CN112346011B - Target positioning method, device and system - Google Patents

Target positioning method, device and system Download PDF

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Publication number
CN112346011B
CN112346011B CN202011231400.5A CN202011231400A CN112346011B CN 112346011 B CN112346011 B CN 112346011B CN 202011231400 A CN202011231400 A CN 202011231400A CN 112346011 B CN112346011 B CN 112346011B
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base station
coordinate system
target
connecting line
positioning
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CN112346011A (en
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杜天一
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Hangzhou Hikvision Digital Technology Co Ltd
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Hangzhou Hikvision Digital Technology Co Ltd
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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
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • 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
    • G01S5/0257—Hybrid positioning
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the invention provides a target positioning method, a target positioning device and a target positioning system, and relates to the technical field of space positioning. The method is applied to a positioning device in a target positioning system, and the system also comprises the following steps: a base station and a tag device. The method comprises the following steps: determining an initial positioning result of the label equipment by utilizing each anchor point of the base station, and judging whether the initial positioning result meets the positioning accuracy condition; if so, determining the initial positioning result as a final positioning result of the target to be positioned; otherwise, controlling the base station to rotate, determining a target positioning result of the label equipment by utilizing each anchor point of the rotated base station, and judging whether the target positioning result meets the positioning accuracy condition; if so, determining the target positioning result as a final positioning result of the target to be positioned; otherwise, returning to the step of controlling the rotation of the base station. Compared with the prior art, the scheme provided by the embodiment of the invention can ensure the accuracy of the positioning result under the condition of uneven spatial distribution of the GDOP of the base station.

Description

Target positioning method, device and system
Technical Field
The present invention relates to the field of spatial positioning technologies, and in particular, to a method, an apparatus, and a system for positioning a target.
Background
Currently, with the continuous development of communication technology, an object positioning technology based on UWB (Ultra Wide Band ) ranging is widely applied to various fields.
In the related art, according to the principle of UWB ranging, a base station provided with a plurality of anchor points (anchors) may be utilized to achieve target positioning based on UWB ranging on a single base station, specifically: and sending and receiving the data packet and the response packet between each anchor point and the target to be positioned, thereby determining the positioning result of the target to be positioned by calculating the distance between the target to be positioned and each anchor point based on the sending time and the receiving time of the data packet and the response packet. The anchor points are devices for data transmission and reception, such as signal antennas.
However, the distribution of different positions in space with respect to the GDOP (Geometric Precision factor) of the base station is not uniform, for example, as shown in fig. 1(a) and 1(b), when four anchor points A, B, C and D are provided on the base station, the GDOP of a position close to the coordinate axis in the base station coordinate system of the base station is higher, and a position where the line connecting the origin of the base station coordinate system and the coordinate axis forms an angle close to 45 ° corresponds to a lower GDOP. Therefore, under the condition that the range of the ranging error is the same, when the position relationship between the target to be positioned and each anchor point of the base station is different, the GDOP of the position of the target to be positioned in the coordinate system of the base station is different, which may cause the accuracy of the obtained positioning result to be different.
Herein, for convenience of description, the distribution of GDOPs of different positions in space with respect to a base station may be simply referred to as the GDOP distribution of the base station. Therefore, under the condition that the spatial distribution of the GDOP of the base station is not uniform, how to ensure the accuracy of the positioning result is an urgent problem to be solved.
Disclosure of Invention
The embodiment of the invention aims to provide a target positioning method, a target positioning device and a target positioning system, so as to ensure the accuracy of a positioning result under the condition that the spatial distribution of GDOP of a base station is not uniform. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a target positioning method, which is applied to a positioning device in a target positioning system, where the system further includes: the method comprises the following steps of rotating a base station with at least three anchor points in advance, and installing label equipment on an object to be positioned for positioning the object to be positioned, wherein the label equipment comprises:
determining an initial positioning result of the label equipment by utilizing each anchor point preset on a base station, and judging whether the initial positioning result meets a preset positioning accuracy condition;
if so, determining the initial positioning result as a final positioning result of the target to be positioned;
otherwise, controlling the base station to rotate so as to change the position relationship between each anchor point preset on the base station and the label equipment, determining a target positioning result of the label equipment by using each anchor point preset on the rotated base station, and judging whether the target positioning result meets the preset positioning accuracy condition;
if so, determining the target positioning result as a final positioning result of the target to be positioned;
otherwise, returning to the step of controlling the rotation of the base station.
Optionally, in a specific implementation manner, the preset positioning accuracy condition includes:
the confidence coefficient for representing the accuracy of the positioning result is greater than a preset positioning accuracy threshold; or,
the space position represented by the positioning result is positioned in the target space area; and the geometric precision factor GDOP of each position in the target space region is smaller than a preset precision threshold.
Optionally, in a specific implementation manner, the step of controlling the base station to rotate includes:
controlling the base station to rotate based on the spatial distribution of the geometric precision factor GDOP of the base station.
Optionally, in a specific implementation manner, the controlling the base station to rotate based on the spatial distribution of the GDOP of the base station includes:
determining a rotation angle of the base station based on the spatial distribution of the GDOP of the base station and the corresponding position of the tag device in the current base station coordinate system, and controlling the base station to rotate according to the rotation angle;
wherein the current base station coordinate system is the base station coordinate system of the base station before rotation.
Optionally, in a specific implementation manner, the step of determining the rotation angle of the base station based on the spatial distribution of the GDOP of the base station and the corresponding position of the tag device in the current base station coordinate system includes:
determining a corresponding coordinate point of the tag device in the current base station coordinate system as a reference point;
determining a target point in the current base station coordinate system based on the spatial distribution of the GDOP of the base station; wherein the GDOP of the target point is lower than the GDOP of the reference point;
determining a rotation angle of the base station based on a positional relationship of the reference point and the target point.
Optionally, in a specific implementation manner, the current base station coordinate system and the calibration base station coordinate system are two-dimensional coordinate systems, the calibration base station coordinate system is a coordinate system of the base station after rotation, and the reference point is a projection point of the tag device in the current base station coordinate system; the rotation angle includes: a rotation angle value and a rotation direction;
the step of determining the rotation angle of the base station based on the positional relationship between the reference point and the target point includes:
determining an included angle between a reference connecting line and a first designated coordinate axis of the current base station coordinate system as a reference included angle; the reference connecting line is a connecting line between the reference point and the origin of the current base station coordinate system;
determining an included angle between a target connecting line and a first designated coordinate axis in the calibration base station coordinate system as a target included angle; the target connecting line is a connecting line of the target point and an origin of the coordinate system of the calibration base station;
and calculating the absolute value of the difference value between the reference included angle and the target included angle to be used as the rotation angle value of the base station, and using the direction pointing to the reference connecting line by the target connecting line as the rotation direction of the base station.
Optionally, in a specific implementation manner, the current base station coordinate system and the calibration base station coordinate system are three-dimensional coordinate systems, the calibration base station coordinate system is a coordinate system of the base station after rotation, and the reference point is a coordinate point indicated by a coordinate of the tag device in the current base station coordinate system; the rotation angle includes: a rotation angle value and a rotation direction;
the step of determining the rotation angle of the base station based on the positional relationship between the reference point and the target point includes:
determining a reference azimuth angle and a reference pitch angle corresponding to the reference connecting line; the reference connecting line is a connecting line between the reference point and an origin of the current base station coordinate system, the reference azimuth angle is an included angle between a projection of the reference connecting line in a specified plane of the current base station coordinate system and a second specified coordinate axis of the current base station coordinate system, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the current base station coordinate system; the second designated coordinate axis of the current base station coordinate system is: a specified coordinate axis of two coordinate axes of a specified plane forming the current base station coordinate system; the third designated coordinate axis of the current base station coordinate system is as follows: forming a coordinate axis out of two coordinate axes of a specified plane of the current base station coordinate system;
determining a target azimuth angle and a target pitch angle corresponding to a target connecting line; wherein the target connecting line is a connecting line between the target point and an origin of the calibration base station coordinate system, the target azimuth angle is an included angle between a projection of the target connecting line in an appointed plane of the calibration reference coordinate system and a second appointed coordinate axis of the calibration reference coordinate system, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the calibration reference coordinate system; the second designated coordinate axis of the calibration base station coordinate system is: a specified coordinate axis of two coordinate axes of a specified plane forming the calibration base station coordinate system; the third designated coordinate axis of the calibration base station coordinate system is as follows: a coordinate axis other than the two coordinate axes constituting the designated plane of the calibration base station coordinate system;
calculating a first difference absolute value of the reference azimuth angle and the target azimuth angle, and calculating a second difference absolute value of the reference pitch angle and the target pitch angle;
and determining a rotation angle value of the base station based on the first difference absolute value and the second difference absolute value, and taking the direction pointed to the reference connecting line by the target connecting line as the rotation direction of the base station.
In a second aspect, an embodiment of the present invention provides an object positioning apparatus, which is applied to a positioning apparatus in an object positioning system, where the system further includes: the device comprises a base station which can rotate and is preset with at least three anchor points, and label equipment which is arranged on a target to be positioned and is used for positioning the target to be positioned, wherein the device comprises:
the initial positioning module is used for determining an initial positioning result of the label equipment by utilizing each anchor point preset on a base station and judging whether the initial positioning result meets a preset positioning accuracy condition or not; if yes, triggering a first determining module, otherwise, triggering a base station rotating module;
the first determining module is configured to determine the initial positioning result as a final positioning result of the target to be positioned;
the base station rotating module is used for controlling the base station to rotate so as to change the position relationship between each anchor point preset on the base station and the label equipment;
the second calculation module is used for determining a target positioning result of the label equipment by utilizing each anchor point preset on the rotated base station and judging whether the target positioning result meets the preset positioning accuracy condition; if yes, triggering a second determination module; otherwise, triggering the base station rotation module;
the second determining module is configured to determine the target positioning result as a final positioning result of the target to be positioned.
Optionally, in a specific implementation manner, the preset positioning accuracy condition includes:
the confidence coefficient for representing the accuracy of the positioning result is greater than a preset positioning accuracy threshold; or,
the space position represented by the positioning result is positioned in the target space area; and the geometric precision factor GDOP of each position in the target space region is smaller than a preset precision threshold.
Optionally, in a specific implementation manner, the base station rotation module includes:
and the rotation submodule is used for controlling the base station to rotate based on the spatial distribution of the geometric precision factor GDOP of the base station.
Optionally, in a specific implementation manner, the rotation sub-module includes:
a rotation angle determination unit for determining a rotation angle of the base station based on a spatial distribution of GDOPs of the base station and a corresponding position of the tag device in a current base station coordinate system;
a rotation unit for controlling the base station to rotate according to the rotation angle;
wherein the current base station coordinate system is the base station coordinate system of the base station before rotation.
Optionally, in a specific implementation manner, the rotation angle determination unit includes:
the reference point determining subunit is used for determining a corresponding coordinate point of the tag device in the current base station coordinate system as a reference point;
a target point determining subunit, configured to determine a target point in the current base station coordinate system based on spatial distribution of GDOPs of the base station; wherein the GDOP of the target point is lower than the GDOP of the reference point;
a rotation angle determination subunit configured to determine a rotation angle of the base station based on a positional relationship between the reference point and the target point.
Optionally, in a specific implementation manner, the current base station coordinate system and the calibration base station coordinate system are two-dimensional coordinate systems, the calibration base station coordinate system is a coordinate system of the base station after rotation, and the reference point is a projection point of the tag device in the current base station coordinate system; the rotation angle includes: a rotation angle value and a rotation direction; the rotation angle determining subunit is specifically configured to:
determining an included angle between a reference connecting line and a first designated coordinate axis of the current base station coordinate system as a reference included angle; the reference connecting line is a connecting line between the reference point and the origin of the current base station coordinate system;
determining an included angle between a target connecting line and a first designated coordinate axis in the calibration base station coordinate system as a target included angle; the target connecting line is a connecting line of the target point and an origin of the coordinate system of the calibration base station;
and calculating the absolute value of the difference value between the reference included angle and the target included angle to be used as the rotation angle value of the base station, and using the direction pointing to the reference connecting line by the target connecting line as the rotation direction of the base station.
