CN112098932A - Positioning system, signal transmitting equipment and signal receiving method - Google Patents
Positioning system, signal transmitting equipment and signal receiving method Download PDFInfo
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- 230000001351 cycling effect Effects 0.000 claims description 6
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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
- G01S5/0205—Details
- G01S5/0242—Determining the position of transmitters to be subsequently used in positioning
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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
- G01S5/0205—Details
- G01S5/0221—Receivers
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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
- G01S5/0205—Details
- G01S5/0226—Transmitters
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Abstract
The embodiment of the application provides a positioning system, a signal transmitting device and a signal receiving method, which relate to the technical field of positioning, wherein the system comprises a positioning processing device, the signal transmitting device and a signal receiving device, the signal transmitting device comprises a signal generator and at least two antennas, the signal generator is used for generating a signal carrying a target identifier and sending the generated signal to one of the antennas in a round-robin manner; the antenna is used for transmitting the received signal; the signal receiving equipment is used for receiving signals transmitted by each antenna, determining the maximum signal strength of the received signals in a round-robin period, and sending characterization information for characterizing the position of a main body to the positioning processing equipment based on the maximum signal strength; the positioning processing equipment is used for receiving the representation information sent by the signal receiving equipment and positioning the position of the main body according to the representation information. By applying the scheme provided by the embodiment of the application, the main body in the closed environment can be positioned.
Description
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a positioning system, a signal transmitting apparatus, and a signal receiving method.
Background
In a scene of navigation, rescue, construction, and the like, it is generally necessary to locate a subject such as a user or equipment.
In the prior art, a subject is usually located based on a GNSS (Global Navigation Satellite System). Specifically, a positioning device may be configured on the subject, and the positioning device obtains its own position based on the GNSS, and takes the position of the positioning device as the position of the subject.
Although the main body can be positioned by applying the prior art, when the main body is in closed environments such as indoor environment, tunnel environment and mine environment, a signal emitted by a navigation satellite is difficult to penetrate through an obstacle to reach the positioning equipment, so that the positioning equipment is difficult to obtain the position of the positioning equipment based on GNSS, and the main body is difficult to position. Therefore, there is a need for a positioning solution for positioning a subject within a closed environment.
Disclosure of Invention
An object of the embodiments of the present application is to provide a positioning system, a signal transmitting apparatus, and a signal receiving method, so as to position a main body in a closed environment. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a positioning system, where the positioning system includes: location processing equipment, signal transmission equipment and signal receiving equipment, signal transmission equipment includes: the signal generator is connected with each antenna in a wired mode, the signal coverage range of each antenna is different, and the antenna comprises:
the signal generator is used for generating a signal carrying a target identifier and sending the generated signal to one of the antennas in a round-robin manner, wherein the target identifier is used for representing a main body configured with the signal transmitting equipment;
an antenna for transmitting the received signal;
the signal receiving device is configured to receive signals transmitted by each antenna, determine maximum signal strength of the received signals within a round-robin period, and send characterization information characterizing the position of the subject to the positioning processing device based on the maximum signal strength, where the round-robin period is: cycling the period of each antenna;
and the positioning processing equipment is used for receiving the representation information sent by the signal receiving equipment and positioning the position of the main body according to the representation information.
In an embodiment of the present application, the characterization information is: the maximum signal strength;
the positioning processing device is specifically configured to receive the maximum signal strength, calculate a distance between the signal receiving device and the main body according to the maximum signal strength, and position the position of the main body according to the distance and the position of the signal receiving device.
In an embodiment of the present application, the signal receiving device is specifically configured to calculate, based on the maximum signal strength, a distance between the signal receiving device and the main body as characterizing information, and send the characterizing information to the positioning processing device;
the positioning processing device is specifically configured to receive the characterization information sent by the signal receiving device, obtain a distance between the signal receiving device and the main body, and position the position of the main body according to the distance and the position of the signal receiving device.
In one embodiment of the present application, the signal transmitting device further includes a switch, a first end of the switch is in wired connection with the signal generator, a second end of the switch includes a plurality of connection contacts, and each connection contact is in wired connection with one antenna;
the signal generator is specifically configured to control the first end of the switch to communicate with one of the connection contacts of the second end in a manner of polling each antenna, and send the generated signal to the antenna connected thereto through the communicating connection contact.
In one embodiment of the present application, the signal transmitting device further comprises a pitch angle sensor, and the pitch angle sensor is connected with the signal generator by wire;
the pitch angle sensor is used for measuring the pitch angle of the sensor and sending the measured pitch angle to the signal generator;
the signal generator is specifically configured to receive the pitch angle sent by the pitch angle sensor, generate a signal carrying the pitch angle and a target identifier, and send the generated signal to one of the antennas in a round-robin manner;
the signal receiving device is specifically configured to receive signals transmitted by each antenna, obtain a pitch angle carried in the received signals, compensate the signal strength of the received signals according to a correspondence between a preset pitch angle and a signal strength compensation coefficient, obtain the signal strength of each compensated signal, determine the maximum signal strength of the compensated signals received within one round-robin period, and send characterization information characterizing the position of the main body to the positioning processing device based on the maximum signal strength.
In a second aspect, an embodiment of the present application provides a signal transmitting apparatus, including: the signal generator is connected with each antenna in a wired mode, the signal coverage range of each antenna is different, and the antenna comprises:
the signal generator is used for generating a signal carrying a target identifier and sending the generated signal to one of the antennas in a round-robin manner, wherein the target identifier is used for representing a main body configured with the signal transmitting equipment;
an antenna for transmitting the received signal.
