CN109116305A - Localization method, positioning device and positioning system - Google Patents
Localization method, positioning device and positioning system Download PDFInfo
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- CN109116305A CN109116305A CN201811162732.5A CN201811162732A CN109116305A CN 109116305 A CN109116305 A CN 109116305A CN 201811162732 A CN201811162732 A CN 201811162732A CN 109116305 A CN109116305 A CN 109116305A
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- electronic tag
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- setting direction
- location information
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Radar Systems Or Details Thereof (AREA)
Abstract
Localization method, positioning device and positioning system provided by the invention, are related to field of locating technology.Wherein, localization method includes: the first positioning signal and the second positioning signal for sending of the second electronic tag for obtaining the transmission of the first electronic tag respectively, wherein first electronic tag and the second electronic tag are respectively arranged at the different location of object to be positioned；The first location information of first electronic tag is calculated according to first positioning signal, and the second location information of second electronic tag is calculated according to second positioning signal；A corresponding vector is calculated according to the first location information and the second location information, to obtain the setting direction of the object to be positioned according to the vector.By the above method, the problem of wasting of resources present in existing location technology can be improved.
Description
Technical field
The present invention relates to field of locating technology, in particular to a kind of localization method, positioning device and positioning system.
Background technique
In traditional location technology, object to be positioned is usually abstracted as a point, and by being located at where the point
The positioning label of position obtains corresponding location information.But it may need to know that object to be positioned is whole in some cases
Location information.Therefore, it is difficult to complete above-mentioned technical purpose using traditional location technology.
To solve above-mentioned technical problem existing for traditional location technology, in the prior art, generally by object to be positioned
Multiple positioning labels are arranged in each position on the surface of body, determine that object to be positioned is whole with the location information by multiple points
Location information.
Through inventor the study found that conventionally, as needing more positioning label to obtain object to be positioned
The location information of each point on surface, thus, there is positioning label the wasting of resources the problem of.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of localization method, positioning device and positioning system, it is existing to improve
The problem of wasting of resources present in some location technologies.
To achieve the above object, the embodiment of the present invention adopts the following technical scheme that
A kind of localization method, comprising:
The second positioning letter that the first positioning signal and the second electronic tag for obtaining the transmission of the first electronic tag respectively are sent
Number, wherein first electronic tag and the second electronic tag are respectively arranged at the different location of object to be positioned；
The first location information of first electronic tag is calculated according to first positioning signal, and according to described
The second location information of second electronic tag is calculated in second positioning signal；
A corresponding vector is calculated according to the first location information and the second location information, with according to this to
Measure the setting direction of the object to be positioned.
In the embodiment of the present invention preferably selects, in above-mentioned localization method, further includes:
Obtain the object model constructed in advance for the object to be positioned；
The space usage data of the object to be positioned is calculated according to the setting direction and object model.
In the embodiment of the present invention preferably selects, in above-mentioned localization method, described obtain is directed to the object to be positioned
The step of object model that body constructs in advance includes: the two-dimensional bodies model for obtaining and constructing in advance for the object to be positioned；
The space usage data that the object to be positioned is calculated according to the setting direction and object model
Step includes: to occupy number according to the two-dimensional space that the object to be positioned is calculated in the setting direction and two-dimensional bodies model
According to.
In the embodiment of the present invention preferably selects, in above-mentioned localization method, described obtain is directed to the object to be positioned
The step of object model that body constructs in advance includes: the three-dimensional object model for obtaining and constructing in advance for the object to be positioned；
The space usage data that the object to be positioned is calculated according to the setting direction and object model
Step includes: to occupy number according to the three-dimensional space that the object to be positioned is calculated in the setting direction and three-dimensional object model
According to.
The embodiment of the invention also provides a kind of positioning devices, comprising:
Positioning signal obtains module, for obtaining the first positioning signal and the second electronics of the transmission of the first electronic tag respectively
The second positioning signal that label is sent, wherein first electronic tag and the second electronic tag are respectively arranged at object to be positioned
The different location of body；
Positional information calculation module, for being calculated the of first electronic tag according to first positioning signal
One location information, and the second location information of second electronic tag is calculated according to second positioning signal；
Setting direction computing module, for being calculated pair according to the first location information and the second location information
The vector answered, to obtain the setting direction of the object to be positioned according to the vector.