Optionally, in a specific implementation manner, the current base station coordinate system and the calibration base station coordinate system are three-dimensional coordinate systems, the calibration base station coordinate system is a coordinate system of the base station after rotation, and the reference point is a coordinate point indicated by a coordinate of the tag device in the current base station coordinate system; the rotation angle includes: a rotation angle value and a rotation direction; the rotation angle determining subunit is specifically configured to:
determining a reference azimuth angle and a reference pitch angle corresponding to the reference connecting line; the reference connecting line is a connecting line between the reference point and an origin of the current base station coordinate system, the reference azimuth angle is an included angle between a projection of the reference connecting line in a specified plane of the current base station coordinate system and a second specified coordinate axis of the current base station coordinate system, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the current base station coordinate system; the second designated coordinate axis of the current base station coordinate system is: a specified coordinate axis of two coordinate axes of a specified plane forming the current base station coordinate system; the third designated coordinate axis of the current base station coordinate system is as follows: a coordinate axis other than the two coordinate axes of the specified plane forming the current base station coordinate system;
determining a target azimuth angle and a target pitch angle corresponding to a target connecting line; wherein the target connecting line is a connecting line between the target point and an origin of the calibration base station coordinate system, the target azimuth angle is an included angle between a projection of the target connecting line in an appointed plane of the calibration reference coordinate system and a second appointed coordinate axis of the calibration reference coordinate system, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the calibration reference coordinate system; the second designated coordinate axis of the calibration base station coordinate system is: a specified coordinate axis of two coordinate axes of a specified plane forming the calibration base station coordinate system; the third designated coordinate axis of the calibration base station coordinate system is as follows: a coordinate axis other than the two coordinate axes constituting the designated plane of the calibration base station coordinate system;
calculating a first difference absolute value of the reference azimuth angle and the target azimuth angle, and calculating a second difference absolute value of the reference pitch angle and the target pitch angle;
and determining a rotation angle value of the base station based on the first difference absolute value and the second difference absolute value, and taking the direction pointed to the reference connecting line by the target connecting line as the rotation direction of the base station.
In a third aspect, an embodiment of the present invention provides a target positioning system, where the system includes a positioning device, a base station that is rotatable and has at least three anchor points in advance, and a tag device that is installed on a target to be positioned and is used to position the target to be positioned;
the positioning device is used for determining an initial positioning result of the label equipment by utilizing each anchor point preset on the base station and judging whether the initial positioning result meets a preset positioning accuracy condition or not; if so, determining the initial positioning result as a final positioning result of the target to be positioned; otherwise, controlling the base station to rotate, determining a target positioning result of the label equipment by utilizing each anchor point preset on the rotated base station, and judging whether the target positioning result meets the preset positioning accuracy condition or not; if so, determining the target positioning result as a final positioning result of the target to be positioned; otherwise, returning to the step of controlling the rotation of the base station;
and the base station is used for rotating based on the control of the positioning device so as to change the position relationship between each anchor point preset on the base station and the label equipment.
In a fourth aspect, an embodiment of the present invention provides an electronic device, where the electronic device is a positioning apparatus in a target positioning system, and the system further includes: the system comprises a base station which can rotate and is preset with at least three anchor points, and label equipment which is arranged on a target to be positioned and is used for positioning the target to be positioned; the electronic equipment comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory finish mutual communication through the communication bus;
a memory for storing a computer program;
the processor is configured to implement the steps of any one of the object positioning methods provided in the embodiments of the present invention in the first aspect described above when executing the program stored in the memory.
In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program, when executed by a processor, implements the steps of any of the object positioning methods provided in the embodiments of the present invention in the first aspect.
In a sixth aspect, embodiments of the present invention further provide a computer program product including instructions, which, when run on a computer, cause the computer to perform the steps of any of the object localization methods provided in the embodiments of the present invention in the first aspect.
The embodiment of the invention has the following beneficial effects:
as can be seen from the above, with the adoption of the scheme provided by the embodiment of the invention, in the target positioning based on the UWB ranging on the single base station, the initial positioning result of the tag device on the target to be positioned can be determined by using each anchor point preset on the base station, and then, whether the initial positioning result meets the preset positioning accuracy condition is judged. If the initial positioning result meets the requirement, the initial positioning result can be determined as the final positioning result of the target to be positioned, otherwise, the base station can be controlled to rotate, so that the position relation between each anchor point preset on the base station and the label equipment is changed, therefore, the target positioning result of the label equipment can be determined by using each anchor point preset on the rotated base station, and whether the target positioning result meets the preset positioning accuracy condition is judged. If so, determining the target positioning result as a final positioning result of the target to be positioned, otherwise, rotating the base station again, and re-determining the target positioning result of the tag device.
Therefore, when the initial positioning result does not meet the positioning accuracy condition, the target positioning result meeting the positioning accuracy condition can be obtained by rotating the base station, and then the final positioning result of the target to be positioned meeting the positioning accuracy condition is determined.
Based on this, by applying the scheme provided by the embodiment of the present invention, when the GDOP value of the target to be positioned at the corresponding position in the base station coordinate system is higher, and thus the GDOP value of the tag device installed on the target to be positioned at the corresponding position in the base station coordinate system is higher, which results in that the obtained initial positioning result of the tag device does not satisfy the positioning accuracy condition, the position relationship between the tag device on the target to be positioned and each anchor point of the base station can be changed by controlling the rotation of the base station, so that the position of the tag device on the target to be positioned in the base station coordinate system is changed, the GDOP of the corresponding position is reduced, and the target positioning result which can satisfy the accuracy condition is obtained. Therefore, under the condition that the spatial distribution of the GDOP of the base station is not uniform, the GDOP of the corresponding position of the label equipment on the target to be positioned in the base station coordinate system can be lower by rotating the base station, so that the obtained target positioning result meets the accuracy condition, and the accuracy of the determined positioning result of the target to be positioned is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention 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 invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1(a) is a schematic diagram of anchor point position relationship of a base station with four anchor points;
FIG. 1(b) is a schematic diagram of the spatial distribution of GDOP corresponding to the base station shown in FIG. 1 (a);
fig. 2 is a schematic flowchart of a target positioning method according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a change in a positional relationship between anchor points preset on a base station and a label device before and after the base station is controlled to rotate in a specific implementation manner according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for positioning multiple objects to be positioned simultaneously by using a target positioning method according to an embodiment of the present invention in a specific embodiment according to the present invention;
FIG. 5 is a flow chart of one embodiment of controlling the rotation of a base station based on the spatial distribution of GDOP of the base station;
FIG. 6 is a flowchart illustrating an embodiment of S51 in FIG. 5;
FIG. 7 is a flowchart illustrating an embodiment of S513 in FIG. 6;
FIG. 8 is a flowchart illustrating another specific implementation manner of S513 in FIG. 6;
FIG. 9 is a schematic structural diagram of an object-locating device according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of an object locating system according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
In the related art, in the target positioning based on the UWB ranging on a single base station, since the distribution of different positions in space with respect to the GDOP of the base station is not uniform, when the position relationships between the target to be positioned and the anchor points of the base station are different under the condition that the ranging error ranges are the same, the accuracy of the obtained positioning result may be different due to the different GDOPs at the positions of the target to be positioned in the base station coordinate system. Therefore, under the condition that the spatial distribution of the GDOP of the base station is not uniform, how to ensure the accuracy of the positioning result is an urgent problem to be solved.
In order to solve the above technical problem, an embodiment of the present invention provides a target positioning method.
The target positioning method can be applied to a positioning device in a target positioning system, and the target positioning system further comprises a base station which can rotate and is preset with at least three anchor points, and a transition device which is arranged on a target to be positioned and is used for positioning the target to be positioned. Furthermore, in the embodiment of the present invention, the positioning device may be a module installed on the base station for executing the target positioning method, for example, a management module, a positioning module, and the like on the base station; or may be a stand-alone electronic device, such as a server, desktop computer, etc., communicatively coupled to the base station. This is all reasonable. The positioning device can perform UWB ranging-based target positioning on a single base station and control the base station to rotate.
In addition, the target positioning method can be applied to any scene of positioning a target at a fixed position by using the UWB ranging-based target positioning on a single base station, for example, positioning a fixed camera and the like.
Furthermore, a target positioning method provided in an embodiment of the present invention may include the following steps:
determining an initial positioning result of the label equipment by utilizing each anchor point preset on a base station, and judging whether the initial positioning result meets a preset positioning accuracy condition;
if so, determining the initial positioning result as a final positioning result of the target to be positioned;
otherwise, controlling the base station to rotate so as to change the position relationship between each anchor point preset on the base station and the label equipment, determining a target positioning result of the label equipment by using each anchor point preset on the rotated base station, and judging whether the target positioning result meets the preset positioning accuracy condition;
if so, determining the target positioning result as a final positioning result of the target to be positioned;
otherwise, returning to the step of controlling the rotation of the base station.
As can be seen from the above, with the adoption of the scheme provided by the embodiment of the invention, in the target positioning based on the UWB ranging on the single base station, the initial positioning result of the tag device on the target to be positioned can be determined by using each anchor point preset on the base station, and then, whether the initial positioning result meets the preset positioning accuracy condition is judged. If the initial positioning result meets the requirement, the initial positioning result can be determined as the final positioning result of the target to be positioned, otherwise, the base station can be controlled to rotate, so that the position relation between each anchor point preset on the base station and the label equipment is changed, therefore, the target positioning result of the label equipment can be determined by using each anchor point preset on the rotated base station, and whether the target positioning result meets the preset positioning accuracy condition is judged. If so, determining the target positioning result as a final positioning result of the target to be positioned, otherwise, rotating the base station again, and re-determining the target positioning result of the tag device.
Therefore, when the initial positioning result does not meet the positioning accuracy condition, the target positioning result meeting the positioning accuracy condition can be obtained by rotating the base station, and then the final positioning result of the target to be positioned meeting the positioning accuracy condition is determined.
Based on this, by applying the scheme provided by the embodiment of the present invention, when the GDOP value of the target to be positioned at the corresponding position in the base station coordinate system is higher, and thus the GDOP value of the tag device installed on the target to be positioned at the corresponding position in the base station coordinate system is higher, which results in that the obtained initial positioning result of the tag device does not satisfy the positioning accuracy condition, the position relationship between the tag device on the target to be positioned and each anchor point of the base station can be changed by controlling the rotation of the base station, so that the position of the tag device on the target to be positioned in the base station coordinate system is changed, the GDOP of the corresponding position is reduced, and the target positioning result which can satisfy the accuracy condition is obtained. Therefore, under the condition that the spatial distribution of the GDOP of the base station is not uniform, the GDOP of the corresponding position of the label equipment on the target to be positioned in the base station coordinate system can be lower by rotating the base station, so that the obtained target positioning result meets the accuracy condition, and the accuracy of the determined positioning result of the target to be positioned is ensured.
Before specifically describing a target positioning method provided in an embodiment of the present invention, a GDOP is first introduced.
GDOP is an abbreviation of geometrical Dilution Precision, and chinese means a Geometric Precision factor, which is an important coefficient for measuring positioning Precision and represents a distance vector amplification factor between a receiver and a transmitter caused by a ranging error. The volume of the body actually characterized by the unit vector from the receiver to the transmitter participating in the positioning solution is inversely proportional to GDOP, and is also called the geometric accuracy factor. In practical applications, the larger the value of GDOP, the smaller the unit vector volume represented, i.e. the result of the very similar angles from the receiver to the transmitter, the lower the positioning accuracy caused by GDOP, and the smaller the value of GDOP, the larger the unit vector volume represented, thereby the higher positioning accuracy.
