CN114422938A - Positioning end, target end and positioning method - Google Patents
Positioning end, target end and positioning method Download PDFInfo
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Abstract
The embodiment of the invention discloses a positioning end, a target end and a positioning method. This location end includes: the system comprises a main node and a plurality of slave nodes; the master node and each slave node as a ranging node comprise a first wireless module; each ranging node further comprises a second wireless module electrically connected with the first wireless module; when the first wireless module of the master node communicates with the first wireless module of the target end and determines that the target end needs to be positioned, the second wireless module of each ranging node respectively performs ranging communication with the second wireless module of the target end to obtain respective distance information between each ranging node and the target end, the distance information is sent to the first wireless module of the local ranging node, and the first wireless module of the slave node sends the respective distance information to the first wireless module of the master node; and the first wireless module of the main node is used for calculating the position information of the target end according to the distance information sent by each ranging node. Therefore, the positioning precision can be improved, and the method is easy to implement quickly.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a positioning end, a target end, and a positioning method.
Background
The current mainstream bluetooth RSSI positioning technology has low positioning accuracy (positioning accuracy >1m or even worse), is greatly influenced by signal intensity, and particularly has great influence on signal intensity in complex environments (shelters, weather and the like), so that the positioning effect is unstable. High-precision positioning technologies such as Angle-of-Arrival positioning (AOA) and phase difference Positioning (PDM) are complex in hardware implementation and high in cost.
Therefore, it is desirable to provide a positioning scheme with high positioning accuracy and easy implementation.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The embodiment of the invention aims to provide a positioning end, a target end and a positioning method, and solves the technical problems that high positioning precision and easiness in implementation are difficult to achieve in the prior positioning technology.
In order to solve the foregoing technical problem, in a first aspect, an embodiment of the present invention provides a positioning end, configured to position a target end, where the positioning end includes a master node and a plurality of slave nodes;
the master node and each slave node comprise a first wireless module; the method comprises the steps that a preset number of nodes in a master node and all slave nodes are distance measuring nodes, and each distance measuring node further comprises a second wireless module electrically connected with a first wireless module of the distance measuring node;
the target end comprises a first wireless module and a second wireless module; the main node of the positioning end communicates with the target end through a first wireless module;
second wireless modules in all the ranging nodes of the positioning end are all base station modules, and the second wireless module of the target end is a beacon module;
when the first wireless module of the master node is communicated with the first wireless module of the target end and the target end is determined to be positioned, the second wireless module of each ranging node is respectively communicated with the second wireless module of the target end for ranging to obtain the distance information between each ranging node and the target end, the distance information is sent to the first wireless module of the local ranging node, and the first wireless module of the ranging node serving as the slave node sends the respective distance information to the first wireless module of the master node; and the first wireless module of the main node is used for calculating the position information of the target end according to the distance information sent by each ranging node.
In addition, the first wireless module is a Bluetooth module, and the second wireless module is a UWB module;
correspondingly, the second wireless module of the target end is a UWB beacon, and the second wireless module in the ranging node is a UWB base station.
In addition, the UWB base station in each ranging node calculates the distance information between each ranging node and the target end according to a flight time algorithm.
In addition, the UWB base station of each ranging node acquires the identity information of the UWB beacon of the target end through the Bluetooth module of the UWB base station, and performs ranging communication with the UWB beacon according to the identity information of the UWB beacon to obtain the distance information between each ranging node and the target end;
optionally, the positioning end is configured to, if the identity information of the UWB beacon of the target end is not stored, communicate with the bluetooth module of the target end through the bluetooth module of the positioning end, acquire the identity information of the UWB beacon of the target end, and send the identity of the UWB beacon to the bluetooth module of each ranging node, where the bluetooth module of each ranging node sends the identity information of the UWB beacon of the target end to a respective UWB base station; and the positioning end is further used for obtaining the identity information of the UWB beacon according to the corresponding relation between the Bluetooth module of the target end and the UWB beacon by each ranging node of the positioning end if the positioning end stores the identity information of the UWB beacon of the target end.