In the embodiment of the present invention preferably selects, in above-mentioned positioning device, further includes:
Object model obtains module, for obtaining the object model for being directed to the object to be positioned and constructing in advance；
Data computation module is occupied, for the object to be positioned to be calculated according to the setting direction and object model
Space usage data.
In the embodiment of the present invention preferably selects, in above-mentioned positioning device, the object model obtains module and includes:
Two-dimensional bodies model acquisition submodule, for obtaining the two-dimensional bodies model for being directed to the object to be positioned and constructing in advance；
The occupancy data computation module includes: that two dimension occupies data computational submodule, for according to the setting direction
The two-dimensional space that the object to be positioned is calculated with two-dimensional bodies model occupies data.
In the embodiment of the present invention preferably selects, in above-mentioned positioning device, the object model obtains module and includes:
Three-dimensional object model acquisition submodule, for obtaining the three-dimensional object model for being directed to the object to be positioned and constructing in advance；
The occupancy data computation module includes: three-dimensional occupancy data computational submodule, for according to the setting direction
The three-dimensional space that the object to be positioned is calculated with three-dimensional object model occupies data.
The embodiment of the invention also provides a kind of positioning systems, comprising:
It is set to the first electronic tag of object to be positioned, first electronic tag is for generating and sending the first positioning letter
Number；
The second electronic tag of the object different location to be positioned is set to first electronic tag, second electricity
Subtab is for generating and sending the second positioning signal；
The electronic equipment communicated to connect respectively with first electronic tag and second electronic tag, for obtaining respectively
First positioning signal and the second positioning signal are taken, and is calculated according to first positioning signal and the second positioning signal
Corresponding first location information and second location information, with the vector obtained according to the first location information and second confidence
Determine the setting direction of the object to be positioned.
In the embodiment of the present invention preferably selects, in above-mentioned positioning system, the electronic equipment is also used to for institute
It states object to be positioned and constructs corresponding object model, it is described undetermined to be calculated according to the object model and the setting direction
The space usage data of position object.
Localization method, positioning device and positioning system provided by the invention, by obtaining two electronic tag (the first electronics
Label and the second electronic tag) send positioning signal, to obtain the location information of two different locations on object to be positioned, and
A corresponding vector is formed, to obtain the setting direction (for example, length direction is along east-west setting) of object to be positioned, thus
The Global Information of object to be positioned is obtained, largely so as to improve there are resource waves due to using existing location technology
The problem of taking.
Further, it by obtaining the object model that constructs in advance, and based on obtained setting direction, can calculate pair
The space usage data of object to be positioned is answered, to realize the acquisition of object integral position information to be positioned, is avoiding electronics mark
The resource of label there are problems that on the basis of waste, moreover it is possible to avoid causing since object to be positioned is irregular even if using more
Electronic tag be also difficult to the problem of completely obtaining location information.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Fig. 1 is the application schematic diagram of positioning system provided in an embodiment of the present invention.
Fig. 2 is the structural block diagram of electronic equipment provided in an embodiment of the present invention.
Fig. 3 is the flow diagram of localization method provided in an embodiment of the present invention.
Fig. 4 is another flow diagram of localization method provided in an embodiment of the present invention.
Fig. 5 is the structural block diagram of positioning device provided in an embodiment of the present invention.
Fig. 6 is another structural block diagram of positioning device provided in an embodiment of the present invention.
Icon: 10- electronic equipment；12- memory；14- processor；The first electronic tag of 20-；The second electronic tag of 30-；
40- object to be positioned；100- positioning device；110- positioning signal obtains module；130- positional information calculation module；150- setting
Directions calculation module；170- object model obtains module；190- occupies data computation module.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment only
It is a part of the embodiments of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings
The component of embodiment can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.In description of the invention
In, term " first ", " second ", " third ", " the 4th " etc. are only used for distinguishing description, and should not be understood as only or imply opposite
Importance.