Hereinafter, a target positioning method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 2 is a schematic flowchart of a target positioning method according to an embodiment of the present invention, and as shown in fig. 2, the method may include the following steps:
s201: determining an initial positioning result of the label equipment by utilizing each anchor point preset on the base station;
s202: judging whether the initial positioning result meets a preset positioning accuracy condition or not; if yes, go to step S203; otherwise, executing step S204;
in the embodiment of the invention, the target to be positioned is provided with the label equipment, and the label equipment is used for positioning the target to be positioned. Therefore, when the target to be positioned is positioned, the initial positioning result of the label equipment installed on the target to be positioned can be determined by utilizing each anchor point preset on the base station. And after the initial positioning result is obtained, whether the initial positioning result meets the preset accurate positioning condition can be further judged.
The tag device may be any device that can be used to locate the target to be located, for example, a wireless signal transceiver module arranged on the target to be located, and the like.
Furthermore, the step S201 may be executed in various ways, and the embodiment of the present invention is not limited in particular. For example, since the number of anchor points preset on the base station is not less than three, the initial positioning result of the tag device may be determined by using a TOA (Time of Arrival) positioning algorithm, or may be determined by using a TDOA (Time Difference of Arrival) positioning algorithm.
For clarity, the implementation of step S201 will be illustrated in the following.
S203: determining the initial positioning result as a final positioning result of the target to be positioned;
when the initial positioning result determined in step S203 meets the preset positioning accuracy condition, it may be determined that the accuracy of the initial positioning result is higher, so that the initial positioning result may be directly determined as the final positioning result of the target to be positioned.
S204: controlling the base station to rotate so as to change the position relationship between each anchor point preset on the base station and the label equipment;
s205: determining a target positioning result of the label equipment by utilizing each anchor point preset on the rotated base station;
s206: judging whether the target positioning result meets a preset positioning accuracy condition or not; if yes, go to step S207; otherwise, step S204 is executed again;
s207: and determining the target positioning result as a final positioning result of the target to be positioned.
When the initial positioning result determined in step S202 does not satisfy the preset positioning accuracy condition, it may be determined that the accuracy of the initial positioning result is low, and the tag device needs to be repositioned again, so as to improve the accuracy of the obtained positioning result.
Based on this, when it is determined that the initial positioning result does not satisfy the preset positioning accuracy condition, the base station may be controlled to rotate, so that the base station rotates by a certain angle, and the position relationship between each anchor point preset on the base station and the label device is changed.
For example, as shown in fig. 3, before controlling the base station to rotate, the base station is configured as base station configuration a; further, after the base station is controlled to rotate anticlockwise by theta degrees, the form of the base station is shown as a base station form B; the left diagram in fig. 3 is: before controlling the base station to rotate, the position relations between the four anchor points A0, A1, A2 and A3 on the base station and the tag devices T0, T1 and T1 are shown schematically; the right diagram in fig. 3 is: after the base station is controlled to rotate, the position relations between the four anchor points A0, A1, A2 and A3 on the base station and the tag devices T0, T1 and T1 are shown schematically; wherein the positions of the respective tag devices T0, T1, and T1 in space are unchanged before and after the base station is controlled to rotate. By comparing the left and right diagrams in fig. 3, it can be determined that the positional relationship between each anchor point preset on the base station and the label device can be changed by controlling the rotation of the base station.
Therefore, the target positioning result of the label equipment can be determined by utilizing each anchor point preset on the rotated base station, and whether the target positioning result meets the preset positioning accuracy condition or not is further judged after the target positioning result is obtained.
Optionally, the base station may be controlled to rotate in multiple ways, and the embodiment of the present invention is not limited in this respect.
For example, when the positioning device is a management module of the base station, the positioning device may generate a rotation instruction, and directly control the base station to rotate according to the rotation instruction; for another example, when the positioning device is a module on the base station and cannot be used to control the rotation of the base station, the positioning device may generate a rotation command and send the rotation command to the module on the base station for controlling the rotation of the base station, so that the module may control the rotation of the base station according to the rotation command; for another example, when the positioning device is an independent electronic device communicatively connected to the base station, the positioning device may generate a rotation command, and send the rotation command to the module for controlling the rotation of the base station on the base station through communication transmission, so that the module may control the rotation of the base station according to the rotation command. This is all reasonable.
When the target positioning result determined in the step S206 meets the preset positioning accuracy condition, it may be determined that the accuracy of the target positioning result is higher, so that the step S204 may be executed to directly determine the target positioning result as the final positioning result of the target to be positioned.
Accordingly, when the target positioning result determined in the step S206 does not satisfy the preset positioning accuracy condition, it may be determined that the accuracy of the target positioning result is still low, and the tag device needs to be repositioned to improve the accuracy of the obtained positioning result, so the step S204 may be executed again until the obtained target positioning result of the tag device satisfies the preset positioning accuracy condition.
Therefore, the finally determined target positioning result meeting the preset positioning accuracy condition can be used as the final positioning result of the target to be positioned.
The target positioning result of the tag device may be determined in various ways, and thus, the embodiment of the present invention is not limited in particular. For example, since the number of anchor points preset on the base station is not less than three, the target location result of the tag device may be determined by using a TOA (Time of Arrival) location algorithm, or may be determined by using a TDOA (Time Difference of Arrival) location algorithm.
Further, it is reasonable that the initial positioning result and the target positioning result of the tag device may be determined in the same manner, or may be determined in different manners.
As can be seen from the above, with the solution provided by the embodiment of the present invention, when the GDOP value of the target to be positioned at the corresponding position in the base station coordinate system is higher, and thus the GDOP value of the tag device installed on the target to be positioned at the corresponding position in the base station coordinate system is higher, which results in that the initial positioning result of the obtained tag device does not satisfy the positioning accuracy condition, the position relationship between the tag device on the target to be positioned and each anchor point of the base station can be changed by controlling the rotation of the base station, so that the position of the tag device on the target to be positioned in the base station coordinate system is changed, so as to reduce the GDOP of the corresponding position, and obtain the target positioning result capable of satisfying the accuracy condition. Therefore, under the condition that the spatial distribution of the GDOP of the base station is not uniform, the GDOP of the corresponding position of the label equipment on the target to be positioned in the base station coordinate system can be lower by rotating the base station, so that the obtained target positioning result meets the accuracy condition, and the accuracy of the determined positioning result of the target to be positioned is ensured.
Optionally, in a specific implementation manner, the preset positioning accuracy condition may be: the confidence for characterizing the accuracy of the positioning result is greater than a preset positioning accuracy threshold.
Accordingly, in this specific implementation manner, the manner of determining whether the initial positioning result satisfies the preset positioning accuracy condition in step S202 may include the following step 1:
step 1: and calculating the confidence of the initial positioning result, and judging whether the calculated confidence is greater than a preset positioning accuracy threshold.
In this specific implementation, after the initial positioning result of the tag device is determined, the confidence of the initial positioning result may be further calculated. Wherein the confidence level may characterize the accuracy of the determined initial positioning result, and a higher confidence level may indicate a higher accuracy of the determined initial positioning result.
Thus, in order to ensure the accuracy of the final positioning result of the finally determined target to be positioned, a threshold may be preset as the positioning accuracy threshold, and when the confidence of the determined initial positioning result is greater than the positioning accuracy threshold, it may be indicated that the accuracy of the initial positioning result is higher, and the initial positioning result may be used as the final positioning result of the target to be positioned, and when the confidence of the determined initial positioning result is not greater than the positioning accuracy threshold, it may be indicated that the accuracy of the initial positioning result is lower, so that the tag device needs to be repositioned to obtain the final positioning result of the target to be positioned with higher accuracy.
Based on this, after the confidence of the initial positioning result of the tag device is calculated, the size relationship between the confidence and the positioning accuracy threshold can be further judged, and different subsequent processing steps are selected according to the determined different size relationship.
The positioning accuracy threshold may be set by a technician according to the accuracy requirement of the final positioning result of the target to be positioned, and the embodiment of the present invention does not limit a specific value of the positioning accuracy threshold.
Optionally, in an embodiment, after the initial positioning result of the tag device is determined, the GDOP value of the position corresponding to the initial positioning result may be used as the confidence of the initial positioning result.
The GDOP value of the position corresponding to the initial positioning result may be calculated in various ways, which is not limited in the embodiments of the present invention.
For example, according to the initial positioning result, the unit vectors pointing to the tag device from each anchor point on the base station are determined, and then the vector dot product of any two unit vectors in each unit vector is calculated, and the calculated maximum vector dot product is used as the GDOP value of the position corresponding to the initial positioning result.
For example, when three anchor points 1, 2, and 3 are set on the base station, the GDOP value of the position corresponding to the initial positioning result may be determined by the following formula:
GDOP(x)＝max(dot(i1，i2)，dot(i2，i3)，dot(i3，i1))；
GDOP (x) is a GDOP value of a position corresponding to the initial positioning result, dot represents vector dot product calculation, i1 is a unit vector pointing to the tag device from the anchor point 1, i2 is a unit vector pointing to the tag device from the anchor point 2, and i3 is a unit vector pointing to the tag device from the anchor point 3.
Furthermore, in this specific implementation manner, the preset positioning accuracy condition is: if the confidence for representing the accuracy of the positioning result is greater than the preset positioning accuracy threshold, the step S206 may determine whether the target positioning result meets the preset positioning accuracy condition, which includes the following step 2:
and 2, step: and calculating the confidence of the target positioning result, and judging whether the calculated confidence is greater than a preset positioning accuracy threshold.
The way of calculating the confidence of the target positioning result is the same as the way of calculating the confidence of the initial positioning result, and is not repeated again.
After determining the position of each anchor point on the base station in the base station coordinate system, the distribution of different positions in space with respect to the GDOP of the base station can be determined, and thus, the GDOP of each position in space can be determined. When the GDOP of a certain spatial position is higher, the accuracy of the obtained positioning result is lower for the target located at the spatial position, and correspondingly, when the GDOP of a certain spatial position is lower, the accuracy of the obtained positioning result is higher for the target located at the spatial position.
Based on this, a threshold may be preset as an accuracy threshold, and a target space region may be determined in space according to the accuracy threshold, so that GDOPs of each position in the target space region are smaller than the accuracy threshold. In this way, when the spatial position represented by the determined positioning result is located in the target spatial region, it may be determined that the GDOP of the spatial position represented by the positioning result is lower, and thus, the accuracy of the positioning result is higher.
The accuracy threshold may be set by a technician according to the accuracy requirement of the final positioning result of the target to be positioned, and the embodiment of the present invention does not limit a specific value of the accuracy threshold.
Optionally, in another specific implementation manner, the preset positioning accuracy condition may be: the space position represented by the positioning result is positioned in the target space area; and the GDOP of each position in the target space region is smaller than a preset precision threshold.
Accordingly, in this specific implementation manner, the manner of determining whether the initial positioning result satisfies the preset positioning accuracy condition in step S202 may include the following step 3:
and step 3: and judging whether the space position represented by the initial positioning result is located in the target space area.
Furthermore, in this specific implementation manner, the manner of determining whether the target positioning result satisfies the preset positioning accuracy condition in step S206 may include the following step 4:
and 4, step 4: and judging whether the space position represented by the target positioning result is located in the target space area.
In many cases, a plurality of targets to be positioned may exist in the space, so that, in order to improve the positioning efficiency, the target positioning method provided by the embodiment of the present invention may be adopted to position the plurality of targets to be positioned at the same time.
Optionally, in a specific implementation manner, fig. 4 is a schematic flow chart of a manner of positioning the multiple objects to be positioned simultaneously by using the target positioning method provided in the embodiment of the present invention, and as shown in fig. 4, the manner may include the following steps:
s401: and obtaining the distance or the distance difference between each anchor point preset on the base station and each current label device, and determining the position coordinate of each current label device in the reference coordinate system through a positioning algorithm based on ranging.