In addition, the location end is the car end, the master node is the range finding node, just the quantity of range finding node is 2, 3 or 4.
In a second aspect, an embodiment of the present invention provides a target, where the target communicates with the positioning terminal described above, so that the positioning terminal obtains location information of the target; the target end comprises a first wireless module and a second wireless module, and the second wireless module is a beacon module;
the first wireless module of the target end is communicated with the first wireless module of the positioning end main node, so that the positioning end can determine whether the target end needs to be positioned or not;
the second wireless module of the target end and the second wireless module of each ranging node of the positioning end are used for performing ranging communication when the positioning end needs to position the target end, so that each ranging node obtains distance information between each ranging node and the target end, and the positioning end calculates the position information of the target end according to the distance information.
In addition, the first wireless module of the target end is a Bluetooth module, and the second wireless module of the target end is a UWB beacon; the Bluetooth module of the target end is further used for sending the acquired identity information of the UWB beacon of the target end to the main node of the positioning end, so that each ranging node of the positioning end can perform ranging communication with the UWB beacon of the target end according to the identity information of the UWB beacon of the target end.
In addition, the UWB beacon is an external patch type UWB module fixedly arranged on the target end.
In addition, the target end obtains the identity information of the UWB beacon of the target end by adopting any one of the following modes:
obtaining identity information of the UWB beacon by scanning two-dimensional code information of the UWB beacon of the target end;
and the target terminal acquires the identity information of the UWB beacon in an NFC or Bluetooth communication mode.
In a third aspect, an embodiment of the present invention further provides a positioning method, configured to position a target end, where the positioning end includes a master node and a plurality of slave nodes; the master node and each slave node comprise a first wireless module; the method comprises the steps that a preset number of nodes in a master node and each slave node are distance measurement nodes, and each distance measurement node further comprises a second wireless module electrically connected with a first wireless module of the distance measurement node; the target end comprises a first wireless module and a second wireless module; the main node of the positioning end communicates with the target end through a first wireless module; second wireless modules in all the ranging nodes of the positioning end are all base station modules, and the second wireless module of the target end is a beacon module; the method comprises the following steps:
when the first wireless module of the master node is communicated with the first wireless module of the target end and the target end is determined to be positioned, the second wireless module of each ranging node is respectively communicated with the second wireless module of the target end for ranging to obtain the distance information between each ranging node and the target end, the distance information is sent to the first wireless module of the local ranging node, and the first wireless module of the ranging node serving as the slave node sends the respective distance information to the first wireless module of the master node;
and the first wireless module of the main node calculates the position information of the target end according to the distance information sent by each ranging node.
In the positioning scheme of the embodiment of the disclosure, each ranging node of the positioning end includes a first wireless module and a second wireless module which are electrically connected, the second wireless module in each ranging node and the second wireless module of the target end perform ranging communication to obtain distance information between each ranging node and the target end, the distance information is sent to the first wireless module of the master node through each first wireless module, the master node obtains position information of the target end according to a plurality of distance information, and multipoint positioning is achieved. Meanwhile, the anti-interference performance of the second wireless module is higher than that of the first wireless module, so that the positioning accuracy is improved by adopting the wireless module with better anti-interference performance to measure the distance; and a plurality of nodes of the positioning end communicate through the first wireless module, wiring is not needed, the cost is low, and the application is easy to implement quickly.
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 introduced below, it is understood that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a positioning end according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a target according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an exemplary structure of a positioning end provided by an embodiment of the invention;
fig. 4 is a schematic flowchart of a positioning method between a positioning end and a target end according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a positioning method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through embodiments with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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.