In one embodiment of the present application, the signal transmitting device further includes a switch, a first end of the switch is in wired connection with the signal generator, a second end of the switch includes a plurality of connection contacts, and each connection contact is in wired connection with one antenna;
the signal generator is specifically configured to control the first end of the switch to communicate with one of the connection contacts of the second end in a manner of polling each antenna, and send the generated signal to the antenna connected thereto through the communicating connection contact.
In one embodiment of the present application, the signal transmitting device further comprises a pitch angle sensor, and the pitch angle sensor is connected with the signal generator by wire;
the pitch angle sensor is used for measuring the pitch angle of the sensor and sending the measured pitch angle to the signal generator;
the signal generator is specifically configured to receive the pitch angle sent by the pitch angle sensor, generate a signal carrying the pitch angle and a target identifier, and send the generated signal to one of the antennas in a manner of polling each antenna.
In one embodiment of the present application, the antennas are evenly distributed in a horizontal plane along the outer surface of the body.
In one embodiment of the application, the target identifier is an identifier of a subject and/or an identifier of the signal transmitting device.
In a third aspect, an embodiment of the present application provides a signal receiving method, where the method is applied to a signal receiving device, and the method includes:
receiving signals sequentially transmitted by each antenna in signal transmitting equipment in a polling mode, wherein the signals transmitted by each antenna carry target identifications, and the target identifications are used for representing a main body configured with the signal transmitting equipment;
determining a maximum signal strength of a received signal within a round-robin period, wherein the round-robin period is: the signal transmitting equipment rounds the period of signal transmission of each antenna;
and sending characterization information for characterizing the position of the main body to a positioning processing device based on the maximum signal strength.
In an embodiment of the present application, the characterization information is: the maximum signal strength;
the sending, to a location processing device, characterization information characterizing the location of the subject based on the maximum signal strength includes:
and calculating the distance relative to the main body based on the maximum signal intensity as characterization information, and sending the characterization information to the positioning processing equipment.
In an embodiment of the present application, the signal transmitted by each antenna in the signal transmitting device carries a pitch angle;
the determining the maximum signal strength of the received signal within one round robin period includes:
and acquiring a pitch angle carried in the received signal, compensating the signal strength of the received signal according to a corresponding relation between a preset pitch angle and a signal strength compensation coefficient to acquire the signal strength of each compensated signal, and determining the maximum signal strength of the received signal after compensation in a round robin period.
In a fourth aspect, an embodiment of the present application provides a signal receiving apparatus, where the apparatus is applied to a signal receiving device, and the apparatus includes:
the signal receiving module is used for receiving signals sequentially transmitted by all antennas in the signal transmitting equipment in a polling mode, wherein the signals transmitted by all the antennas carry target identifications, and the target identifications are used for representing a main body configured with the signal transmitting equipment;
a strength determination module, configured to determine a maximum signal strength of a signal received within a round-robin period, where the round-robin period is: the signal transmitting equipment rounds the period of signal transmission of each antenna;
and the information sending module is used for sending the characterization information for characterizing the position of the main body to the positioning processing equipment based on the maximum signal strength.
In a fifth aspect, an embodiment of the present application provides a signal receiving device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of the third aspect when executing the program stored in the memory.
In a sixth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method steps of any one of the third aspects.
The embodiment of the application has the following beneficial effects:
an embodiment of the present application provides a positioning system, and the positioning system includes: location processing equipment, signal transmission equipment and signal receiving equipment, signal transmission equipment includes: the signal generator is connected with each antenna in a wired mode, the signal coverage range of each antenna is different, and the antenna comprises: the signal generator is used for generating a signal carrying a target identifier and sending the generated signal to one antenna in each antenna in a round-robin mode, wherein the target identifier is used for representing a main body configured with the signal transmitting equipment; an antenna for transmitting the received signal; the signal receiving equipment is used for receiving signals transmitted by each antenna, determining the maximum signal strength of the received signals in a round-robin period, and sending characterization information for characterizing the position of a main body to the positioning processing equipment based on the maximum signal strength, wherein the round-robin period is as follows: cycling the period of each antenna; and the positioning processing equipment is used for receiving the representation information sent by the signal receiving equipment and positioning the position of the main body according to the representation information.
Therefore, when the positioning system provided by the embodiment is applied to positioning, signal transmission between a positioning satellite is not needed, and only signal transmission between the signal transmitting equipment and the signal receiving equipment is needed, the signal receiving equipment obtains the characterization information based on the maximum signal strength of the received signal, and sends the characterization information to the positioning processing equipment, and the positioning processing equipment can position the main body by using the characterization information, so that the main body in the closed area is positioned. And because include two at least antennas in the signal transmission equipment, the signal coverage of each antenna is different, can reduce the main part itself and lead to the fact to shelter from to the signal that the antenna transmitted like this, and then reduce the interference that produces the signal strength of the signal that signal receiving equipment received to can improve the degree of accuracy of location.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a positioning system according to an embodiment of the present disclosure;
fig. 2a is a schematic diagram of a first signal reception provided in the present application;
fig. 2b is a schematic diagram of a second signal reception provided in the present application;
fig. 2c is a schematic diagram of third signal reception provided in the embodiment of the present application;
fig. 3a is a schematic structural diagram of a signal transmitting apparatus according to an embodiment of the present application;
fig. 3b is a schematic structural diagram of another signal transmitting apparatus provided in the embodiment of the present application;
fig. 4 is a schematic diagram of an antenna distribution according to an embodiment of the present application;
fig. 5 is a schematic diagram of a signal coverage area of an antenna according to an embodiment of the present application;
fig. 6 is a schematic diagram of another antenna distribution provided in the embodiments of the present application;
fig. 7a and 7b are schematic diagrams of signal coverage ranges of antennas provided by the embodiment of the present application at different pitch angles;
fig. 8a and 8b are schematic diagrams of a pitch angle sensor provided in an embodiment of the present application for measuring a pitch angle;
fig. 9 is a schematic structural diagram of a signal transmitting apparatus according to an embodiment of the present application;
fig. 10 is a schematic flowchart of a signal receiving method according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a signal receiving apparatus according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of a signal receiving apparatus according to an embodiment of the present application.