In the description of the present invention unless specifically defined or limited otherwise, term " setting ", " connected ", " connection " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The connection in portion.For the ordinary skill in the art, the tool of above-mentioned term in the present invention can be understood with concrete condition
Body meaning.
As shown in Figure 1, may include electronic equipment 10, the first electronics the embodiment of the invention provides a kind of positioning system
Label 20 and the second electronic tag 30.Wherein, first electronic tag 20 and second electronic tag 30 respectively with it is described
Electronic equipment 10 communicates to connect.
In detail, first electronic tag 20 can be set in object 40 to be positioned, and second electronic tag 30 can
To be set to the object to be positioned 40, also, first electronic tag 20 and second electronic tag 30 are set to institute
State the different location on object 40 to be positioned.
Wherein, first electronic tag 20 is for generating one first positioning signal, and can be sent to the electronics and set
Standby 10.Second electronic tag 30 can be sent to the electronic equipment 10 for generating one second positioning signal.It is described
Electronic equipment 10 for obtaining first positioning signal and the second positioning signal respectively, and according to first positioning signal and
Corresponding first location information and second location information is calculated in second positioning signal, according to the first location information and
The vector that two position letters obtain determines the setting direction of the object to be positioned 40.
It further, is the acquisition convenient for the Global Information to the object 40 to be positioned, in the present embodiment, the electricity
Sub- equipment 10 is also used to construct corresponding object model for the object 40 to be positioned, according to the object model and described to set
It sets direction calculating and obtains the space usage data of the object to be positioned 40.
Optionally, the concrete type of the electronic equipment 10 is unrestricted, for example, it may be, but be not limited to, intelligent hand
Machine, PC (personal computer, PC), tablet computer, personal digital assistant (personal digital
Assistant, PDA), mobile internet surfing equipment (mobile Internet device, MID), web (website) server, data
The equipment that server, computer, mobile internet surfing equipment (mobile Internet device, MID) etc. have processing function.
In detail, the electronic equipment 10 may include may include memory 12, processor 14 and positioning device 100.
It is directly or indirectly electrically connected between the memory 12 and processor 14, to realize the transmission or interaction of data.For example, this
A little elements can be realized by one or more communication bus or signal wire be electrically connected between each other.The positioning device 100 is wrapped
Include at least one software function module that can be stored in the form of software or firmware (firmware) in the memory 12.Institute
Processor 14 is stated for executing the executable computer program stored in the memory 12, for example, the positioning device 100
Included software function module and computer program etc., to realize localization method.
Wherein, the memory 12 may be, but not limited to, random access memory (RandomAccess Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 12 is for storing program, and the processor 14 executes described program after receiving and executing instruction.
The processor 14 may be a kind of IC chip, the processing capacity with signal.Above-mentioned processor 14
It can be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit
(Network Processor, NP) etc.；It can also be digital signal processor (DSP), specific integrated circuit (ASIC), scene
Programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware group
Part.It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be with
It is that microprocessor or the processor are also possible to any conventional processor etc..
It is appreciated that structure shown in Fig. 2 is only to illustrate, the electronic equipment 10 may also include more than shown in Fig. 2
Perhaps less component or with the configuration different from shown in Fig. 2.Each component shown in Fig. 2 can use hardware, software
Or combinations thereof realize.
Optionally, the concrete type of first electronic tag 20 and second electronic tag 30 is unrestricted, can be with
It is selected according to practical application request, as long as can have the ability for sending positioning signal, for example, it may be passive type
Electronic location label.
Also, the concrete type of the object to be positioned 40 is also unrestricted, can be set according to practical application request
It sets, for example, either each process equipment of workshop, is also possible to the equipment such as automobile.
In conjunction with Fig. 3, the embodiment of the present invention also provides a kind of localization method that can be applied to above-mentioned electronic equipment 10.Wherein,
Method and step defined in the related process of the method can be realized by the processor 14.It below will be to tool shown in Fig. 3
Body process is described in detail.
Step S110, the first positioning signal and the second electronic tag 30 for obtaining the transmission of the first electronic tag 20 respectively are sent
The second positioning signal.