Fig. 1 is a schematic structural diagram of a positioning end according to an embodiment of the present invention. For example, the positioning end is a vehicle end, and it is understood that the positioning end may also be other devices or systems that need to perform multipoint positioning, such as an indoor positioning system, an intelligent door lock system, and the like, which is not limited herein. As shown in fig. 1, the positioning end 100 mainly includes: a master node 110 and several slave nodes 120. Illustratively, the number of master nodes 110 may be 1, and the number of slave nodes may be 1 or more, such as 1, 2, 3, or 4. Alternatively, in this embodiment, the number of the slave nodes may be 4, and the 4 slave nodes may be respectively disposed on the front door sides and the rear door sides of the two sides of the vehicle body. The present embodiment is not particularly limited to the installation location of each slave node.
The master node 110 includes: a first wireless module 111 and a second wireless module 112 electrically connected. Each slave node 120 includes: a first wireless module 121 and a second wireless module 122 electrically connected to each other. The master node 110 and the slave node 120 including the second radio module may be used as ranging nodes. The number of ranging nodes may be 2 or more than 2, such as 5. It should be noted that, in some examples, the master node may not include the second radio module. It is understood that the number of ranging nodes may be set according to positioning requirements. The second wireless modules in the ranging nodes of the positioning end 100 are all base station modules.
Fig. 2 is a schematic structural diagram of a target end according to an embodiment of the present invention. The target 200 may be a smart phone, but is not limited thereto, and the target may also be a wearable device or other portable device that can implement the functions of the target. As shown in fig. 2, the target 200 may include: a first wireless module 210 and a second wireless module 220 electrically connected. The second wireless module 220 of the target 200 is a beacon module, and can perform ranging communication with the base station module of the positioning end.
Illustratively, the first wireless module of the positioning end 100 and the first wireless module of the target end 200 are both bluetooth modules, and the second wireless module is both UWB (Ultra Wide Band) modules. Correspondingly, the second wireless module of the target end is a UWB beacon, and the second wireless module in each ranging node is a UWB base station. The anti-interference performance of the UWB module is superior to that of the Bluetooth module, and the positioning precision is improved by ranging through the UWB module.
The first wireless module 210 of the target 200 communicates with the first wireless module 111 of the main node 110 of the positioning end 100, so that the positioning end 100 can determine whether the target 200 needs to be positioned. The second wireless module 220 of the target end 200 performs ranging communication with the second wireless module in each ranging node of the positioning end 100, so that each ranging node obtains distance information between each ranging node and the target end 200, and the positioning end 100 calculates the position information of the target end 200 according to the obtained distance information.
Correspondingly, when the first wireless module 111 of the master node 110 of the positioning end 100 communicates with the first wireless module 210 of the target end 200 and determines that the target end 200 needs to be positioned, the second wireless module of each ranging node respectively performs ranging communication with the second wireless module of the target end 200 to obtain distance information between each ranging node and the target end 200, and sends the distance information to the first wireless module of the local ranging node, and the first wireless module of the ranging node serving as a slave node sends the respective distance information to the first wireless module of the master node 110, and the first wireless module of the master node 110 is configured to calculate the position information of the target end 200 according to the distance information sent by each ranging node.
Fig. 3 is a diagram illustrating an exemplary structure of the alignment end 100. The positioning end 100 is a vehicle end, and the vehicle end is provided with 1 master node and 4 slave nodes. The master node 110 and the 4 slave nodes 120 each include a bluetooth module and a UWB base station electrically connected. The UWB base stations of the master node 110 and the slave node 120 may communicate with the bluetooth module of the node through a UART or SPI bus, so as to transmit information between the bluetooth module and the UWB base station. The master node 110 and the 4 slave nodes 120 are both ranging nodes. When the vehicle end locates the target end, the UWB base stations of the master node 110 and the 4 slave nodes 120 perform ranging communication with the UWB beacon of the target end and obtain distance information between each and the target end. The UWB base station of the master node 110 sends the measured distance information to the Bluetooth module of the master node 110, the UWB base stations of the 4 slave nodes 120 respectively send the measured distance information to the Bluetooth module of the slave node, and the Bluetooth modules of the 4 slave nodes 120 send the measured distance information to the Bluetooth module of the master node 110, and the Bluetooth module of the master node 110 can position the target end 200 according to the received distance information to obtain the coordinate of the target end relative to the vehicle end or the distance and the direction of the target end relative to the vehicle end.