Detailed Description
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to realize positioning of a main body in a closed environment, embodiments of the present application provide a positioning system, a signal transmitting apparatus, and a signal receiving method, which are described in detail below.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a positioning system according to an embodiment of the present application, and as shown in the drawing, the positioning system includes: a positioning processing device 101, a signal receiving device 102, and a signal transmitting device 103, the signal transmitting device 103 including: a signal generator 1031 and at least two antennas 1032, the signal generator 1031 being wired to each antenna 1032, the signal coverage of each antenna 1032 being different, wherein:
a signal generator 1031, configured to generate a signal carrying a target identifier, and send the generated signal to one of the antennas 1032 in a manner of cycling through the antennas 1032, where the target identifier is used to characterize a main body in which the signal transmitting apparatus 103 is configured;
an antenna for transmitting the received signal;
the signal receiving device 102 is configured to receive signals transmitted by each antenna, determine maximum signal strength of the received signals within a round-robin period, and send characterization information characterizing the position of the subject to the positioning processing device 101 based on the maximum signal strength, where the round-robin period is: cycling the period of each antenna;
and the positioning processing device 101 is configured to receive the characterization information sent by the signal receiving device 102, and position the position of the main body according to the characterization information.
Specifically, the signal transmitting device 103 is configured to transmit a signal outwards, and the signal transmitting device 103 may be configured on a main body to be located, where the main body may be a user, or may be a wearable device worn on the user, such as a helmet, a backpack, a watch, a paging device, or may be a vehicle, a robot, and the like, and the embodiment of the present application is not limited thereto.
The object identifier carried in the signal generated by the signal generator 1031 is an identifier characterizing the subject as described above. Thus, when a plurality of subjects need to be positioned, the positioning system can distinguish the subjects according to the target marks, so that the subjects can be positioned in a targeted manner.
In one embodiment of the present application, the target identifier may be an identifier of the subject. For example, in the case where the subject is a user, the target identifier may be a job number, an identification number, a name, or the like of the user, and in the case where the subject is a vehicle, the target identifier may be a license plate number, a vehicle number, or the like. Such that the target identification may directly characterize the subject in which the signal emitting device 103 is deployed.
In another embodiment of the present application, the target identifier may also be an identifier of the signal transmitting apparatus 103, such as a number, a name, and the like of the signal transmitting apparatus. When the signal transmitting device 103 is configured on the subject, a corresponding relationship between the signal transmitting device and the subject may be established, so that based on the corresponding relationship and the target identifier, the subject configured with the signal transmitting device may be determined, and thus the identifier of the signal transmitting device may characterize the subject.
The signal generator 1031 is wired to each antenna 1032, so that the signal generated by the signal generator 1031 can be transmitted to the antenna 1032 to cause the antenna 1032 to transmit the signal.
The number of antennas in the signal transmitting device may be 2, 3, 4, etc., which is not limited in this application. The antennas 1032 are disposed at different positions on the main body, and thus, when the antennas 1032 transmit signals, the coverage of the transmitted signals is different.
The signal generator 1031 may transmit the generated signal to one of the respective antennas 1032 in a manner that rounds the respective antennas 1032. Specifically, each signal carrying the target identifier may be sequentially generated, and the generated signals may be sent to an antenna in a round-robin manner. For example, assuming that 3 antennas 1032 of the antenna 1, the antenna 2, and the antenna 3 are included in the signal transmitting apparatus 103, the signal generator 1031 may transmit one generated signal to the antenna 1, transmit the next generated signal to the antenna 2, transmit the next generated signal to the antenna 3, and transmit the next generated signal to the antenna 1, thereby transmitting the generated signals to the respective antennas 1032 in a round-robin manner.
In one embodiment of the present application, the signal generator 1031 may generate signals at preset time intervals, that is, generate a signal every one of the time intervals, and transmit the generated signals to an antenna in a manner of being cycled through the respective antennas 1032. The time interval may be 1 microsecond, 5 microseconds, 30 microseconds, or the like.
The signal receiving devices 102 may be distributed in a positioning scene, which may be a closed scene such as a garage, a tunnel, a mine, and a factory, or a scene such as a mountain area and a forest that are difficult to receive navigation satellite signals.
For each signal receiving device 102, when the signal receiving device 102 is within the signal coverage of the antenna 1032, the signal receiving device 102 may receive the signal transmitted by the antenna and obtain the signal strength of the received signal. After the signal receiving device 102 receives the signals transmitted by the antennas 1032 in the signal transmitting device 103, it may determine the maximum signal strength in the signal strengths of the received signals within one round-robin period, and obtain the characterization information characterizing the position of the subject based on the maximum signal strength. The above characterization information is then sent to the location processing device 101.
The above-mentioned characterizing information may be the maximum signal strength itself, or may be a distance between the signal receiving device 102 and the main body calculated based on the maximum signal strength, which is described in detail in the following embodiments.
The cycle period is as follows: the signal transmission apparatus 103 rounds the periods of the respective antennas. For example, if the signal transmitting apparatus 103 includes 2 antennas 1032, and a signal is transmitted through one antenna every 5 microseconds, the round-robin period is 10 microseconds; assuming that the signal transmitting apparatus 103 includes 3 antennas 1032 and transmits a signal through one antenna every 10 microseconds, the above round robin period is 30 microseconds.