In this specific implementation manner, the reference coordinate system may be preset, and then the preset final positioning result of each target to be positioned is the position coordinate of each target to be positioned in the preset reference coordinate system.
Thus, in this specific implementation manner, it is determined that a plurality of targets to be positioned, to which the tag devices are respectively installed, need to be positioned, and then the tag devices installed on the plurality of targets to be positioned may be used as current tag devices. Furthermore, for each current tag device, the distance or the distance difference between each anchor point preset on the base station and the tag device can be obtained, so that the position coordinate of the tag device in the current base station coordinate system of the base station is calculated, and the position coordinate of the tag device in the reference coordinate system is calculated according to the coordinate conversion relation between the current base station coordinate system of the base station and the reference coordinate system. Thus, the current position coordinates of each tag device in the reference coordinate system are obtained.
The positioning algorithm based on ranging may be a TOA (Time of Arrival) positioning algorithm, or a TDOA (Time Difference of Arrival) positioning algorithm.
Moreover, it is reasonable to calculate the position coordinates of each tag device in the reference coordinate system at the same time, or calculate the position coordinates of each tag device in the reference coordinate system in sequence according to a certain sequence.
S402: calculating the confidence coefficient of the position coordinate of each current label device in the reference coordinate system according to the determined position coordinate of each current label device in the reference coordinate system, wherein the confidence coefficient is used as the confidence coefficient of each identification device;
after the position coordinates of each tag device in the reference coordinate system are determined, the confidence coefficient of the current position coordinates of each tag device in the reference coordinate system can be calculated according to the determined position coordinates, and the calculated confidence coefficient of the current position coordinates of each tag device in the reference coordinate system is used as the confidence coefficient of the tag device.
S403: judging whether the confidence of each current label device is greater than a preset positioning accuracy threshold value or not; if yes, go to step S404; otherwise, step S405 is executed.
After the confidence coefficient of each label device is obtained through calculation, whether the confidence coefficient of each label device is larger than a preset positioning accuracy threshold value or not can be judged, and the subsequent execution steps are determined according to the judgment result.
When the confidence of a certain tag device is judged to be greater than the preset positioning accuracy threshold, the subsequent step S404 can be continuously executed;
when it is determined that the confidence of a certain tag device is not greater than the preset positioning accuracy threshold, it may be determined that the confidence of each tag device is not greater than the preset positioning accuracy threshold, and thus, the tag device whose confidence is not greater than the preset positioning accuracy threshold may be determined, and then, the subsequent step S405 may be performed.
S404: and determining the determined position coordinates of the label equipment in the reference coordinate system as a final positioning result of the target to be positioned where the label equipment is located.
Because the determined final positioning result of each target to be positioned is the position coordinate of each target to be positioned in the reference coordinate system, for each tag device, when the confidence coefficient of the tag device is judged to be greater than the preset positioning accuracy threshold, the determined position coordinate of the tag device in the reference coordinate system can be determined as the final positioning result of the target to be positioned where the tag device is located.
S405: determining each current label device, controlling the base station to rotate, obtaining the distance or the distance difference between each anchor point preset on the rotated base station and each current label device after controlling the base station to rotate, and determining the position coordinates of each current label device in a reference coordinate system through a positioning algorithm based on ranging.
And the current label device is the label device of which each current confidence coefficient is not greater than a preset positioning accuracy threshold value.
When the label device with the confidence coefficient not larger than the preset positioning accuracy threshold is determined, each current label device can be determined, the base station is controlled to rotate, after the base station is controlled to rotate, the distance or the distance difference between each anchor point preset on the base station and each current label device is obtained, and the position coordinates of each current label device in the reference coordinate system are determined through a positioning algorithm based on ranging.
For each tag device with the confidence coefficient not greater than the preset positioning accuracy threshold, after the base station is controlled to rotate, the distance or the distance difference between each anchor point preset on the rotated base station and the tag device is obtained, so that the position coordinate of the tag device in the current base station coordinate system of the rotated base station is calculated, the coordinate conversion relation between the current coordinate system of the rotated base station and the reference coordinate system is calculated according to the rotation angle and the rotation direction of the base station and the coordinate conversion relation between the current base station coordinate system of the base station before rotation and the reference coordinate system, and further the position coordinate of the tag device in the reference coordinate system is calculated according to the position coordinate of the tag device in the current base station coordinate system of the rotated base station and the coordinate conversion relation between the current coordinate system of the rotated base station and the reference coordinate system. Thus, the current position coordinates of each tag device in the reference coordinate system are obtained.
In this way, after the position coordinates of each current tag device in the reference coordinate system are obtained, the step S402 may be executed again, so that the steps S402 to S405 are executed in a loop until the finally calculated position coordinates of each current tag device in the reference coordinate system are not less than the preset positioning accuracy threshold, thereby obtaining the final positioning result of the target to be positioned where each tag device is located.
In order to facilitate understanding of the specific implementation shown in fig. 4, taking the specific implementation shown in fig. 3 as an example, the specific implementation shown in fig. 4 is illustrated by positioning three objects to be positioned, which are respectively installed with tag devices T0, T1, and T2 in fig. 3.
It should be emphasized that the specific implementation manner shown in fig. 4 is merely an example of a manner of positioning the multiple objects to be positioned simultaneously by using the target positioning method provided in the embodiment of the present invention, and other manners of positioning the multiple objects to be positioned simultaneously by using a target positioning method provided in the embodiment of the present invention all belong to the protection scope of the embodiment of the present invention.
Based on this, in order to facilitate understanding of a specific manner of positioning the multiple objects to be positioned by using the target positioning method provided by the embodiment of the present invention, a specific embodiment is described below.
As shown in fig. 3, it is assumed that four anchor points a0, a1, a2, and A3 are provided on the base station, three targets to be located exist in the space, and tag devices installed on the three targets to be located are tag devices T0, T1, and T1, respectively. Furthermore, a coordinate system xoy corresponding to the base station form a in the left diagram of fig. 3 is taken as a reference coordinate system, and the determined final positioning result of each target to be positioned is the position coordinate of each target to be positioned in the reference coordinate system xoy.
When the base station is in a base station shape A, the distances or distance differences between anchor points A0, A1, A2 and A3 preset on the base station and the tag device T0 are obtained, and the position coordinate (x) of the tag device T0 in a reference coordinate system xoy is calculated through a positioning algorithm based on ranging0，y0) (ii) a The method comprises the steps of obtaining the distance or the distance difference between anchor points A0, A1, A2 and A3 preset on a base station and tag equipment T1, and further calculating the position coordinates (x) of the tag equipment T1 in a reference coordinate system xoy through a positioning algorithm based on ranging1，y1) (ii) a Obtaining the distance or the distance difference between each anchor point A0, A1, A2 and A3 preset on the base station and the tag device T2, and further calculating the position coordinate (x) of the tag device T2 in a reference coordinate system xoy by a positioning algorithm based on ranging2，y2)。
Further, the position coordinates (x) of the tag device T0 in the reference coordinate system xoy are determined0，y0) Calculating the position coordinates (x)0，y0) As the confidence of tag device T0, f 0; according to the determined position coordinates (x) of the label device T1 in the reference coordinate system xoy1，y1) Calculating the position coordinates (x)1，y1) As the confidence of tag device T1, f 1; according to the determined position coordinates (x) of the label device T1 in the reference coordinate system xoy2，y2) Calculating the position coordinates (x)2，y2) As the confidence of tag device T2, f 2.
Then, for tag device T0, determining whether confidence f0 of tag device T0 is greater than a preset positioning accuracy threshold ft; for tag device T1, judging whether confidence f1 of tag device T1 is greater than a preset positioning accuracy threshold ft; for tag device T2, it is determined whether confidence f2 of tag device T0 is greater than a preset positioning accuracy threshold ft.
Assuming that the confidence f0 of tag device T0, the confidence f1 of tag device T1, and the confidence f2 of tag device T0 are not greater than the preset positioning accuracy threshold ft, the base station may be controlled to rotate counterclockwise by θ degrees, so that the rotated base station is in base station form B, and at this time, the base station coordinate system is the coordinate system X 'OY' corresponding to base station form B in the right diagram of fig. 3.
When the base station is in the form B, the distances or the distance differences between the tag device T0 and the anchor points A0, A1, A2 and A3 preset on the base station are obtained, and the position coordinates (X 'of the tag device T0 in the coordinate system X' OY 'are calculated through a positioning algorithm based on ranging'0，y′0) (ii) a Obtaining the distance or the distance difference between each anchor point A0, A1, A2 and A3 preset on the base station and the tag device T1, and further determining the distance or the distance difference based on the distance measurementBit Algorithm, calculating the location coordinates (X ' of tag device T1 within coordinate System X ' OY '1，y′1) (ii) a Obtaining the distances or distance differences between the anchor points A0, A1, A2 and A3 preset on the base station and the tag device T2, and further calculating the position coordinates (X 'of the tag device T2 in the coordinate system X' OY 'by a positioning algorithm based on ranging'2，y′2)。
Furthermore, since the coordinate system xoy corresponding to the base station form a in the left diagram of fig. 3 is a reference coordinate system, the position coordinates (x ″') of the tag devices T0, T1, and T1 in the reference coordinate system xoy can be determined according to the rotation angle θ of the base station and the counterclockwise selection direction0，y″0)、(x″1，y″1) And (x ″)2，y″2)。
Further, based on the position coordinates (x ″') of tag devices T0, T1, and T1 in reference coordinate system xoy, respectively0，y″0)、(x″1，y″1) And (x ″)2，y″2) Confidences f0 ', f1 ' and f2 ' of tag devices T0, T1 and T1, respectively, are determined.
In this way, since f0 ', f1 ' and f2 ' are all greater than the preset positioning accuracy threshold ft, it can be determined that the final positioning results of the three targets to be positioned, to which the tag devices T0, T1 and T1 are respectively mounted, are: position coordinates (x ″ ") of tag devices T0, T1, and T1 in reference coordinate system xoy, respectively0，y″0)、(x″1，y″1) And (x ″)2，y″2)。
Optionally, in a specific implementation manner, in the step S204, the manner of controlling the rotation of the base station may include the following step 5:
and 5: the base stations are controlled to rotate based on the spatial distribution of the GDOPs of the base stations.
For convenience of description, the base station coordinate system of the base station before rotation may be referred to as a current base station coordinate system, and the base station coordinate system of the base station after rotation may be referred to as a calibration base station coordinate system.
For example, as shown in fig. 3, before controlling the base station to rotate, the base station is configured as base station configuration a; furthermore, after the base station is controlled to rotate counterclockwise by θ degrees, if the form of the base station is as shown in base station form B, in the left diagram of fig. 3, the coordinate system xoy set with the anchor point a0 as the origin of coordinates is the current base station coordinate system; in the right diagram of fig. 3, the coordinate system X 'OY' set as the origin of coordinates at the anchor point a0 is the calibration base station coordinate system.
Since the distribution of the GDOPs of the different positions in the space relative to the base station is not uniform, and when the GDOP of the position corresponding to the tag device in the base station coordinate system is higher, the accuracy of the obtained positioning result is lower, when the determined initial positioning result does not satisfy the preset positioning accuracy condition, it can be stated that the GDOP of the position corresponding to the tag device in the current base station coordinate system of the base station is higher.
In this way, the base station can be controlled to rotate based on the spatial distribution of the GDOPs of the base station, so that the GDOP of the tag device at the corresponding position in the calibration base station coordinate system of the rotated base station is lower than the GDOP at the corresponding position in the current base station coordinate system.
For example, as shown in fig. 1(a), four anchor points A, B, C and D are preset on the base station, and then the spatial distribution of the GDOP corresponding to the base station is shown in fig. 1 (b).