It is worth mentioning that the UWB base stations in each ranging node calculate the distance information between each ranging node and the target according to a time-of-flight algorithm. For example, the UWB base stations of 1 master node and 4 slave nodes at the vehicle end calculate the distance between the UWB base stations and the UWB beacon at the target end by using a time-of-flight algorithm. The distance estimation method based on the flight time can obtain the flight distance of the communication signal between the UWB base station and the UWB beacon by dividing the product of the flight time and the light speed of the communication signal between the UWB base station and the UWB beacon by 2, and then can calculate the distance between the UWB base station and the UWB beacon by combining the arrival angle of the communication signal. The way of calculating the distance between two points by using the estimation method based on the time of flight is well known to those skilled in the art, and will not be described herein. The distance measurement between the UWB base station and the UWB beacon through the flight time algorithm has good anti-interference performance, the distance measurement precision is slightly influenced by the strength of communication signals caused by factors such as shielding and weather, and compared with a positioning method based on an RSSI value, the positioning precision can be obviously improved.
The UWB base station of the master node and/or the slave node of the vehicle end needs to obtain the identity information of the UWB beacon of the target end to carry out ranging communication with the UWB base station. Optionally, the UWB base station of each ranging node acquires identity information of the UWB beacon at the target end through a bluetooth module of the UWB base station, and performs ranging communication with the UWB beacon according to the identity information of the UWB beacon to obtain distance information between each ranging node and the target end.
Correspondingly, the bluetooth module of the target end 200 is further configured to send the acquired identity information of the UWB beacon of the target end to the master node of the positioning end 100, so that each ranging node of the positioning end 100 performs ranging communication with the UWB beacon of the target end according to the identity information of the UWB beacon of the target end 200. The UWB beacon module at the mobile phone end can be a self-integrated UWB module of the mobile phone. Preferably, the UWB beacon module at the mobile phone end may further be an external patch UWB module fixed to the mobile phone, and the external patch UWB module helps to avoid the problem that different UWB modules are incompatible. The identity information of the UWB beacon may be a UUID of the UWB beacon or other information capable of uniquely identifying the identity of the UWB beacon. When the mobile phone is integrated with the UWB beacon module, the mobile phone end can directly acquire the identity information of the UWB beacon and provide the identity information to the mobile phone end Bluetooth module. When the mobile phone end adopts the UWB beacon module installed at the back, the mobile phone end can obtain the identity information of the UWB beacon by scanning the two-dimensional code on the UWB beacon module, or obtain the identity information of the UWB beacon by the NFC or the Bluetooth integrated in the UWB beacon module. It can be understood that, in this embodiment, there is no limitation to the manner of acquiring the identity information of the UWB beacon, as long as the mobile phone-side bluetooth module can acquire the identity information of the UWB beacon.
The positioning end 100 is configured to, if the identity information of the UWB beacon of the target end 200 is not stored, communicate with the bluetooth module of the target end 200 through the bluetooth module of the positioning end 110, acquire the identity information of the UWB beacon of the target end, and send the identity information of the UWB beacon to the bluetooth module of each ranging node, the bluetooth module of each ranging node sends the identity information of the UWB beacon of the target end 200 to a respective UWB base station, and the bluetooth module of the positioning end 110 sends the identity information of the UWB beacon of the target end to the UWB base station of the positioning end. It is understood that, in addition to the aforementioned manner of directly acquiring the identity information of the UWB beacon from the target end 200 by communicating with the target end 200, the locating end 100 may also acquire the identity information of the UWB beacon of the target end in other manners, which is not limited herein. It should be noted that BLE GATT protocol communication may be adopted between the bluetooth module of the master node and the bluetooth module of the target end to implement identity authentication of the positioning end to the target end and send identity information of the UWB beacon of the target end to the master node and the like. The master node and the slave node can adopt a Bluetooth ADV channel to transmit the identity information, the distance information and the like of the UWB beacon.
