the positioning source in space.
It should be noted that, as those skilled in the art can clearly understand, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
In summary, the embodiment of the present application provides a method and an apparatus for positioning a virtual coordinate. The positioning method based on the virtual coordinate is applied to a positioning terminal, the positioning terminal is connected with a plurality of positioning base stations on the same plane, and the method comprises the following steps: positioning the positioning source according to a plurality of actual coordinates of a plurality of positioning base stations to obtain a plane coordinate of the positioning source in space; positioning the positioning source according to the virtual coordinate, the plurality of actual coordinates and the plane coordinate to obtain a three-dimensional coordinate of the positioning source in the space, wherein any one of the plurality of positioning base stations has a virtual coordinate which is not on the same plane; and determining the position of the positioning source in the space according to the plane coordinates and the three-dimensional coordinates.
When the plurality of positioning base stations are located on the same plane, any one of the plurality of positioning base stations may be made to have virtual coordinates that are not on the same plane. Then, after the positioning source is positioned by using the plurality of actual coordinates of the plurality of positioning base stations and the planar coordinates of the positioning source in the space are obtained, the virtual coordinates, the plurality of actual coordinates and the planar coordinates can be reused to position the positioning source again because the virtual coordinates are not on the same plane, and further the three-dimensional coordinates of the positioning source in the space are obtained. Therefore, the accurate positioning of the positioning source in the space is realized through the plane coordinate and the three-dimensional coordinate, and the technical problem that the positioning source cannot be accurately positioned under the condition that the positioning base stations are positioned on the same plane is solved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A positioning method based on virtual coordinates is applied to a positioning terminal, and the positioning terminal is connected with a plurality of positioning base stations on the same plane, and the method comprises the following steps:
positioning the positioning source according to the actual coordinates of the positioning base stations to obtain the plane coordinate of the positioning source in the space;
positioning the positioning source according to the virtual coordinate, the actual coordinates and the plane coordinate to obtain a three-dimensional coordinate of the positioning source in a space, wherein any one of the positioning base stations has the virtual coordinate which is not on the same plane;
determining the position of the positioning source in the space according to the plane coordinate and the three-dimensional coordinate;
wherein, the positioning source according to the virtual coordinate, the plurality of actual coordinates and the plane coordinate to obtain the three-dimensional coordinate of the positioning source in the space comprises:
obtaining the area of a positioning triangle according to the actual coordinate, the virtual coordinate and the plane coordinate of any one positioning base station, wherein the actual coordinate, the virtual coordinate and the plane coordinate of any one positioning base station form the positioning triangle;
determining a positioning distance between the positioning source and the virtual coordinate according to the area of the positioning triangle;
and positioning the positioning source according to the actual coordinates and the positioning distance to obtain the three-dimensional coordinates of the positioning source in the space.
2. The virtual coordinate-based positioning method of claim 1, wherein the positioning a positioning source according to a plurality of actual coordinates of the plurality of positioning base stations to obtain planar coordinates of the positioning source in space comprises:
obtaining a plurality of positioning times sent by a plurality of positioning base stations, wherein each positioning time in the plurality of positioning times is the time required by a positioning signal transmitted by a positioning source to reach each corresponding positioning base station;
and positioning the positioning source according to the positioning times and the actual coordinates of the positioning base station to obtain the plane coordinates of the positioning source in the space.
3. The virtual coordinate-based positioning method according to claim 2, wherein the obtaining the plane coordinates of the positioning source in the space by positioning the positioning source according to the plurality of positioning times and the plurality of actual coordinates of the positioning base station comprises:
determining a plurality of actual distances which correspond to each other one by one between the positioning source and the positioning base stations according to the positioning times and the actual coordinates;
positioning the positioning source according to the actual distances to obtain a plane coordinate of the positioning source in the space;
correspondingly, the positioning source according to the actual coordinates and the positioning distance to obtain the three-dimensional coordinates of the positioning source in the space includes:
and positioning the positioning source according to the actual distances corresponding to the actual coordinates and the positioning distance to obtain the three-dimensional coordinates of the positioning source in the space.
4. The virtual coordinate-based positioning method according to claim 3, wherein the obtaining the stereoscopic coordinates of the positioning source in space according to the plurality of actual distances corresponding to the plurality of actual coordinates and the positioning of the positioning source according to the positioning distances comprises:
and calculating the plurality of actual distances and the positioning distances by calling a preset TDOA algorithm model, and positioning the positioning source by calculation to obtain the three-dimensional coordinates of the positioning source in the space.
5. A virtual coordinate-based positioning device is applied to a positioning terminal, wherein the positioning terminal is connected with a plurality of positioning base stations located on the same plane, and the device comprises:
the first positioning module is used for positioning the positioning source according to the actual coordinates of the positioning base stations to obtain the plane coordinate of the positioning source in the space;
a second positioning module, configured to position the positioning source according to a virtual coordinate, the multiple actual coordinates, and the plane coordinate, and obtain a three-dimensional coordinate of the positioning source in a space, where any one of the multiple positioning base stations has the virtual coordinate that is not on the same plane;
the third positioning module is used for determining the position of the positioning source in the space according to the plane coordinate and the three-dimensional coordinate;
the second positioning module is further configured to obtain an area of a positioning triangle according to the actual coordinate, the virtual coordinate, and the planar coordinate of any one of the positioning base stations, where the actual coordinate, the virtual coordinate, and the planar coordinate of any one of the positioning base stations form the positioning triangle; determining a positioning distance between the positioning source and the virtual coordinate according to the area of the positioning triangle; and positioning the positioning source according to the actual coordinates and the positioning distance to obtain the three-dimensional coordinates of the positioning source in the space.
6. The virtual coordinate-based positioning apparatus of claim 5,
the first positioning module is further configured to obtain a plurality of positioning times sent by a plurality of positioning base stations, where each of the plurality of positioning times is a time required for a positioning signal transmitted by a positioning source to reach each corresponding positioning base station; and positioning the positioning source according to the positioning times and the actual coordinates of the positioning base station to obtain the plane coordinates of the positioning source in the space.
7. The virtual coordinate-based positioning apparatus of claim 6,
the first positioning module is further configured to determine, according to the plurality of positioning times and the plurality of actual coordinates, a plurality of actual distances between the positioning source and the plurality of positioning base stations, which correspond to one another one to one; positioning the positioning source according to the actual distances to obtain a plane coordinate of the positioning source in the space;
correspondingly, the second positioning module is further configured to position the positioning source according to the actual distances corresponding to the actual coordinates and according to the positioning distances, so as to obtain a three-dimensional coordinate of the positioning source in space.
8. The virtual coordinate-based positioning apparatus of claim 7,
the second positioning module is further configured to calculate the plurality of actual distances and the positioning distances by calling a preset TDOA algorithm model, and position the positioning source by calculation to obtain a three-dimensional coordinate of the positioning source in space.
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