In the present embodiment, first electronic tag 20 and the second electronic tag 30 are respectively arranged at object 40 to be positioned
Different location so that the first positioning signal and the second positioning signal that are sent based on different location can identify respectively it is described to
Position the location information of two different locations on object 40.
Step S130 believes according to the first position that first electronic tag 20 is calculated in first positioning signal
It ceases, and the second location information of second electronic tag 30 is calculated according to second positioning signal.
In the present embodiment, first electronic tag 20 and second electronic tag 30 are passive type electronic location mark
Label, therefore, can be to first positioning signal after getting first positioning signal and second positioning signal
Analytical Calculation is carried out with second positioning signal to obtain corresponding first location information and second location information.
A corresponding vector is calculated according to the first location information and the second location information in step S150,
To obtain the setting direction of the object to be positioned 40 according to the vector.
In the present embodiment, the first location information and the second electronics of the first electronic tag 20 are got by step S130
After the second location information of label 30, a vector can be obtained (for example, it may be the first electronics mark based on two location informations
Label 20 are directed toward the second electronic tags 30), and determine based on the vector setting direction of the object to be positioned 40.
It specifically,, can be by described first when the object 40 to be positioned is automobile in the example that can be substituted one
Electronic tag 20 and second electronic tag 30 are respectively arranged at the preceding car bonnet and rear engine cover of automobile, at this point, if obtain to
The direction of amount is to the east of west, then the available direction from headstock to the tailstock is also to the east of west.
Further, to obtain the complete space usage data of object 40 to be positioned, to determine that the object 40 to be positioned has
The engaged position of body, in the present embodiment, in conjunction with Fig. 4, the localization method can also include step S170 and step S190.
Step S170 obtains the object model constructed in advance for the object 40 to be positioned.
The space hold of the object to be positioned 40 is calculated according to the setting direction and object model by step S190
Data.
In the present embodiment, an object model (for example, car model) can be constructed in advance for object 40 to be positioned,
When needing to position the object 40 to be positioned, available object model, then in conjunction with what is obtained by step S150
Setting direction is to obtain the specific engaged position of object 40 to be positioned.
Wherein, different according to the type of the object model, available different space usage data.For example, one
In the example that kind can substitute, the two-dimensional space for passing through the available object 40 to be positioned of following steps occupies data: obtaining needle
The two-dimensional bodies model that the object 40 to be positioned is constructed in advance；It is calculated according to the setting direction and two-dimensional bodies model
Two-dimensional space to the object 40 to be positioned occupies data.
In the example that another kind can substitute, accounted for by three bit spaces of the available object 40 to be positioned of following steps
With data: obtaining the three-dimensional object model constructed in advance for the object 40 to be positioned；According to the setting direction and three-dimensional
The three-dimensional space that the object to be positioned 40 is calculated in object model occupies data.
In conjunction with Fig. 5, the embodiment of the present invention also provides a kind of positioning device 100 that can be applied to above-mentioned electronic equipment 10.Its
In, the positioning device 100 may include that positioning signal obtains module 110, positional information calculation module 130 and setting direction
Computing module 150.
The positioning signal obtains module 110, for obtaining the first positioning signal of the first electronic tag 20 transmission respectively
The second positioning signal sent with the second electronic tag 30, wherein first electronic tag 20 and the second electronic tag 30 divide
It is not set to the different location of object 40 to be positioned.In the present embodiment, the positioning signal obtains module 110 and can be used for executing
Step S110 shown in Fig. 3, the specific descriptions for obtaining module 110 about the positioning signal are referred to above to step S110
Description.
The positional information calculation module 130, for first electronics to be calculated according to first positioning signal
The first location information of label 20, and the second of second electronic tag 30 is calculated according to second positioning signal
Confidence breath.In the present embodiment, the positional information calculation module 130 can be used for executing step S130 shown in Fig. 3, about institute
The specific descriptions for stating location information computing module 130 are referred to the description to step S130 above.
The setting direction computing module 150, based on according to the first location information and the second location information
Calculation obtains a corresponding vector, to obtain the setting direction of the object to be positioned 40 according to the vector.In the present embodiment, institute
Stating setting direction computing module 150 can be used for executing step S150 shown in Fig. 3, about the setting direction computing module 150
Specific descriptions be referred to the description to step S150 above.