The signal gradually attenuates with the increase of the propagation distance during the propagation process, and the signal attenuation is generated due to the obstruction of the obstacle. The signal receiving device 102 may receive signals of each antenna in the signal transmitting device, where the signal coverage of each antenna is different, the degree of signal attenuation generated by the transmitted signal being blocked is different, and the signal receiving device selects the maximum signal strength of the signal from the maximum signal strength, which indicates that the signal attenuation generated by the signal being blocked is minimum in the propagation process, that is, the stronger the relationship between the signal strength of the signal and the propagation distance is, that is, the more accurate the distance of the signal receiving device from the main body is obtained according to the maximum signal strength, so that the obtained position of the main body is more accurate when the positioning is performed based on the maximum signal strength.
In addition, when the signal receiving device receives only the signal transmitted by one antenna in the signal transmitting device, the signal strength of the signal is directly used as the maximum signal strength, and the positioning system can position the main body according to the signal strength of the signal. When the signal strengths of the respective signals received by the signal receiving apparatuses are equal, one signal strength may be selected as the maximum signal strength.
Referring to fig. 2a, fig. 2a is a schematic diagram of a first signal reception provided in the embodiment of the present application. Assuming that the main body is a user, the signal transmitting device comprises 2 antennas, the antenna 1 is located at the front end of the user, and the antenna 2 is located at the rear end of the user, when a person faces the signal receiving device, because the signal transmitted by the antenna 1 is not shielded by the person, the signal intensity of the signal transmitted by the antenna 1 received by the signal receiving device is larger, and further the signal intensity of the signal of the antenna 1 can be used as the maximum signal intensity;
referring to fig. 2b, fig. 2b is a schematic diagram of a second signal reception provided in the embodiment of the present application. When a person faces away from the signal receiving equipment, the signal transmitted by the antenna 2 is not shielded by the person, so that the signal strength of the signal transmitted by the antenna 2 received by the signal receiving equipment is higher, and the signal strength of the signal of the antenna 2 can be used as the maximum signal strength;
referring to fig. 2c, fig. 2c is a schematic diagram of third signal reception provided in the embodiment of the present application. When the direction in which the person faces is perpendicular to the direction of the signal receiving device, since the signals transmitted by the antennas 1 and 2 are shielded by the person to the same extent, the signal strength of the signals transmitted by the antennas 1 and 2 received by the signal receiving device is the same, and the signal strength of the signal of the antenna 1 or the antenna 2 can be used as the maximum signal strength.
The positioning processing device 101 may be a positioning server, a positioning computer, or the like, and the signal receiving device 102 and the positioning processing device 101 may be connected by a wired connection or a wireless network, which is not limited in this embodiment of the present invention.
The positioning processing device 101 may receive the representation information sent by the signal receiving device 102, and may also obtain the position of the signal receiving device 102, and position the position of the subject according to the representation information and the position of the signal receiving device.
In an embodiment of the present application, the location processing device 101 may store the location of each signal receiving device 102 in advance, and directly obtain the location of the signal receiving device 102 locally after receiving the characterization information sent by the signal receiving device 102, so as to locate the main body according to the location of the signal receiving device and the characterization information.
In another embodiment of the present application, when sending the representation information to the positioning processing device 101, the signal receiving device 102 may also send its own position to the positioning processing device, so that the positioning processing device may receive the representation information and the position sent by the signal receiving device, and position the subject according to the received representation information and the position.
Therefore, when the positioning system provided by the embodiment is applied to positioning, signal transmission between a positioning satellite is not needed, and only signal transmission between the signal transmitting equipment and the signal receiving equipment is needed, the signal receiving equipment obtains the characterization information based on the maximum signal strength of the received signal, and sends the characterization information to the positioning processing equipment, and the positioning processing equipment can position the main body by using the characterization information, so that the main body in the closed area is positioned. And because include two at least antennas in the signal transmission equipment, the signal coverage of each antenna is different, can reduce the main part itself and lead to the fact to shelter from to the signal that the antenna transmitted like this, and then reduce the interference that produces the signal strength of the signal that signal receiving equipment received to can improve the degree of accuracy of location.
The following describes in detail the above-mentioned case where the characterizing information is the maximum signal strength or the distance of the signal receiving apparatus 102 from the main body, respectively, by using specific embodiments.
In an embodiment of the present application, after obtaining the maximum signal strength, the signal receiving device 102 may directly use the maximum signal strength as the characterizing information, and send the characterizing information to the positioning processing device 101.
The positioning processing device 101 is specifically configured to receive the maximum signal strength, calculate a distance of the signal receiving device 102 from the subject based on the maximum signal strength, and position the subject based on the distance and the position of the signal receiving device.
Specifically, the maximum signal strength can be obtained after the positioning processing device receives the characterization information. Since the signal is gradually attenuated along with the extension of the propagation distance in the propagation process, that is, the farther the signal receiving device is from the main body, the smaller the signal strength of the signal received by the signal receiving device is, and the closer the signal receiving device is from the main body, the greater the signal strength of the signal received by the signal receiving device is. That is, the signal strength is inversely proportional to the distance. The correspondence between the signal strength and the distance may be established in advance, and then the distance of the signal receiving apparatus 102 from the subject may be calculated based on the above-described maximum signal strength. The positioning processing device may further obtain a position of the signal receiving device, and determine the position of the subject based on the distance and the position of the signal receiving device.