It should be noted that the positioning end 100 is further configured to, if the positioning end stores the identity information of the UWB beacon of the target end, obtain the identity information of the UWB beacon by each ranging node of the positioning end according to a correspondence between the bluetooth module of the target end and the UWB beacon. In other words, after obtaining the identity information of the UWB beacon of the target end, the positioning end 100 may bind the obtained identity information with the target end and store the bound identity information in the local of the positioning end 100, and in the subsequent positioning process, the identity information of the UWB beacon of the target end may be directly obtained from the local according to the identity information of the target end.
It is understood that the UWB modules of the positioning terminal and the target terminal may generally operate in a low power consumption state, and may perform a ranging task to be performed after being awakened.
Fig. 4 is a schematic flow chart of a positioning method of a positioning system including a positioning end and a target end according to an embodiment of the present invention. The positioning method is described in detail below with reference to fig. 4, where the positioning end is a vehicle end, and the target end is a mobile phone end, and the positioning method includes the following steps:
s1: the BLE module of the mobile phone end acquires tag info of the UWB beacon of the mobile phone end, and the tag info of the UWB beacon is used as identity information of the UWB beacon so that a UWB base station of the vehicle end can determine a ranging target.
S2: the mobile phone end sends the identity information of the UWB beacon (namely tag info of the UWB beacon) to the Bluetooth module of the vehicle end main node through the Bluetooth module.
It should be noted that the positioning method of the embodiment may be applied to a digital key access control system such as a vehicle-end PEPS system. The mobile phone end can send the identity information of the UWB beacon to the main node after the identity authentication between the mobile phone end and the vehicle end is successful. And the mobile phone end can send the identity information of the UWB beacon to the vehicle end before ranging by adopting the identity information of the UWB beacon for the first time between the mobile phone end and the vehicle end, and the vehicle end can bind the identity information of the UWB beacon with the mobile phone end after receiving the identity information of the UWB beacon of the mobile phone end and store the identity information of the UWB beacon to the local so as to directly obtain the identity information of the UWB beacon at the vehicle end in the subsequent positioning process.
S3 a: the vehicle end master node sends the UWB tag info to the UWB anchor (base station) of the master node.
And S3b, the master node of the vehicle end broadcasts the UWB tag info to the Bluetooth module of the slave node.
S3 c: and the slave node Bluetooth module sends the received UWB tag info to the node UWB anchor.
Therefore, all the ranging nodes of the vehicle end can obtain the UWB tag info of the mobile phone end.
S4 a: and the distance information between the UWB anchor of the vehicle-end main node and the UWB tag of the mobile phone end is measured through communication.
And S4b, simultaneously, measuring distance information between each slave node and the UWB tag through the UWB anchor of each slave node and the UWB tag of the mobile phone end.
Therefore, the UWB anchors of all the ranging nodes can measure the distance information between the ranging nodes and the UWB tags of the mobile phone ends.
S5 a: and the UWB anchor of the main node sends the measured distance information to the Bluetooth module of the main node.
S5 b: and all the slave nodes send the measured distance information to the Bluetooth module of the node.
S5 c: all the Bluetooth modules of the slave nodes send the respective received distance information to the Bluetooth module of the master node, so that the master node obtains a plurality of distance information.
S6: the Bluetooth module of the main node calculates the position information of the mobile phone end according to the received distance information, so that the target end is positioned, and unlocking of the vehicle can be controlled according to the position of the mobile phone end.