In conjunction with Fig. 6, in the present embodiment, the positioning device 100 can also include that object model obtains module 170 and accounts for
With data computation module 190.
The object model obtains module 170, for obtaining the object mould for being directed to the object 40 to be positioned and constructing in advance
Type.In the present embodiment, the object model, which obtains module 170, can be used for executing step S170 shown in Fig. 4, about the object
The specific descriptions that body Model obtains module 170 are referred to the description to step S170 above.
The occupancy data computation module 190, for according to the setting direction and object model be calculated it is described to
Position the space usage data of object 40.In the present embodiment, the occupancy data computation module 190 can be used for executing Fig. 4 institute
The step S190 shown is referred to above retouch step S190 about the specific descriptions for occupying data computation module 190
It states.
Also, based on the difference to the type demand for occupying data, the object model obtains module 170 and described
Occupying data computation module 190 may include different submodules.
Wherein, in the example that one kind can substitute, data are occupied in the two-dimensional space for needing to obtain object 40 to be positioned
When, it may include two-dimensional bodies model acquisition submodule, the occupancy data computation module that the object model, which obtains module 170,
190 may include that two dimension occupies data computational submodule.
In detail, the two-dimensional bodies model acquisition submodule is directed to the preparatory structure of the object 40 to be positioned for obtaining
The two-dimensional bodies model built.The two dimension occupies data computational submodule, for according to the setting direction and two-dimensional bodies mould
The two-dimensional space that the object to be positioned 40 is calculated in type occupies data,
In the example that another kind can substitute, when the three-dimensional space for needing to obtain object 40 to be positioned occupies data,
It may include three object model acquisition submodules that the object model, which obtains module 170, the occupancy data computation module 190
It may include three-dimensional occupancy data computational submodule.
In detail, the three-dimensional object model acquisition submodule is directed to the preparatory structure of the object 40 to be positioned for obtaining
The three-dimensional object model built.The three-dimensional occupancy data computational submodule, for according to the setting direction and three-dimension object mould
The three-dimensional space that the object to be positioned 40 is calculated in type occupies data.
In conclusion localization method provided by the invention, positioning device 100 and positioning system, by obtaining two electronics
The positioning signal that label (the first electronic tag 20 and the second electronic tag 30) is sent, to obtain on object 40 to be positioned two not
With the location information of position, and a corresponding vector is formed, to obtain the setting direction of object 40 to be positioned (for example, length side
To along east-west setting), to obtain the Global Information of object 40 to be positioned, largely so as to improve because using existing
Some location technologies and there are problems that the wasting of resources.Secondly, by obtaining the object model that constructs in advance, and based on obtaining
Setting direction, can calculate the space usage data of corresponding object 40 to be positioned, to realize the whole position of object 40 to be positioned
The acquisition of confidence breath, on the basis of avoiding the problem that the resource of electronic tag has waste, moreover it is possible to avoid due to object to be positioned
Body 40 is irregular and causes to be difficult to the problem of completely obtaining location information using more electronic tag.
In several embodiments provided by the embodiment of the present invention, it should be understood that disclosed device and method, it can also
To realize by another way.Device and method embodiment described above is only schematical, for example, in attached drawing
Flow chart and block diagram show that the devices of multiple embodiments according to the present invention, method and computer program product are able to achieve
Architecture, function and operation.In this regard, each box in flowchart or block diagram can represent module, a program
A part of section or code, a part of the module, section or code include that one or more is patrolled for realizing defined
Collect the executable instruction of function.It should also be noted that in some implementations as replacement, function marked in the box
It can occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually be held substantially in parallel
Row, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram and/or
The combination of each box in flow chart and the box in block diagram and or flow chart, can the function as defined in executing or dynamic
The dedicated hardware based system made is realized, or can be realized using a combination of dedicated hardware and computer instructions.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, electronic equipment or network equipment etc.) execute all or part of step of each embodiment the method for the present invention
Suddenly.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), deposits at random
The various media that can store program code such as access to memory (RAM, Random Access Memory), magnetic or disk.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of localization method characterized by comprising
The second positioning signal that the first positioning signal and the second electronic tag for obtaining the transmission of the first electronic tag respectively are sent,
In, first electronic tag and the second electronic tag are respectively arranged at the different location of object to be positioned；
The first location information of first electronic tag is calculated according to first positioning signal, and according to described second
The second location information of second electronic tag is calculated in positioning signal；
A corresponding vector is calculated according to the first location information and the second location information, with according to this to measuring
To the setting direction of the object to be positioned.