In another embodiment of the present application, the above characterizing information may also be a distance of the signal receiving apparatus 102 relative to the subject.
The signal receiving device 102 is specifically configured to calculate a distance between the signal receiving device and the main body based on the maximum signal strength, as characterization information, and send the characterization information to the positioning processing device 101;
the positioning processing device 101 is specifically configured to receive the characterization information sent by the signal receiving device 102, obtain a distance between the signal receiving device 102 and the main body, and position the main body according to the distance and the position of the signal receiving device.
Specifically, after determining the maximum signal strength, the signal receiving device 102 may directly calculate the distance between itself and the main body according to the maximum signal strength, and send the distance as the characterizing information to the positioning processing device 101. After receiving the characterization information, the positioning processing device 101 may obtain the distance between the signal receiving device 102 and the main body, obtain the position of the signal receiving device, and position the main body according to the position and the distance.
The signal transmitting apparatus 103 will be described in detail below with reference to specific embodiments.
Referring to fig. 3a, fig. 3a is a schematic structural diagram of a signal transmitting apparatus according to an embodiment of the present application. As shown in fig. 3a, the signal transmitting device 103 further comprises a switch 1033, a first end of the switch is in wired connection with the signal generator, a second end of the switch comprises a plurality of connection contacts, and each connection contact is in wired connection with one antenna;
the signal generator 1031 is specifically configured to control the first end of the switch 1033 to communicate with one of the connection contacts of the second end in a manner of polling the respective antennas 1032, and to transmit the generated signal to the antenna 1032 connected thereto through the communicated connection contact.
Specifically, the signal generator 1031 may control the plurality of connection contacts of the first end and the second end of the switch 1033 to sequentially communicate in a round-robin manner, and since each connection contact is wired to one antenna, the signal generator may send a signal to the corresponding connected antenna through the communicated connection contact, so that the antenna transmits the signal. This may control the signal generator 1031 to communicate with each antenna 1032 in turn in a round-robin manner, thereby sending signals to each antenna in turn in a round-robin manner.
For example, referring to fig. 3b, fig. 3b is a schematic structural diagram of another signal transmitting apparatus provided in the embodiment of the present application. The signal transmitting device includes 4 antennas 1032, 1 signal generator 1031, and a switch 1033. The switch 1033 has a first end connected to the signal generator 1031 and a second end comprising 4 connection contacts, each of which is connected to an antenna 1032. The signal generator 1031 may control the 4 connection contacts of the first end and the second end of the switch 1033 to sequentially communicate in a round-robin manner, so that the signal generator 1031 may sequentially communicate with the respective antennas 1032 in a round-robin manner, and then sequentially transmit the signals to the respective antennas 1032 in a round-robin manner.
In one embodiment of the present application, the switch may be a single-pole multi-throw switch, the single-pole multi-throw switch includes a moving end and a plurality of stationary ends, the moving end is a first end and is connected to the signal generator, the stationary end is a second end, and each stationary end includes a connection contact for connecting to an antenna. The changeover switch may be a single-pole double-throw switch in the case where the number of antennas in the signal transmission apparatus is 2, and may be a single-pole triple-throw switch in the case where the number of antennas in the signal transmission apparatus is 3. The signal generator can control the movable end of the single-pole multi-throw switch to be sequentially connected with the fixed ends in a round-robin mode, so that the signal generator can be controlled to be sequentially communicated with the antennas in the round-robin mode, and signals are sequentially sent to the antennas in the round-robin mode.
In one embodiment of the present application, the signal transmitting device may include at least two communication switches, each communication switch has one end connected to the signal generator and the other end connected to one antenna, when the communication switch is in a closed state, the signal generator is in communication with the antenna to which the communication switch is connected, and a signal generated by the signal generator may be sent to the antenna and transmitted by the antenna; when the connection switch is in the off state, the signal generator is not connected to the antenna to which the connection switch is connected, and the signal generated by the signal generator is difficult to transmit to the antenna.
The signal generator may sequentially control one of the communication switches to be in a closed state and the other communication switches to be in an open state according to a manner of round-robin for each antenna, so that the signal generator is sequentially communicated with each antenna according to the round-robin manner, and then sequentially sends the signal to each antenna in the round-robin manner.
In one embodiment of the present application, the distribution of the antennas may include various situations, for example, the antennas may be distributed at different positions in the same horizontal plane along the outer surface of the main body, or may be distributed in different horizontal planes. In the case of a complex application scenario, the antennas may be distributed at locations in the outer surface of the body that are not easily damaged.
In one embodiment of the present application, the respective antennas may be uniformly distributed in a horizontal plane along the outer surface of the body. Specifically, each antenna is distributed on the outer surface of the main body, and the antennas are uniformly distributed in positions mapped on the same horizontal plane.
For example, referring to fig. 4, fig. 4 is a schematic diagram of an antenna distribution provided in an embodiment of the present application. Assuming that the main body is a helmet and the number of the antennas in the signal transmitting apparatus is two, the antennas may be uniformly distributed at the front end and the rear end of the helmet.
In an embodiment of the present application, the signal transmitting apparatus includes an antenna identifier corresponding to an antenna included in the signal transmitting apparatus. In this case, the signal generated by the signal generator 1031 may also carry an antenna identifier. Thus, each signal generated by the signal generator can carry the target identification and the antenna identification. For each signal, the signal generator may send the signal to an antenna corresponding to the antenna identifier carried by the signal, so that the corresponding antenna transmits the signal.