The step 5 may be executed in various ways, and for this reason, embodiments of the present invention are not particularly limited, and for clarity of the text, the step 5 will be illustrated in the following.
Next, step 5 is described as an example in which the base station is controlled to rotate based on the spatial distribution of the GDOPs of the base station.
Optionally, in a specific implementation manner, as shown in fig. 5, the step 5 may include the following steps:
step S51: determining a rotation angle of the base station based on the spatial distribution of the GDOP of the base station and the corresponding position of the tag device in the current base station coordinate system;
step S52: the base station is controlled to rotate according to the rotation angle.
In this specific implementation manner, based on the spatial distribution of the GDOP of the base station, when determining what position relationship the tag device is in with each anchor point on the base station, the GDOP of the tag device at the corresponding position in the base station coordinate system is lower, and further, the position relationship between the position at which the GDOP is lower and the position at which the tag device is corresponding in the current base station coordinate system may be determined, so that the rotation angle of the base station is determined, so that after rotating the base station according to the rotation angle, the GDOP of the target to be positioned at the corresponding position in the calibration base station coordinate system may be lower than the GDOP of the target to be positioned at the corresponding position in the current base station coordinate system.
Thus, after the rotation angle is determined, the base station can be controlled to rotate according to the rotation angle, i.e. the base station can be controlled to rotate according to the rotation angle under the control of the positioning device.
Optionally, in a specific implementation manner, as shown in fig. 6, the step S51 of determining the rotation angle of the base station based on the spatial distribution of the GDOP of the base station and the corresponding position of the tag device in the current base station coordinate system may include the following steps:
s511: determining a corresponding coordinate point of the label equipment in a current base station coordinate system as a reference point;
s512: determining a target point in a current base station coordinate system based on the spatial distribution of the GDOP of the base station;
wherein the GDOP of the target point is lower than the GDOP of the reference point;
s513: based on the positional relationship of the reference point and the target point, the rotation angle of the base station is determined.
In this specific implementation manner, the corresponding position of the tag device in the current base station coordinate system may be represented by a corresponding coordinate point of the tag device in the current base station coordinate system, and correspondingly, the corresponding position of the tag device in the calibration base station may also be represented by a corresponding coordinate point of the tag device in the calibration base station coordinate system.
In this way, the corresponding coordinate point of the tag device in the current base station coordinate system can be determined firstly, and then the determined coordinate point is used as a reference point; then, according to the spatial distribution of the GDOPs of the base stations, the position of the GDOP of the current base station coordinate system, where the GDOP is lower than the reference point, is determined, and the coordinate point indicated by the position is used as a target point, so that the target point in the current base station coordinate system can be determined, where the GDOP of the target point is lower than the GDOP of the reference point.
Optionally, the coordinate point indicated by the position of the GDOP that is the lowest may be determined as the target point according to the spatial distribution of the GDOPs of the base station.
Alternatively, a coordinate point indicated by any position of the GDOP where the GDOP is lower than the reference point may be determined as the target point according to the spatial distribution of the GDOP of the base station.
Thus, after the reference point and the target point are determined, the rotation angle of the base station can be determined based on the positional relationship between the reference point and the target point.
The base station coordinate system of the base station may be a two-dimensional coordinate system or a three-dimensional coordinate system, and when the base station coordinate system of the base station is a coordinate system with different dimensions, the step S513 may be executed in different manners.
Optionally, in a specific implementation manner, the current base station coordinate system and the calibration base station coordinate system are two-dimensional coordinate systems, where the current base station coordinate system is a base station coordinate system of the base station before rotation, and the calibration base station coordinate system is a base station coordinate system of the base station after rotation; the reference point is a projected point of the tag device in the current base station coordinate system, and the rotation angle of the base station includes a rotation angle value and a rotation direction.
When the current base station coordinate system is a two-dimensional coordinate system, because the plane where the tag device is located and the plane where the current base station coordinate system is located may be in different planes, that is, the tag device may not be coplanar with the current base station coordinate system, the coordinates of the tag device in the current base station coordinate system may not be determined. Based on this, in the present specific implementation, a projected point of the tag device in the current base station coordinate system may be determined, and thus, the projected point is taken as a reference point.
When the tag device may be coplanar with the current base station coordinate system, a projection point of the tag device in the current base station coordinate system is a corresponding coordinate point of the tag device in the current base station coordinate system, and the reference point is a corresponding coordinate point of the tag device in the current base station coordinate system.
Furthermore, as shown in fig. 7, in this embodiment, the step S513 may include the following steps:
step S501A: determining an included angle between a reference connecting line and a first designated coordinate axis of a current base station coordinate system as a reference included angle;
the reference connecting line is a connecting line between a reference point and the origin of the current base station coordinate system;
step S502A: determining an included angle between a target connecting line and a first designated coordinate axis in a coordinate system of the calibration base station as a target included angle;
wherein, the target connecting line is a connecting line between the target point and the origin;
step S503A: and calculating the absolute value of the difference value between the reference included angle and the target included angle to be used as the rotation angle value of the base station, and using the direction pointing to the reference connecting line from the target connecting line as the rotation direction of the base station.
In this specific implementation manner, after the reference point is determined, a connection line between the reference point and the origin of the current base station coordinate system may be used as a reference connection line, so that an included angle between the reference connection line and a first designated coordinate axis of the current base station coordinate system is determined as a reference included angle.
The first designated coordinate axis of the current base station coordinate system may be any coordinate axis of the current base station coordinate system, for example, the first designated coordinate axis may be an X axis of the current base station coordinate system, and may also be a Y axis of the current base station coordinate system, which is reasonable.
Furthermore, after the target point is determined, a connecting line between the target point and the origin of the calibration base coordinate system may be used as a target connecting line, so that an included angle between the target connecting line and a first designated coordinate axis in the calibration base coordinate system is determined as a target included angle.
The first designated coordinate axis of the current base station coordinate system and the first designated coordinate axis of the calibration base station coordinate system should be coordinate axes marked by the same letter in the respective coordinate systems.
For example, when the first designated coordinate axis of the current base station coordinate system is the X axis of the current base station coordinate system, the first designated coordinate axis in the calibration base station coordinate system is also the X axis of the calibration base station coordinate system; and when the first designated coordinate axis of the current base station coordinate system is the Y axis of the current base station coordinate system, the first designated coordinate axis in the calibration base station coordinate system is also the Y axis of the calibration base station coordinate system.
After the reference included angle and the target included angle are obtained through calculation, the absolute value of the difference value between the reference included angle and the target included angle can be further calculated to be used as the rotation angle value of the base station; and the direction pointed by the target connecting line to the reference connecting line is taken as the rotation direction of the base station.
Thus, according to the principle related to coordinate axis rotation, after the base station is rotated by the rotation angle value according to the direction pointing to the reference connecting line from the target connecting line, the corresponding position of the label device in the base station coordinate system of the base station can be changed from the position of the reference point in the current base station coordinate system before rotation to the position of the target point in the calibration base station coordinate system after rotation, and since the GDOP of the target point is lower than the GDOP of the reference point, the accuracy of the target positioning result of the label device determined by using each anchor point preset on the base station after rotation can be higher than the positioning result of the label device determined by using each anchor point preset on the base station before rotation, so that the accuracy of the obtained positioning result of the label device can be improved after the base station is rotated according to the rotation angle value and the rotation direction.
Optionally, in another specific implementation manner, the current base station coordinate system and the calibration base station coordinate system are three-dimensional coordinate systems, where the current base station coordinate system is a base station coordinate system of a base station before rotation, the calibration base station coordinate system is a base station coordinate system of a base station after rotation, the reference point is a coordinate point indicated by a coordinate of the tag device in the current base station coordinate system, and the rotation angle of the base station includes a rotation angle value and a rotation direction.
When the current base station coordinate system is a three-dimensional coordinate system, the coordinates of the tag device in the current base station coordinate system can be determined, and further, the coordinate point indicated by the coordinates is the corresponding coordinate point of the target tag device to be positioned in the current base station coordinate system, that is, the coordinate point indicated by the coordinates can be used as the reference point.
Further, as shown in fig. 8, in the present embodiment, the step S513 may include the following steps:
S501B: determining a reference azimuth angle and a reference pitch angle corresponding to the reference connecting line;
the reference connecting line is a connecting line between a reference point and an original point of a current base station coordinate system, the reference azimuth angle is an included angle between a projection of the reference connecting line in a specified plane of the current base station coordinate system and a second specified coordinate axis of the current base station coordinate system, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the current base station coordinate system; the second designated axis of the current base station coordinate system is: a specified coordinate axis in two coordinate axes of a specified plane forming a current base station coordinate system; the third designated coordinate axis of the current base station coordinate system is: the coordinate axes except the two coordinate axes of the appointed plane forming the current base station coordinate system;
S502B: determining a target azimuth angle and a target pitch angle corresponding to a target connecting line;
wherein, the target connecting line is a connecting line between a target point and an origin of a coordinate system of the calibration base station, the target azimuth angle is an included angle between a projection of the target connecting line in a specified plane of the calibration reference coordinate system and a second specified coordinate axis of the coordinate system of the calibration base station, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the calibration base station coordinate system; the second designated axis of the calibration base station coordinate system is: a specified coordinate axis of two coordinate axes of a specified plane forming a calibration base station coordinate system; the third designated coordinate axis of the calibration base station coordinate system is: the coordinate axis outside the two coordinate axes of the designated plane forming the calibration base station coordinate system;
S503B: calculating a first difference absolute value of the reference azimuth angle and the target azimuth angle, and calculating a second difference absolute value of the reference pitch angle and the target pitch angle;
s504, 504B: and determining a rotation angle value of the base station based on the first difference absolute value and the second difference absolute value, and taking the direction pointing to the reference connecting line from the target connecting line as the rotation direction of the base station.
In this specific implementation manner, after the reference point is determined, a connection line between the reference point and the origin of the current base station coordinate system may be used as a reference connection line, so as to determine a projection of the reference connection line in a specified plane of the current base station coordinate system, and thus, an included angle between the projection and a specified coordinate axis of two coordinate axes forming the specified plane may be determined, that is, an included angle between the projection and a second specified coordinate axis of the current base station coordinate system is determined and used as a reference azimuth angle corresponding to the reference connection line; and further determining an included angle between the reference connecting line and a coordinate axis except two coordinate axes forming the specified plane of the current base station coordinate system in the current base station coordinate system, and taking the included angle as a reference pitch angle corresponding to the reference connecting line.
The designated plane of the current base station coordinate system may be any one plane of the current base station coordinate system, the second designated coordinate axis of the current base station coordinate system is a designated coordinate axis of the two coordinate axes constituting the designated plane, and the third designated coordinate axis of the current base station coordinate system is a coordinate axis other than the two coordinate axes constituting the designated plane.
For example, the designated plane of the current base station coordinate system may be an XOY plane of the current base station coordinate system, the second designated coordinate axis of the current base station coordinate system may be an X axis of the current base station coordinate system, and the third designated coordinate axis of the current base station coordinate system is a Z axis of the current base station coordinate system;
for another example, the designated plane of the current base station coordinate system may be an XOY plane of the current base station coordinate system, the second designated coordinate axis of the current base station coordinate system may be a Y axis of the current base station coordinate system, and the third designated coordinate axis of the current base station coordinate system is a Z axis of the current base station coordinate system;
for another example, the designated plane of the current base station coordinate system may be a YOZ plane of the current base station coordinate system, the second designated coordinate axis of the current base station coordinate system may be a Y axis of the current base station coordinate system, and the third designated coordinate axis of the current base station coordinate system is an X axis of the current base station coordinate system.