Compared with the prior art, the embodiment has at least the following positive effects:
in the embodiment of the invention, each ranging node of the positioning end comprises a first wireless module and a second wireless module which are electrically connected, the second wireless module in each ranging node and the second wireless module of the target end carry out ranging communication to obtain the distance information between each ranging node and the target end, the distance information is sent to the first wireless module of the main node through each first wireless module, and the main node obtains the position information of the target end according to a plurality of distance information to realize multipoint positioning. Meanwhile, the anti-interference performance of the UWB module is higher than that of the Bluetooth module, so that the positioning accuracy is improved by adopting the UWB module with better anti-interference performance to measure the distance; and through bluetooth communication between a plurality of nodes of location end, need not the wiring, with low costs and easily implement the application fast.
Fig. 5 is a schematic structural diagram of a positioning method according to an embodiment of the present invention. The positioning method can be applied to the positioning end as shown in fig. 1. As shown in fig. 5, the method includes the steps of:
step 501: and when the first wireless module of the main node is communicated with the first wireless module of the target end and the target end is determined to be positioned, the second wireless module of each ranging node is respectively communicated with the second wireless module of the target end for ranging, and the distance information between each ranging node and the target end is obtained.
Step 502: and the first wireless module of the ranging node as the slave node sends the respective distance information to the first wireless module of the master node.
Step 503: and the first wireless module of the main node calculates the position information of the target end according to the distance information sent by each ranging node.
Optionally, the UWB base stations in the ranging nodes calculate distance information between each ranging node and the target according to a time-of-flight algorithm. The way of calculating the distance between two points based on the estimation method of the time of flight is well known to those skilled in the art, and will not be described herein. The distance measurement between the UWB base station and the UWB beacon through the flight time algorithm has good anti-interference performance, the distance measurement precision is slightly influenced by the strength of communication signals caused by factors such as shielding and weather, and compared with a positioning method based on an RSSI value, the positioning precision can be obviously improved.
Each ranging node needs to perform ranging communication with the UWB beacon of the target end according to the identity information of the UWB beacon of the target end. Optionally, if the locating terminal does not store the identity information of the UWB beacon of the target terminal, the master node communicates with the bluetooth module of the target terminal through the bluetooth module of the master node and obtains the identity information of the UWB beacon of the target terminal, and sends the identity information of the UWB beacon to the bluetooth modules of the ranging nodes, the bluetooth module of the ranging nodes sends the identity information of the UWB beacon of the target terminal to the respective UWB base station, and the bluetooth module of the master node sends the identity information of the UWB beacon of the target terminal to the UWB base station of the master node.
It should be noted that, if the positioning end stores the identity information of the UWB beacon at the target end, each ranging node at the positioning end may obtain the identity information of the UWB beacon according to a correspondence between the bluetooth module at the target end and the UWB beacon.
Compared with the prior art, each ranging node of the positioning end comprises a first wireless module and a second wireless module which are electrically connected, the second wireless module in each ranging node and the second wireless module of the target end carry out ranging communication to obtain distance information between each ranging node and the target end, the distance information is sent to the first wireless module of the main node through each first wireless module, and the main node obtains position information of the target end according to the distance information to realize multipoint positioning. Meanwhile, the anti-interference performance of the UWB module is higher than that of the Bluetooth module, so that the positioning accuracy is improved by adopting the UWB module with better anti-interference performance to measure the distance; and through bluetooth communication between a plurality of nodes of location end, need not the wiring, with low costs and easily implement the application fast.
The positioning method provided by the embodiment of the invention can be applied to the target terminal shown in fig. 2. The method comprises the following steps:
step 601: the first wireless module of the target end communicates with the first wireless module of the positioning end, so that the positioning end can determine whether the target end needs to be positioned.
Step 602: and the second wireless module of the target end and the second wireless module of each ranging node of the positioning end perform ranging communication when the positioning end needs to position the target end, so that each ranging node obtains distance information between each ranging node and the target end, and the positioning end calculates the position information of the target end according to the distance information.
Optionally, the positioning method may further include: when the target end needs to be positioned, if the positioning end does not store the identity information of the UWB beacon of the target end, the Bluetooth module of the target end sends the identity information of the UWB beacon of the target end to the Bluetooth module of the main node, so that the positioning end can obtain the identity information of the UWB beacon of the target end.