Referring to fig. 5, fig. 5 is a schematic diagram of a signal coverage area of an antenna according to an embodiment of the present application. According to the antenna distribution manner shown in the embodiment of fig. 4, the schematic diagram of the coverage range of the signal shown in fig. 5 can be obtained, so that the coverage range of the signal, which is not shielded by the main body, of the two antennas is larger, thereby avoiding the interference caused by the shielding of the main body on the signal, and improving the accuracy of positioning the main body.
Referring to fig. 6, fig. 6 is a schematic diagram of another antenna distribution provided in the embodiment of the present application. Each black origin point represents an antenna, the signal transmitting equipment comprises 4 antennas, and the 4 antennas are uniformly distributed in the front, back, left and right directions of the helmet. This further reduces the obstruction of the signal transmitted by the antenna to obstacles.
In an embodiment of the present application, the signal transmitting device 103 further includes a pitch angle sensor, and the pitch angle sensor is connected to the signal generator by a wire; wherein, the pitch angle sensor may be a gyroscope or the like.
The pitch angle sensor is used for measuring the pitch angle of the sensor and sending the measured pitch angle to the signal generator;
a signal generator 1031, specifically configured to receive the pitch angle sent by the pitch angle sensor, generate a signal carrying the pitch angle and a target identifier, and send the generated signal to one of the antennas in a manner of polling each antenna;
the signal receiving device 102 is specifically configured to receive signals transmitted by each antenna, obtain a pitch angle carried in the received signals, compensate the signal strength of the received signals according to a correspondence between a preset pitch angle and a signal strength compensation coefficient, obtain the signal strength of each compensated signal, determine the maximum signal strength of the compensated signals received in one round-robin period, and send characterization information characterizing the position of the main body to the positioning processing device 101 based on the maximum signal strength.
Referring to fig. 7a and 7b, fig. 7a and 7b are schematic diagrams of signal coverage ranges of antennas provided by the embodiment of the present application at different pitch angles. If the signal transmitting device is disposed on a helmet, when a user wears the helmet, the pitch angle of the antenna changes due to the posture change of the user such as raising, lowering or standing up, and the signal coverage area of the antenna changes, that is, the signal coverage area changes. Fig. 7a is a schematic diagram showing a signal coverage range of an antenna when a user stands upright, and fig. 7b is a schematic diagram showing a signal coverage range of an antenna when the user lowers his head.
It can be seen that the change of the pitch angle of the antenna results in the change of the signal coverage of the antenna, and thus the signal strength of the signal received by the signal receiving device. To reduce the influence of the change in the pitch angle of the antenna on the signal strength received by the signal receiving apparatus, the signal strength of the received signal may be compensated by a signal strength compensation coefficient.
Specifically, the pitch angle sensor can be fixedly installed relative to the antenna, and the pitch angle measured by the pitch angle sensor can represent the pitch angle of the antenna. When the pitch angle of the antenna changes, the coverage area of the antenna also changes.
Referring to fig. 8a and 8b, fig. 8a and 8b are schematic diagrams illustrating a pitch angle sensor provided in an embodiment of the present application for measuring a pitch angle, where α represents the pitch angle. The pitch angle sensor can measure the pitch angle of the antenna, the pitch angle sensor is used as the pitch angle of the antenna and sends the pitch angle to the signal generator, the signal generator receives the pitch angle and generates a signal carrying the pitch angle and the target identification, and the signal is transmitted by the antenna.
After receiving the signal, the signal receiving device may obtain the pitch angle, determine a compensation coefficient corresponding to the pitch angle according to a correspondence between a preset pitch angle and a signal strength compensation coefficient, and compensate the signal strength according to the compensation coefficient to obtain the compensated signal strength. A compensated maximum signal strength of the received signal over a round robin period may then be determined, and characterization information characterizing the location of the subject may be sent to the location processing device based on the maximum signal strength.
Referring to table 1 below, table 1 is a schematic table of a corresponding relationship between a pitch angle and a signal strength compensation coefficient provided in an embodiment of the present application.
TABLE 1
| Pitch angle alpha | Compensation factor | Signal strength actually received by signal receiving apparatus | Compensated signal strength |
| 0 DEG to 20 DEG | A | X | X×A |
| 20 DEG to 40 DEG | B | Y | Y×B |
| 40 to 60 DEG | C | Z | Z×C |
When the angle of the pitch angle alpha is larger than 60 degrees, the pitch angle is considered to be too large, and then the positioning error is large, and the signal is not used for positioning.
The relationship between the above compensation coefficients may be: a is more than or equal to 1 and less than or equal to B and less than or equal to C, so that the signal intensity of the compensated signal is close to the signal intensity of the signal received in the vertical state of the antenna, and the interference caused by the change of the pitch angle of the antenna on the signal intensity can be reduced.
The above-described embodiments provide a positioning system, comprising: location processing equipment, signal transmission equipment and signal receiving equipment, signal transmission equipment includes: the signal generator is connected with each antenna in a wired mode, the signal coverage range of each antenna is different, and the antenna comprises: the signal generator is used for generating a signal carrying a target identifier and sending the generated signal to one antenna in each antenna in a round-robin mode, wherein the target identifier is used for representing a main body configured with the signal transmitting equipment; an antenna for transmitting the received signal; the signal receiving equipment is used for receiving signals transmitted by each antenna, determining the maximum signal strength of the received signals in a round-robin period, and sending characterization information for characterizing the position of a main body to the positioning processing equipment based on the maximum signal strength, wherein the round-robin period is as follows: cycling the period of each antenna; and the positioning processing equipment is used for receiving the representation information sent by the signal receiving equipment and positioning the position of the main body according to the representation information.