Furthermore, after the target point is determined, a connecting line between the target point and the origin of the calibration base station coordinate system can be used as a target connecting line, so that the projection of the target connecting line in a specified plane of the calibration base station coordinate system is determined, and therefore, the included angle between the projection and a specified coordinate axis in two coordinate axes forming the specified plane can be determined, namely, the included angle between the projection and a second specified coordinate axis of the calibration base station coordinate system is determined and used as a target azimuth angle corresponding to the target connecting line; and further determining an included angle between the target connecting line and a coordinate axis except two coordinate axes forming the specified plane of the calibration base station coordinate system in the calibration base station coordinate system, and taking the included angle as a target pitch angle corresponding to the target connecting line.
Wherein, the appointed plane of the current base station coordinate system and the appointed plane of the calibration base station coordinate system should be the planes marked by the same letter in the respective coordinate systems; accordingly, the second designated axis of the current base station coordinate system and the second designated axis of the calibration base station coordinate system should be axes marked with the same letter in the respective coordinate systems, and the third designated axis of the current base station coordinate system and the third designated axis of the calibration base station coordinate system should be axes marked with the same letter in the respective coordinate systems.
For example, the designated plane of the current base station coordinate system is an XOY plane of the current base station coordinate system, the second designated coordinate axis of the current base station coordinate system is an X axis of the current base station coordinate system, and the third designated coordinate axis of the current base station coordinate system is a Z axis of the current base station coordinate system; correspondingly, the designated plane of the calibration base station coordinate system is also an XOY plane of the calibration base station coordinate system, the second designated coordinate axis of the calibration base station coordinate system is also an X axis of the calibration base station coordinate system, and the third designated coordinate axis of the calibration base station coordinate system is also a Z axis of the calibration base station coordinate system.
After the reference azimuth angle, the reference pitch angle, the target azimuth angle and the target pitch angle are obtained through calculation, a first difference absolute value of the reference azimuth angle and the target azimuth angle and a second difference absolute value of the target pitch angle of the reference pitch angle can be further calculated,
thus, the rotation angle value of the base station can be determined based on the first difference absolute value and the second difference absolute value obtained by calculation, and the direction of the target connecting line pointing to the reference connecting line is taken as the rotation direction of the base station.
Optionally, when the target connection line is rotated to be parallel to the reference connection line, the rotation angle value required by the target connection line is determined based on the calculated first difference absolute value and the second difference absolute value, and then the rotation angle value is the rotation angle value of the base station.
Thus, according to the principle related to coordinate axis rotation, after the base station is rotated by the rotation angle value according to the direction pointing to the reference connecting line from the target connecting line, the corresponding position of the label device in the base station coordinate system of the base station can be changed from the position of the reference point in the current base station coordinate system before rotation to the position of the target point in the calibration base station coordinate system after rotation, and since the GDOP of the target point is lower than the GDOP of the reference point, the accuracy of the target positioning result of the label device determined by using each anchor point preset on the base station after rotation can be higher than the positioning result of the label device determined by using each anchor point preset on the base station before rotation, so that the accuracy of the obtained positioning result of the target to be positioned can be improved after the base station is rotated according to the rotation angle value and the rotation direction.
Next, a specific implementation manner of determining the initial positioning result of the tag device by using each anchor point preset on the base station in step S201 is described as an example.
Optionally, in a specific implementation manner, the step S201 may include the following steps 11 to 12:
step 11: determining a first distance between each anchor point preset on a base station and a label device;
step 12: based on the determined respective first distances, an initial positioning result of the tag device is calculated.
In this specific implementation manner, first distances between anchor points preset on the base station and the tag device may be determined first, so that an initial positioning result of the tag device may be calculated based on the determined first distances.
Optionally, as an embodiment of the present specific implementation manner, the step 12 may include the following steps 121-122:
step 121: determining corresponding first coordinates of the tag equipment in a current base station coordinate system based on the determined first distances;
step 122: determining the coordinates of the label equipment in a world coordinate system as an initial positioning result of the label equipment based on the first coordinates and a first coordinate conversion relation between a current base station coordinate system and a preset world coordinate system;
in this embodiment, when the first distances between the anchor points preset on the base station and the tag device are determined, the first coordinates corresponding to the tag device in the current base station coordinate system may be determined based on the determined first distances.
When the current base station coordinate system is a two-dimensional coordinate system, the first coordinate is the coordinate of a projection point of the label equipment in the current base station coordinate system; when the current base station coordinate system is a three-dimensional coordinate system, the first coordinate is the coordinate of the tag device in the current base station coordinate system.
In this way, the coordinates of the tag device in the world coordinate system can be obtained through coordinate transformation calculation based on the first coordinates and the first coordinate transformation relationship between the current base station coordinate system and the preset world coordinate system, and then the coordinates of the tag device in the world coordinate system can be used as the initial positioning result of the tag device.
In addition, optionally, as an embodiment of the present specific implementation manner, when at least three anchor points are preset on the base station, the step 11 may include the following steps 111 and 112:
step 111: aiming at each anchor point, determining the sending time when the anchor point sends a data packet to the label equipment and the receiving time when the anchor point receives a response packet fed back by the label equipment;
step 112: for each anchor point, determining a first distance between the anchor point and the label device based on the sending time and the receiving time;
in this embodiment, each anchor point may send a data packet to the tag device, and receive a response packet fed back by the tag device after receiving the data packet, so that, for the anchor point, a sending time at which the anchor point sends the data packet to the tag device and a receiving time at which the anchor point receives the response packet fed back by the tag device may be determined, and then, based on the sending time and the receiving time, a first distance between the anchor point and the tag device may be determined. The method provided by the present embodiment can be regarded as a step in the TOA positioning algorithm.
Optionally, in the above embodiment, a delay duration when each anchor point sends a data packet to the tag device may also be determined, so that the first distance between the anchor point and the target to be positioned may be determined based on the delay duration when each anchor point sends the data packet to the tag device, a sending time when the anchor point sends the data packet to the target to be positioned, and a receiving time when the anchor point receives a response packet fed back by the tag device.
Optionally, as another embodiment of the present specific implementation manner, when at least four anchor points are preset on the base station, step 11 may include the following steps 11A to 11C:
step 11A: determining the receiving time of the data packet broadcasted by each anchor point receiving label device;
step 11B: calculating the time difference of every two determined receiving moments;
and step 11C: a first distance of each anchor point from the tag device is determined based on the respective time differences determined.
In this embodiment, the tag device may broadcast the packet outward so that each anchor may receive the packet, so that the reception time at which each anchor receives the packet may be determined, and thus, the time difference of every two determined reception times may be calculated. In this way, a first distance of each anchor point from the tag device may be determined based on the respective time differences determined. The method provided by the present embodiment can be regarded as a step in a TDOA positioning algorithm.
Next, a specific implementation manner of determining the target positioning result of the tag device by using each anchor point preset on the rotated base station in step S205 is described as an example.
Optionally, in a specific implementation manner, the step S201 may include the following steps 51 to 52:
step 51: determining a second distance between each anchor point preset on the rotated base station and the label equipment;
step 52: based on the determined respective second distances, a target location result of the tag device is calculated.
In this specific implementation manner, second distances between anchor points preset on the rotated base station and the tag device may be determined first, so that a target location result of the tag device may be calculated based on the determined second distances.
Optionally, as an embodiment of the present specific implementation manner, the step 52 may include the following steps 521-522:
s121: determining second coordinates corresponding to the calibration base station coordinate system of the label equipment based on the determined second distances;
s122: determining coordinates of the tag device in the world coordinate system as a target positioning result of the tag device based on the second coordinates and a second coordinate conversion relation between the calibration base station coordinate system and the world coordinate system;
wherein the second coordinate conversion relationship is determined based on the rotation angle of the base station and the first coordinate conversion relationship.
In this embodiment, after the base station is rotated, the coordinate transformation relationship between the base station coordinate system of the base station and the world coordinate system may be changed, so that the second coordinate transformation relationship between the calibration base station coordinate system and the world coordinate system needs to be determined again. Wherein the second coordinate conversion relationship may be determined based on the rotation angle of the base station and the first coordinate conversion relationship.
In this way, when the second distances between the anchor points preset on the base station and the tag device are determined, the corresponding second coordinates of the tag device in the calibration base station coordinate system can be determined based on the determined second distances.
When the calibration base station coordinate system is a two-dimensional coordinate system, the second coordinate is the coordinate of the projection point of the label equipment in the calibration base station coordinate system; when the calibration base station coordinate system is a three-dimensional coordinate system, the second coordinate is the coordinate of the tag device in the calibration base station coordinate system.
In this way, the coordinates of the tag device in the world coordinate system can be obtained through coordinate transformation calculation based on the first coordinates and a second coordinate transformation relation between the calibration base station coordinate system and a preset world coordinate system, and the coordinates of the tag device in the world coordinate system can be used as a target positioning result of the tag device.
The specific implementation manner of step 51 is the same as that of step 11, and is not described again.
Corresponding to the target positioning method provided in the embodiment of the present invention, an embodiment of the present invention further provides a target positioning apparatus. Wherein the device is applied to a positioning device in a target positioning system, the system further comprises: the system comprises a base station which can rotate and is preset with at least three anchor points, and label equipment which is arranged on a target to be positioned and used for positioning the target to be positioned.
Fig. 9 is a schematic structural diagram of an object locating apparatus according to an embodiment of the present invention, as shown in fig. 10, the apparatus may include the following steps:
an initial positioning module 710, configured to determine an initial positioning result of the label device by using anchor points preset on a base station, and determine whether the initial positioning result meets a preset positioning accuracy condition; if yes, trigger the first determining module 720, otherwise trigger the base station rotating module 730;
the first determining module 720 is configured to determine the initial positioning result as a final positioning result of the target to be positioned;
the base station rotating module 730 is configured to control the base station to rotate, so that the position relationship between each anchor point preset on the base station and the tag device is changed;
a second calculating module 740, configured to determine a target positioning result of the label device by using anchor points preset on the rotated base station, and determine whether the target positioning result meets the preset positioning accuracy condition; if so, triggering a second determination module 750; otherwise, the base station rotation module 730 is triggered;
the second determining module 750 is configured to determine the target positioning result as a final positioning result of the target to be positioned.
As can be seen from the above, with the solution provided by the embodiment of the present invention, when the GDOP value of the target to be positioned at the corresponding position in the base station coordinate system is higher, and thus the GDOP value of the tag device installed on the target to be positioned at the corresponding position in the base station coordinate system is higher, which results in that the initial positioning result of the obtained tag device does not satisfy the positioning accuracy condition, the position relationship between the tag device on the target to be positioned and each anchor point of the base station can be changed by controlling the rotation of the base station, so that the position of the tag device on the target to be positioned in the base station coordinate system is changed, so as to reduce the GDOP of the corresponding position, and obtain the target positioning result that can satisfy the accuracy condition. Therefore, under the condition that the spatial distribution of the GDOP of the base station is not uniform, the GDOP of the corresponding position of the label equipment on the target to be positioned in the base station coordinate system can be lower by rotating the base station, so that the obtained target positioning result meets the accuracy condition, and the accuracy of the determined positioning result of the target to be positioned is ensured.
Optionally, in a specific implementation manner, the preset positioning accuracy condition includes:
the confidence coefficient for representing the accuracy of the positioning result is greater than a preset positioning accuracy threshold; or,
the space position represented by the positioning result is positioned in the target space area; and the geometric precision factor GDOP of each position in the target space region is smaller than a preset precision threshold.
Optionally, in a specific implementation manner, the base station rotation module 730 includes:
and the rotation submodule is used for controlling the base station to rotate based on the spatial distribution of the geometric precision factor GDOP of the base station.
Optionally, in a specific implementation manner, the rotation sub-module includes:
a rotation angle determination unit for determining a rotation angle of the base station based on a spatial distribution of GDOPs of the base station and a corresponding position of the tag device in a current base station coordinate system;
a rotation unit for controlling the base station to rotate according to the rotation angle;
wherein the current base station coordinate system is the base station coordinate system of the base station before rotation.