2. localization method according to claim 1, which is characterized in that further include:
Obtain the object model constructed in advance for the object to be positioned；
The space usage data of the object to be positioned is calculated according to the setting direction and object model.
3. localization method according to claim 2, which is characterized in that described obtain is directed to the preparatory structure of object to be positioned
The step of object model built includes: the two-dimensional bodies model for obtaining and constructing in advance for the object to be positioned；
The step of space usage data that the object to be positioned is calculated according to the setting direction and object model
It include: that data are occupied according to the two-dimensional space that the object to be positioned is calculated in the setting direction and two-dimensional bodies model.
4. localization method according to claim 2, which is characterized in that described obtain is directed to the preparatory structure of object to be positioned
The step of object model built includes: the three-dimensional object model for obtaining and constructing in advance for the object to be positioned；
The step of space usage data that the object to be positioned is calculated according to the setting direction and object model
It include: that data are occupied according to the three-dimensional space that the object to be positioned is calculated in the setting direction and three-dimensional object model.
5. a kind of positioning device characterized by comprising
Positioning signal obtains module, for obtaining the first positioning signal and the second electronic tag of the transmission of the first electronic tag respectively
The second positioning signal sent, wherein first electronic tag and the second electronic tag are respectively arranged at object to be positioned
Different location；
Positional information calculation module, for being calculated first of first electronic tag according to first positioning signal
Confidence ceases, and the second location information of second electronic tag is calculated according to second positioning signal；
Setting direction computing module, it is corresponding for being calculated according to the first location information and the second location information
One vector, to obtain the setting direction of the object to be positioned according to the vector.
6. positioning device according to claim 5, which is characterized in that further include:
Object model obtains module, for obtaining the object model for being directed to the object to be positioned and constructing in advance；
Data computation module is occupied, for the sky of the object to be positioned to be calculated according to the setting direction and object model
Between occupy data.
7. positioning device according to claim 6, which is characterized in that it includes: two-dimentional object that the object model, which obtains module,
Body Model acquisition submodule, for obtaining the two-dimensional bodies model for being directed to the object to be positioned and constructing in advance；
The occupancy data computation module includes: that two dimension occupies data computational submodule, for according to the setting direction and two
The two-dimensional space that the object to be positioned is calculated in dimension object model occupies data.
8. positioning device according to claim 6, which is characterized in that it includes: three-dimensional article that the object model, which obtains module,
Body Model acquisition submodule, for obtaining the three-dimensional object model for being directed to the object to be positioned and constructing in advance；
The occupancy data computation module includes: three-dimensional occupancy data computational submodule, for according to the setting direction and three
The three-dimensional space that the object to be positioned is calculated in dimension object model occupies data.
9. a kind of positioning system characterized by comprising
It is set to the first electronic tag of object to be positioned, first electronic tag is for generating and sending the first positioning signal；
The second electronic tag of the object different location to be positioned is set to first electronic tag, the second electronics mark
Label are for generating and sending the second positioning signal；
The electronic equipment communicated to connect respectively with first electronic tag and second electronic tag, for obtaining institute respectively
The first positioning signal and the second positioning signal are stated, and correspondence is calculated according to first positioning signal and the second positioning signal
First location information and second location information, determined with the vector that is obtained according to the first location information and second confidence
The setting direction of the object to be positioned.
10. positioning system according to claim 9, which is characterized in that the electronic equipment is also used to for described undetermined
Position object constructs corresponding object model, the object to be positioned is calculated according to the object model and the setting direction
Space usage data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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