Therefore, when the positioning system provided by the embodiment is applied to positioning, signal transmission between a positioning satellite is not needed, and only signal transmission between the signal transmitting equipment and the signal receiving equipment is needed, the signal receiving equipment obtains the characterization information based on the maximum signal strength of the received signal, and sends the characterization information to the positioning processing equipment, and the positioning processing equipment can position the main body by using the characterization information, so that the main body in the closed area is positioned. And because include two at least antennas in the signal transmission equipment, the signal coverage of each antenna is different, can reduce the main part itself and lead to the fact to shelter from to the signal that the antenna transmitted like this, and then reduce the interference that produces the signal strength of the signal that signal receiving equipment received to can improve the degree of accuracy of location.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a signal transmitting apparatus according to an embodiment of the present application, where the signal transmitting apparatus includes: the signal generator is connected with each antenna in a wired mode, the signal coverage range of each antenna is different, and the antenna comprises:
the signal generator is used for generating a signal carrying a target identifier and sending the generated signal to one of the antennas in a round-robin manner, wherein the target identifier is used for representing a main body configured with the signal transmitting equipment;
an antenna for transmitting the received signal.
In one embodiment of the present application, the signal transmitting device further includes a switch, a first end of the switch is in wired connection with the signal generator, a second end of the switch includes a plurality of connection contacts, and each connection contact is in wired connection with one antenna;
the signal generator is specifically configured to control the first end of the switch to communicate with one of the connection contacts of the second end in a manner of polling each antenna, and send the generated signal to the antenna connected thereto through the communicating connection contact.
In one embodiment of the present application, the signal transmitting device further comprises a pitch angle sensor, and the pitch angle sensor is connected with the signal generator by wire;
the pitch angle sensor is used for measuring the pitch angle of the sensor and sending the measured pitch angle to the signal generator;
the signal generator is specifically configured to receive the pitch angle sent by the pitch angle sensor, generate a signal carrying the pitch angle and a target identifier, and send the generated signal to one of the antennas in a manner of polling each antenna.
In one embodiment of the present application, the antennas are evenly distributed in a horizontal plane along the outer surface of the body.
In one embodiment of the application, the target identifier is an identifier of a subject and/or an identifier of the signal transmitting device.
Referring to fig. 10, fig. 10 is a schematic flowchart of a signal receiving method provided in an embodiment of the present application, where the method is applied to a signal receiving device, and the method includes:
1001, receiving signals sequentially transmitted by each antenna in signal transmitting equipment in a polling mode, wherein the signals transmitted by each antenna carry target identifiers, and the target identifiers are used for representing a main body configured with the signal transmitting equipment;
In an embodiment of the present application, the characterization information is: the maximum signal strength;
the sending, to a location processing device, characterization information characterizing the location of the subject based on the maximum signal strength includes:
and calculating the distance relative to the main body based on the maximum signal intensity as characterization information, and sending the characterization information to the positioning processing equipment.
In an embodiment of the present application, the signal transmitted by each antenna in the signal transmitting device carries a pitch angle;
the determining the maximum signal strength of the received signal within one round robin period includes:
and acquiring a pitch angle carried in the received signal, compensating the signal strength of the received signal according to a corresponding relation between a preset pitch angle and a signal strength compensation coefficient to acquire the signal strength of each compensated signal, and determining the maximum signal strength of the received signal after compensation in a round robin period.
Referring to fig. 11, fig. 11 is a schematic structural diagram of a signal receiving apparatus provided in an embodiment of the present application, where the apparatus is applied to a signal receiving device, and the apparatus includes:
a signal receiving module 1101, configured to receive signals sequentially transmitted by each antenna in a signal transmitting device in a manner of polling each antenna, where the signal transmitted by each antenna carries a target identifier, and the target identifier is used to characterize a main body configured with the signal transmitting device;
a strength determining module 1102, configured to determine a maximum signal strength of a received signal within a round-robin period, where the round-robin period is: the signal transmitting equipment rounds the period of signal transmission of each antenna;
an information sending module 1103, configured to send, to the positioning processing device, characterization information characterizing the position of the subject based on the maximum signal strength.
Referring to fig. 12, fig. 12 is a schematic structural diagram of a signal receiving device according to an embodiment of the present application, including a processor 1201, a communication interface 1202, a memory 1203, and a communication bus 1204, where the processor 1201, the communication interface 1202, and the memory 1203 complete communication with each other through the communication bus 1204,
a memory 1203 for storing a computer program;
the processor 1201 is configured to implement the method steps of receiving signals when executing the program stored in the memory 1203.
The communication bus mentioned in the signal receiving apparatus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the signal receiving equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
In yet another embodiment provided by the present application, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any of the signal receiving methods described above.
In a further embodiment provided by the present application, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the signal receiving methods of the above embodiments.
Therefore, when the positioning system provided by the embodiment is applied to positioning, signal transmission between a positioning satellite is not needed, and only signal transmission between the signal transmitting equipment and the signal receiving equipment is needed, the signal receiving equipment obtains the characterization information based on the maximum signal strength of the received signal, and sends the characterization information to the positioning processing equipment, and the positioning processing equipment can position the main body by using the characterization information, so that the main body in the closed area is positioned. And because include two at least antennas in the signal transmission equipment, the signal coverage of each antenna is different, can reduce the main part itself and lead to the fact to shelter from to the signal that the antenna transmitted like this, and then reduce the interference that produces the signal strength of the signal that signal receiving equipment received to can improve the degree of accuracy of location.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, apparatus embodiments, method embodiments, apparatus embodiments, computer-readable storage medium embodiments, and computer program product embodiments are substantially similar to system embodiments and therefore are described with relative ease, as appropriate, with reference to the description of the system embodiments.
The above description is only for the preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.