Optionally, in a specific implementation manner, the rotation angle determination unit includes:
the reference point determining subunit is used for determining a corresponding coordinate point of the tag device in the current base station coordinate system as a reference point;
a target point determining subunit, configured to determine a target point in the current base station coordinate system based on spatial distribution of GDOPs of the base stations; wherein the GDOP of the target point is lower than the GDOP of the reference point;
a rotation angle determination subunit configured to determine a rotation angle of the base station based on a positional relationship between the reference point and the target point.
Optionally, in a specific implementation manner, the current base station coordinate system and the calibration base station coordinate system are two-dimensional coordinate systems, and the reference point in the coordinate system of the base station after rotation is a projection point of the tag device in the current base station coordinate system; the rotation angle includes: a rotation angle value and a rotation direction; the rotation angle determining subunit is specifically configured to:
determining an included angle between a reference connecting line and a first designated coordinate axis of the current base station coordinate system as a reference included angle; the reference connecting line is a connecting line between the reference point and the origin of the current base station coordinate system;
determining an included angle between a target connecting line and a first designated coordinate axis in the calibration base station coordinate system as a target included angle; the target connecting line is a connecting line of the target point and an origin of the coordinate system of the calibration base station;
and calculating the absolute value of the difference value between the reference included angle and the target included angle to be used as the rotation angle value of the base station, and using the direction pointing to the reference connecting line by the target connecting line as the rotation direction of the base station.
Optionally, in a specific implementation manner, the current base station coordinate system and the calibration base station coordinate system are three-dimensional coordinate systems, the calibration base station coordinate system is a coordinate system of the base station after rotation, and the reference point is a coordinate point indicated by a coordinate of the tag device in the current base station coordinate system; the rotation angle includes: a rotation angle value and a rotation direction; the rotation angle determining subunit is specifically configured to:
determining a reference azimuth angle and a reference pitch angle corresponding to the reference connecting line; the reference connecting line is a connecting line between the reference point and an origin of the current base station coordinate system, the reference azimuth angle is an included angle between a projection of the reference connecting line in a specified plane of the current base station coordinate system and a second specified coordinate axis of the current base station coordinate system, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the current base station coordinate system; the second designated coordinate axis of the current base station coordinate system is: a specified coordinate axis of two coordinate axes of a specified plane forming the current base station coordinate system; the third designated coordinate axis of the current base station coordinate system is as follows: a coordinate axis other than the two coordinate axes of the specified plane forming the current base station coordinate system;
determining a target azimuth angle and a target pitch angle corresponding to a target connecting line; wherein the target connecting line is a connecting line between the target point and an origin of the calibration base station coordinate system, the target azimuth angle is an included angle between a projection of the target connecting line in a specified plane of the calibration reference coordinate system and a second specified coordinate axis of the calibration reference coordinate system, and the reference pitch angle is: the included angle between the reference connecting line and a third designated coordinate axis of the calibration reference coordinate system; the second designated coordinate axis of the calibration base station coordinate system is: a specified coordinate axis of two coordinate axes of a specified plane forming the calibration base station coordinate system; the third designated coordinate axis of the calibration base station coordinate system is as follows: a coordinate axis other than the two coordinate axes constituting the designated plane of the calibration base station coordinate system;
calculating a first difference absolute value of the reference azimuth angle and the target azimuth angle, and calculating a second difference absolute value of the reference pitch angle and the target pitch angle;
and determining a rotation angle value of the base station based on the first difference absolute value and the second difference absolute value, and taking the direction pointed to the reference connecting line by the target connecting line as the rotation direction of the base station.
Corresponding to the target positioning method provided by the invention, the embodiment of the invention also provides a target positioning system.
Fig. 10 is a schematic structural diagram of a target positioning system according to an embodiment of the present invention. As shown in fig. 10, the system includes: the positioning device comprises a positioning device 810, a base station 820 which can rotate and is preset with at least three anchor points, and a label device 830 which is installed on an object to be positioned and used for positioning the object to be positioned;
the positioning device 810 is configured to determine an initial positioning result of the label device 830 by using anchor points preset on the base station 820, and determine whether the initial positioning result meets a preset positioning accuracy condition; if so, determining the initial positioning result as a final positioning result of the target to be positioned; otherwise, controlling the base station 820 to rotate, determining a target positioning result of the label device 830 by using each anchor point preset on the rotated base station 820, and judging whether the target positioning result meets the preset positioning accuracy condition; if so, determining the target positioning result as a final positioning result of the target to be positioned; otherwise, returning to the step of controlling the rotation of the base station;
the base station 820 is configured to rotate based on the control of the positioning apparatus 810, so that the positional relationship between each anchor point preset on the base station 820 and the label device 830 changes.
As can be seen from the above, with the solution provided by the embodiment of the present invention, when the GDOP value of the target to be positioned at the corresponding position in the base station coordinate system is higher, and thus the GDOP value of the tag device installed on the target to be positioned at the corresponding position in the base station coordinate system is higher, which results in that the initial positioning result of the obtained tag device does not satisfy the positioning accuracy condition, the position relationship between the tag device on the target to be positioned and each anchor point of the base station can be changed by controlling the rotation of the base station, so that the position of the tag device on the target to be positioned in the base station coordinate system is changed, so as to reduce the GDOP of the corresponding position, and obtain the target positioning result that can satisfy the accuracy condition. Therefore, under the condition that the spatial distribution of the GDOP of the base station is not uniform, the GDOP of the corresponding position of the label equipment on the target to be positioned in the base station coordinate system can be lower by rotating the base station, so that the obtained target positioning result meets the accuracy condition, and the accuracy of the determined positioning result of the target to be positioned is ensured.
It should be emphasized that, when there are multiple targets to be located in the space, since each target to be located is installed with a tag device, in this case, the target locating system provided by the embodiment of the present invention may include multiple tag devices.
Optionally, in a specific implementation manner, the preset positioning accuracy condition includes:
the confidence coefficient for representing the accuracy of the positioning result is greater than a preset positioning accuracy threshold; or,
the space position represented by the positioning result is positioned in the target space area; wherein the GDOP of each position in the target spatial region is less than a preset precision threshold.
Optionally, in a specific implementation manner, the controlling, by the positioning device 810, the base station 820 to rotate includes:
controlling the base stations 820 to rotate based on the spatial distribution of the GDOP of the base stations 820.
Optionally, in a specific implementation manner, the positioning device 810 controls the base station 820 to rotate based on the spatial distribution of the GDOPs of the base station 820, including:
determining a rotation angle of the base station 820 based on the spatial distribution of the GDOP of the base station 820 and the corresponding position of the tag device 830 in the current base station coordinate system, and controlling the base station 820 to rotate according to the rotation angle;
wherein the current base station coordinate system is the base station coordinate system of the base station 820 before the rotation.
Optionally, in a specific implementation manner, the determining unit 810 determines the rotation angle of the base station 820 based on the spatial distribution of the GDOPs of the base station 820 and the corresponding positions of the tag devices 830 in the current base station coordinate system, including:
determining a corresponding coordinate point of the tag device 830 in the current base station coordinate system as a reference point;
determining a target point in the current base station coordinate system based on the spatial distribution of the GDOP of the base station 820; wherein the GDOP of the target point is lower than the GDOP of the reference point;
based on the positional relationship of the reference point and the target point, the rotation angle of the base station 820 is determined.
Optionally, in a specific implementation manner, the current base station coordinate system and the calibration base station coordinate system are two-dimensional coordinate systems, the calibration base station coordinate system is the coordinate system of the base station 820 after rotation, and the reference point is a projection point of the tag device 830 in the current base station coordinate system; the rotation angle includes: a rotation angle value and a rotation direction;
the positioning device 810 determines a rotation angle of the base station 820 based on the positional relationship between the reference point and the target point, including:
determining an included angle between a reference connecting line and a first designated coordinate axis of the current base station coordinate system as a reference included angle; the reference connecting line is a connecting line between the reference point and the origin of the current base station coordinate system;
determining an included angle between a target connecting line and a first designated coordinate axis in the calibration base station coordinate system as a target included angle; the target connecting line is a connecting line of the target point and an origin of the coordinate system of the calibration base station;
calculating the absolute value of the difference between the reference angle and the target angle to be the rotation angle of the base station 820, and using the direction from the target connection line to the reference connection line as the rotation direction of the base station 820.
Optionally, in a specific implementation manner, the current base station coordinate system and the calibration base station coordinate system are three-dimensional coordinate systems; the calibration base station coordinate system is the coordinate system of the base station 820 after rotation, and the reference point is a coordinate point indicated by the coordinates of the tag device 830 in the current base station coordinate system; the rotation angle includes: a rotation angle value and a rotation direction;
the positioning device 810 determines a rotation angle of the base station 820 based on the positional relationship between the reference point and the target point, including:
determining a reference azimuth angle and a reference pitch angle corresponding to the reference connecting line; the reference connecting line is a connecting line between the reference point and an origin of the current base station coordinate system, the reference azimuth angle is an included angle between a projection of the reference connecting line in a specified plane of the current base station coordinate system and a second specified coordinate axis of the current base station coordinate system, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the current base station coordinate system; the second designated coordinate axis of the current base station coordinate system is: a designated coordinate axis of two coordinate axes of a designated plane forming the current base station coordinate system; the third designated coordinate axis of the current base station coordinate system is as follows: forming a coordinate axis out of two coordinate axes of a specified plane of the current base station coordinate system;
determining a target azimuth angle and a target pitch angle corresponding to a target connecting line; wherein the target connecting line is a connecting line between the target point and an origin of the calibration base station coordinate system, the target azimuth angle is an included angle between a projection of the target connecting line in a specified plane of the calibration base station coordinate system and a second specified coordinate axis of the calibration reference coordinate system, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the calibration reference coordinate system; the second designated coordinate axis of the calibration base station coordinate system is: a specified coordinate axis of two coordinate axes of a specified plane forming the calibration base station coordinate system; the third designated coordinate axis of the calibration base station coordinate system is as follows: a coordinate axis other than the two coordinate axes constituting the designated plane of the calibration base station coordinate system;
calculating a first difference absolute value of the reference azimuth angle and the target azimuth angle, and calculating a second difference absolute value of the reference pitch angle and the target pitch angle;
determining a rotation angle value of the base station 820 based on the first difference absolute value and the second difference absolute value, and taking a direction pointed to the reference connection line by the target connection line as a rotation direction of the base station 820.
Corresponding to the above-mentioned target positioning method provided by the embodiment of the present invention, an embodiment of the present invention further provides an electronic device, where the electronic device is a positioning apparatus in a target positioning system, and the system further includes: the system comprises a base station which can rotate and is preset with at least three anchor points, and label equipment which is arranged on a target to be positioned and is used for positioning the target to be positioned; as shown in fig. 11, the electronic device includes a processor 901, a communication interface 902, a memory 903 and a communication bus 904, wherein the processor 901, the communication interface 902 and the memory 903 are communicated with each other via the communication bus 904,
a memory 903 for storing computer programs;
the processor 901 is configured to implement the steps of any target positioning method provided in the above embodiments of the present invention when executing the program stored in the memory 903.
The communication bus mentioned in the electronic device 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 electronic 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 of the present invention, 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 object positioning methods provided in the embodiments of the present invention.
In a further embodiment of the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of any of the object localization methods provided by the embodiments of the present invention described above.