Optionally, if the UWB beacon is an external patch UWB module fixed on the target terminal, the target terminal may obtain the identity information of the UWB beacon of the target terminal by using any one of the following methods: obtaining identity information of the UWB beacon by scanning two-dimensional code information of the UWB beacon at the target end; or the target end acquires the identity information of the UWB beacon in an NFC or Bluetooth communication mode.
Compared with the prior art, each ranging node of the positioning end comprises a first wireless module and a second wireless module which are electrically connected, the second wireless module in each ranging node and the second wireless module of the target end carry out ranging communication to obtain distance information between each ranging node and the target end, the distance information is sent to the first wireless module of the main node through each first wireless module, and the main node obtains position information of the target end according to the distance information to realize multipoint positioning. Meanwhile, the anti-interference performance of the UWB module is higher than that of the Bluetooth module, so that the positioning accuracy is improved by adopting the UWB module with better anti-interference performance to measure the distance; and through bluetooth communication between a plurality of nodes of location end, need not the wiring, with low costs and easily implement the application fast.
The embodiment of the invention also provides a positioning system, which comprises the positioning end and the target end.
The embodiment of the invention also provides a main node which comprises a first wireless module and a second wireless module. The structure of the master node is the same as that of the master node at the positioning end in the foregoing embodiments, and details are not described here.
An embodiment of the present invention further provides a slave node, including a first wireless module and a second wireless module, where a structure of the slave node is the same as that of the slave node at the positioning end in the foregoing embodiments, and details are not repeated here.
It will be appreciated that the master node, slave nodes and target may each comprise a memory and at least one processor. The memory stores instructions executable by the at least one processor to implement the positioning method performed by the master node, the positioning method performed by the slave node, or the positioning method performed by the target end according to the above embodiments.
The processor, memory may be connected by a bus or other means. The memory, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor executes various functional applications and data processing of the device by executing nonvolatile software programs, instructions and modules stored in the memory, so as to implement the positioning method described in the above embodiments.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
One or more modules are stored in the memory, and when executed by one or more processors, perform the positioning method of the master node, the slave node, or the mobile phone side in the above embodiments.
The above-mentioned device can execute the method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method, and reference may be made to the method provided by the embodiment of the present invention for technical details that are not described in detail in the embodiment.
Embodiments of the present invention further provide a computer-readable storage medium for storing a computer-readable program, where the computer-readable program is used for an apparatus to execute some or all of the above method embodiments.
That is, those skilled in the art can understand that all or part of the steps in the method according to the above embodiments may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A positioning end is used for positioning a target end and is characterized by comprising a main node and a plurality of slave nodes;
the master node and each slave node comprise a first wireless module; the method comprises the steps that a preset number of nodes in a master node and all slave nodes are distance measuring nodes, and each distance measuring node further comprises a second wireless module electrically connected with a first wireless module of the distance measuring node;
the target end comprises a first wireless module and a second wireless module;
the main node of the positioning end communicates with the target end through a first wireless module;
second wireless modules in all the ranging nodes of the positioning end are all base station modules, and the second wireless module of the target end is a beacon module;
when the first wireless module of the master node is communicated with the first wireless module of the target end and the target end is determined to be positioned, the second wireless module of each ranging node is respectively communicated with the second wireless module of the target end for ranging to obtain the distance information between each ranging node and the target end, the distance information is sent to the first wireless module of the local ranging node, and the first wireless module of the ranging node serving as the slave node sends the respective distance information to the first wireless module of the master node; and the first wireless module of the main node is used for calculating the position information of the target end according to the distance information sent by each ranging node.
2. The positioning terminal of claim 1, wherein the first wireless module is a bluetooth module, and the second wireless module is a UWB module;
correspondingly, the second wireless module of the target end is a UWB beacon, and the second wireless module in the ranging node is a UWB base station.