Claims (13)
1. A positioning system, characterized in that the positioning system comprises: location processing equipment, signal transmission equipment and signal receiving equipment, signal transmission equipment includes: the signal generator is connected with each antenna in a wired mode, the signal coverage range of each antenna is different, and the antenna comprises:
the signal generator is used for generating a signal carrying a target identifier and sending the generated signal to one of the antennas in a round-robin manner, wherein the target identifier is used for representing a main body configured with the signal transmitting equipment;
an antenna for transmitting the received signal;
the signal receiving device is configured to receive signals transmitted by each antenna, determine maximum signal strength of the received signals within a round-robin period, and send characterization information characterizing the position of the subject to the positioning processing device based on the maximum signal strength, where the round-robin period is: cycling the period of each antenna;
and the positioning processing equipment is used for receiving the representation information sent by the signal receiving equipment and positioning the position of the main body according to the representation information.
2. The system of claim 1, wherein the characterization information is: the maximum signal strength;
the positioning processing device is specifically configured to receive the maximum signal strength, calculate a distance between the signal receiving device and the main body according to the maximum signal strength, and position the position of the main body according to the distance and the position of the signal receiving device.
3. The system of claim 1,
the signal receiving device is specifically configured to calculate, based on the maximum signal strength, a distance between the signal receiving device and the main body as characterization information, and send the characterization information to the positioning processing device;
the positioning processing device is specifically configured to receive the characterization information sent by the signal receiving device, obtain a distance between the signal receiving device and the main body, and position the position of the main body according to the distance and the position of the signal receiving device.
4. The system of claim 1, wherein the signal transmitting device further comprises a switch, a first end of the switch being in wired connection with the signal generator, a second end of the switch comprising a plurality of connection contacts, each connection contact being in wired connection with one antenna;
the signal generator is specifically configured to control the first end of the switch to communicate with one of the connection contacts of the second end in a manner of polling each antenna, and send the generated signal to the antenna connected thereto through the communicating connection contact.
5. The system according to any one of claims 1-4, wherein the signal emitting device further comprises a pitch angle sensor, the pitch angle sensor being wired to the signal generator;
the pitch angle sensor is used for measuring the pitch angle of the sensor and sending the measured pitch angle to the signal generator;
the signal generator is specifically configured to receive the pitch angle sent by the pitch angle sensor, generate a signal carrying the pitch angle and a target identifier, and send the generated signal to one of the antennas in a round-robin manner;
the signal receiving device is specifically configured to receive signals transmitted by each antenna, obtain a pitch angle carried in the received signals, compensate the signal strength of the received signals according to a correspondence between a preset pitch angle and a signal strength compensation coefficient, obtain the signal strength of each compensated signal, determine the maximum signal strength of the compensated signals received within one round-robin period, and send characterization information characterizing the position of the main body to the positioning processing device based on the maximum signal strength.
6. A signal transmission device, characterized in that the signal transmission device comprises: the signal generator is connected with each antenna in a wired mode, the signal coverage range of each antenna is different, and the antenna comprises:
the signal generator is used for generating a signal carrying a target identifier and sending the generated signal to one of the antennas in a round-robin manner, wherein the target identifier is used for representing a main body configured with the signal transmitting equipment;
an antenna for transmitting the received signal.
7. The signal transmitting device according to claim 6, further comprising a switch, a first end of the switch being in wired connection with the signal generator, a second end of the switch comprising a plurality of connection contacts, each connection contact being in wired connection with one antenna;
the signal generator is specifically configured to control the first end of the switch to communicate with one of the connection contacts of the second end in a manner of polling each antenna, and send the generated signal to the antenna connected thereto through the communicating connection contact.
8. The signal transmitting device according to claim 6 or 7, further comprising a pitch angle sensor wired to the signal generator;
the pitch angle sensor is used for measuring the pitch angle of the sensor and sending the measured pitch angle to the signal generator;
the signal generator is specifically configured to receive the pitch angle sent by the pitch angle sensor, generate a signal carrying the pitch angle and a target identifier, and send the generated signal to one of the antennas in a manner of polling each antenna.
9. The signal transmitting device according to claim 6 or 7, wherein the respective antennas are uniformly distributed in a horizontal plane along the outer surface of the body.
10. The signal transmitting device according to claim 6 or 7, wherein the target identifier is an identifier of a subject and/or an identifier of the signal transmitting device.
11. A signal receiving method, wherein the method is applied to a signal receiving device, and wherein the method comprises:
receiving signals sequentially transmitted by each antenna in signal transmitting equipment in a polling mode, wherein the signals transmitted by each antenna carry target identifications, and the target identifications are used for representing a main body configured with the signal transmitting equipment;
determining a maximum signal strength of a received signal within a round-robin period, wherein the round-robin period is: the signal transmitting equipment rounds the period of signal transmission of each antenna;
and sending characterization information for characterizing the position of the main body to a positioning processing device based on the maximum signal strength.
12. The method of claim 11, wherein the characterization information is: the maximum signal strength;
the sending, to a location processing device, characterization information characterizing the location of the subject based on the maximum signal strength includes:
and calculating the distance relative to the main body based on the maximum signal intensity as characterization information, and sending the characterization information to the positioning processing equipment.
13. The method according to any one of claims 11-12, wherein the signal transmitted by each antenna in the signal transmitting device carries a pitch angle;
the determining the maximum signal strength of the received signal within one round robin period includes:
and acquiring a pitch angle carried in the received signal, compensating the signal strength of the received signal according to a corresponding relation between a preset pitch angle and a signal strength compensation coefficient to acquire the signal strength of each compensated signal, and determining the maximum signal strength of the received signal after compensation in a round robin period.
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