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 invention 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 differences from other embodiments. In particular, apparatus embodiments, system embodiments, electronic device embodiments, computer-readable storage medium embodiments, and computer program product embodiments are substantially similar to method embodiments and therefore are described with relative ease, as related to the partial description of the method embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (17)

1. An object positioning method, applied to a positioning device in an object positioning system, the system further comprising: the method comprises the following steps of rotating a base station with at least three anchor points in advance, and installing label equipment on an object to be positioned for positioning the object to be positioned, wherein the label equipment comprises:
determining an initial positioning result of the label equipment by utilizing each anchor point preset on a base station, and judging whether the initial positioning result meets a preset positioning accuracy condition;
if so, determining the initial positioning result as a final positioning result of the target to be positioned;
otherwise, controlling the base station to rotate so as to change the position relationship between each anchor point preset on the base station and the label equipment, determining a target positioning result of the label equipment by using each anchor point preset on the rotated base station, and judging whether the target positioning result meets the preset positioning accuracy condition;
if so, determining the target positioning result as a final positioning result of the target to be positioned;
otherwise, returning to the step of controlling the rotation of the base station.
2. The method of claim 1, wherein the preset positioning accuracy condition comprises:
the confidence coefficient for representing the accuracy of the positioning result is greater than a preset positioning accuracy threshold; or,
the space position represented by the positioning result is positioned in the target space area; and the geometric precision factor GDOP of each position in the target space region is smaller than a preset precision threshold.
3. The method according to claim 1 or 2, wherein the step of controlling the rotation of the base station comprises:
controlling the base station to rotate based on the spatial distribution of the geometric precision factor GDOP of the base station.
4. The method of claim 3, wherein the controlling the base station rotation based on the spatial distribution of the GDOP of the base station comprises:
determining a rotation angle of the base station based on the spatial distribution of the GDOP of the base station and the corresponding position of the tag device in the current base station coordinate system, and controlling the base station to rotate according to the rotation angle;
wherein the current base station coordinate system is the base station coordinate system of the base station before rotation.
5. The method of claim 4, wherein the step of determining the rotation angle of the base station based on the spatial distribution of the GDOP of the base station and the corresponding position of the tag device in the current base station coordinate system comprises:
determining a corresponding coordinate point of the tag device in the current base station coordinate system as a reference point;
determining a target point in the current base station coordinate system based on the spatial distribution of the GDOP of the base station; wherein the GDOP of the target point is lower than the GDOP of the reference point;
determining a rotation angle of the base station based on a positional relationship of the reference point and the target point.
6. The method of claim 5, wherein the current base station coordinate system and calibration base station coordinate system are two-dimensional coordinate systems, the calibration base station coordinate system is the coordinate system of the base station after rotation, and the reference point is a projected point of the tag device in the current base station coordinate system; the rotation angle includes: a rotation angle value and a rotation direction; the step of determining the rotation angle of the base station based on the positional relationship between the reference point and the target point includes:
determining an included angle between a reference connecting line and a first designated coordinate axis of the current base station coordinate system as a reference included angle; the reference connecting line is a connecting line between the reference point and the origin of the current base station coordinate system;
determining an included angle between a target connecting line and a first designated coordinate axis in the calibration base station coordinate system as a target included angle; the target connecting line is a connecting line of the target point and an origin of the coordinate system of the calibration base station;
and calculating the absolute value of the difference value between the reference included angle and the target included angle to be used as the rotation angle value of the base station, and using the direction pointed to the reference connected line by the target connected line as the rotation direction of the base station.
7. The method of claim 5, wherein the current base station coordinate system and calibration base station coordinate system are three-dimensional coordinate systems, the calibration base station coordinate system is the coordinate system of the base station after rotation, and the reference point is a coordinate point indicated by coordinates of the tag device in the current base station coordinate system; the rotation angle includes: a rotation angle value and a rotation direction; the step of determining the rotation angle of the base station based on the positional relationship between the reference point and the target point includes:
determining a reference azimuth angle and a reference pitch angle corresponding to the reference connecting line; the reference connecting line is a connecting line between the reference point and an origin of the current base station coordinate system, the reference azimuth angle is an included angle between a projection of the reference connecting line in a specified plane of the current base station coordinate system and a second specified coordinate axis of the current base station coordinate system, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the current base station coordinate system; the second designated coordinate axis of the current base station coordinate system is: a specified coordinate axis of two coordinate axes of a specified plane forming the current base station coordinate system; the third designated coordinate axis of the current base station coordinate system is as follows: a coordinate axis other than the two coordinate axes of the specified plane forming the current base station coordinate system;
determining a target azimuth angle and a target pitch angle corresponding to a target connecting line; wherein the target connecting line is a connecting line between the target point and an origin of the calibration base station coordinate system, the target azimuth angle is an included angle between a projection of the target connecting line in a specified plane of the calibration base station coordinate system and a second specified coordinate axis of the calibration reference coordinate system, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the calibration reference coordinate system; the second designated coordinate axis of the calibration base station coordinate system is: a specified coordinate axis of two coordinate axes of a specified plane forming the calibration base station coordinate system; the third designated coordinate axis of the calibration base station coordinate system is as follows: a coordinate axis other than the two coordinate axes constituting the designated plane of the calibration base station coordinate system;
calculating a first difference absolute value of the reference azimuth angle and the target azimuth angle, and calculating a second difference absolute value of the reference pitch angle and the target pitch angle;
and determining a rotation angle value of the base station based on the first difference absolute value and the second difference absolute value, and taking the direction pointed to the reference connecting line by the target connecting line as the rotation direction of the base station.
8. An object positioning device, for use in a positioning device of an object positioning system, the system further comprising: the device comprises a base station which can rotate and is preset with at least three anchor points, and label equipment which is arranged on an object to be positioned and is used for positioning the object to be positioned, wherein the device comprises:
the initial positioning module is used for determining an initial positioning result of the label equipment by utilizing each anchor point preset on a base station and judging whether the initial positioning result meets a preset positioning accuracy condition or not; if yes, triggering a first determining module, otherwise, triggering a base station rotating module;
the first determining module is configured to determine the initial positioning result as a final positioning result of the target to be positioned;
the base station rotating module is used for controlling the base station to rotate so as to change the position relationship between each anchor point preset on the base station and the label equipment;
the second calculation module is used for determining a target positioning result of the label equipment by utilizing each anchor point preset on the rotated base station and judging whether the target positioning result meets the preset positioning accuracy condition; if yes, triggering a second determination module; otherwise, triggering the base station rotation module;
the second determining module is configured to determine the target positioning result as a final positioning result of the target to be positioned.
9. The apparatus of claim 8, wherein the preset positioning accuracy condition comprises:
the confidence coefficient for representing the accuracy of the positioning result is greater than a preset positioning accuracy threshold; or,
the space position represented by the positioning result is positioned in the target space area; and the geometric precision factor GDOP of each position in the target space region is smaller than a preset precision threshold.
10. The apparatus of claim 8 or 9, wherein the base station rotation module comprises:
and the rotation submodule is used for controlling the base station to rotate based on the spatial distribution of the geometric precision factor GDOP of the base station.
11. The apparatus of claim 10, wherein the rotation sub-module comprises:
a rotation angle determination unit for determining a rotation angle of the base station based on a spatial distribution of GDOPs of the base station and a corresponding position of the tag device in a current base station coordinate system;
a rotation unit for controlling the base station to rotate according to the rotation angle;
wherein the current base station coordinate system is the base station coordinate system of the base station before rotation.
12. The apparatus according to claim 11, characterized in that the rotation angle determination unit comprises:
the reference point determining subunit is used for determining a corresponding coordinate point of the tag device in the current base station coordinate system as a reference point;
a target point determining subunit, configured to determine a target point in the current base station coordinate system based on spatial distribution of GDOPs of the base stations; wherein the GDOP of the target point is lower than the GDOP of the reference point;
a rotation angle determination subunit configured to determine a rotation angle of the base station based on a positional relationship between the reference point and the target point.
13. The apparatus of claim 12, wherein the current base station coordinate system and calibration base station coordinate system are two-dimensional coordinate systems, and wherein the reference point in the coordinate system of the base station after rotation is a projected point of the tag device in the current base station coordinate system; the rotation angle includes: a rotation angle value and a rotation direction; the rotation angle determining subunit is specifically configured to:
determining an included angle between a reference connecting line and a first designated coordinate axis of the current base station coordinate system as a reference included angle; the reference connecting line is a connecting line between the reference point and the origin of the current base station coordinate system;
determining an included angle between a target connecting line and a first designated coordinate axis in the calibration base station coordinate system as a target included angle; the target connecting line is a connecting line of the target point and an origin of the coordinate system of the calibration base station;
and calculating the absolute value of the difference value between the reference included angle and the target included angle to be used as the rotation angle value of the base station, and using the direction pointing to the reference connecting line by the target connecting line as the rotation direction of the base station.
14. The apparatus of claim 12, wherein the current base station coordinate system and calibration base station coordinate system are three-dimensional coordinate systems, wherein the calibration base station coordinate system is the coordinate system of the base station after rotation, and wherein the reference point is a coordinate point indicated by coordinates of the tag device in the current base station coordinate system; the rotation angle includes: a rotation angle value and a rotation direction; the rotation angle determining subunit is specifically configured to:
determining a reference azimuth angle and a reference pitch angle corresponding to the reference connecting line; the reference connecting line is a connecting line between the reference point and an origin of the current base station coordinate system, the reference azimuth angle is an included angle between a projection of the reference connecting line in a specified plane of the current base station coordinate system and a second specified coordinate axis of the current base station coordinate system, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the current base station coordinate system; the second designated coordinate axis of the current base station coordinate system is: a specified coordinate axis of two coordinate axes of a specified plane forming the current base station coordinate system; the third designated coordinate axis of the current base station coordinate system is as follows: a coordinate axis other than the two coordinate axes of the specified plane forming the current base station coordinate system;
determining a target azimuth angle and a target pitch angle corresponding to a target connecting line; wherein the target connecting line is a connecting line between the target point and an origin of the calibration base station coordinate system, the target azimuth angle is an included angle between a projection of the target connecting line in an appointed plane of the calibration reference coordinate system and a second appointed coordinate axis of the calibration reference coordinate system, and the reference pitch angle is as follows: the included angle between the reference connecting line and a third designated coordinate axis of the calibration reference coordinate system; the second designated coordinate axis of the calibration base station coordinate system is: a specified coordinate axis of two coordinate axes of a specified plane forming the calibration base station coordinate system; the third designated coordinate axis of the calibration base station coordinate system is as follows: a coordinate axis other than the two coordinate axes constituting the designated plane of the calibration base station coordinate system;
calculating a first difference absolute value of the reference azimuth angle and the target azimuth angle, and calculating a second difference absolute value of the reference pitch angle and the target pitch angle;
and determining a rotation angle value of the base station based on the first difference absolute value and the second difference absolute value, and taking the direction pointed to the reference connecting line by the target connecting line as the rotation direction of the base station.
15. The target positioning system is characterized by comprising a positioning device, a base station which can rotate and is preset with at least three anchor points, and label equipment which is arranged on a target to be positioned and is used for positioning the target to be positioned;
the positioning device is used for determining an initial positioning result of the label equipment by utilizing each anchor point preset on the base station and judging whether the initial positioning result meets a preset positioning accuracy condition or not; if so, determining the initial positioning result as a final positioning result of the target to be positioned; otherwise, controlling the base station to rotate, determining a target positioning result of the label equipment by utilizing each anchor point preset on the rotated base station, and judging whether the target positioning result meets the preset positioning accuracy condition; if so, determining the target positioning result as a final positioning result of the target to be positioned; otherwise, returning to the step of controlling the rotation of the base station;
and the base station is used for rotating based on the control of the positioning device so as to change the position relationship between each anchor point preset on the base station and the label equipment.
16. An electronic device, wherein the electronic device is a positioning apparatus in an object positioning system, the system further comprising: the system comprises a base station which can rotate and is preset with at least three anchor points, and label equipment which is arranged on a target to be positioned and is used for positioning the target to be positioned; the electronic equipment comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory finish mutual communication through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1 to 7 when executing a program stored in the memory.
17. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of the claims 1-7.
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