3. The positioning terminal according to claim 2, wherein the UWB base station in each of the ranging nodes calculates distance information between each of the ranging nodes and the target terminal according to a time-of-flight algorithm.
4. The positioning terminal according to claim 2, wherein the UWB base station of each ranging node acquires identity information of the UWB beacon of the target terminal through a bluetooth module thereof, and performs ranging communication with the UWB beacon according to the identity information of the UWB beacon to obtain distance information between each ranging node and the target terminal;
optionally, the positioning end is configured to, if the identity information of the UWB beacon of the target end is not stored, communicate with the bluetooth module of the target end through the bluetooth module of the positioning end, acquire the identity information of the UWB beacon of the target end, and send the identity of the UWB beacon to the bluetooth module of each ranging node, where the bluetooth module of each ranging node sends the identity information of the UWB beacon of the target end to a respective UWB base station; and the positioning end is further used for obtaining the identity information of the UWB beacon according to the corresponding relation between the Bluetooth module of the target end and the UWB beacon by each ranging node of the positioning end if the positioning end stores the identity information of the UWB beacon of the target end.
5. The positioning terminal according to any one of claims 1 to 4, wherein the positioning terminal is a vehicle terminal, the master node is a ranging node, and the number of the ranging nodes is 2, 3 or 4.
6. A target end, wherein the target end is in communication with the positioning end according to any one of claims 1 to 5 so that the positioning end obtains position information of the target end; the target end comprises a first wireless module and a second wireless module, and the second wireless module is a beacon module;
the first wireless module of the target end is communicated with the first wireless module of the positioning end main node, so that the positioning end can determine whether the target end needs to be positioned or not;
the second wireless module of the target end and the second wireless module of each ranging node of the positioning end are used for performing ranging communication when the positioning end needs to position the target end, so that each ranging node obtains distance information between each ranging node and the target end, and the positioning end calculates the position information of the target end according to the distance information.
7. The target of claim 6, wherein the first wireless module of the target is a bluetooth module, and the second wireless module of the target is a UWB beacon; the Bluetooth module of the target end is further used for sending the acquired identity information of the UWB beacon of the target end to the main node of the positioning end, so that each ranging node of the positioning end can perform ranging communication with the UWB beacon of the target end according to the identity information of the UWB beacon of the target end.
8. The target terminal according to claim 7, wherein the UWB beacon is an external patch UWB module fixed on the target terminal.
9. The target end according to claim 8, wherein the target end obtains the identity information of the UWB beacon of the target end by any one of the following methods:
obtaining identity information of the UWB beacon by scanning two-dimensional code information of the UWB beacon of the target end;
and the target terminal acquires the identity information of the UWB beacon in an NFC or Bluetooth communication mode.
10. A positioning method is used for positioning a target end, and is characterized in that the positioning end comprises a main node and a plurality of slave nodes; the master node and each slave node comprise a first wireless module; the method comprises the steps that a preset number of nodes in a master node and each slave node are distance measurement nodes, and each distance measurement node further comprises a second wireless module electrically connected with a first wireless module of the distance measurement node; the target end comprises a first wireless module and a second wireless module; the main node of the positioning end communicates with the target end through a first wireless module; second wireless modules in all the ranging nodes of the positioning end are all base station modules, and the second wireless module of the target end is a beacon module; the method comprises the following steps:
when the first wireless module of the master node is communicated with the first wireless module of the target end and the target end is determined to be positioned, the second wireless module of each ranging node is respectively communicated with the second wireless module of the target end for ranging to obtain the distance information between each ranging node and the target end, the distance information is sent to the first wireless module of the local ranging node, and the first wireless module of the ranging node serving as the slave node sends the respective distance information to the first wireless module of the master node;
and the first wireless module of the main node calculates the position information of the target end according to the distance information sent by each ranging node.
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| CN202111503019.4A CN114422938A (en) | 2021-12-09 | 2021-12-09 | Positioning end, target end and positioning method |
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