CN117015032A

CN117015032A - Positioning method, device, equipment and storage medium

Info

Publication number: CN117015032A
Application number: CN202211112302.9A
Authority: CN
Inventors: 万海波; 刘恒进
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2022-09-13
Filing date: 2022-09-13
Publication date: 2023-11-07

Abstract

The application provides a positioning method, a positioning device, positioning equipment and a storage medium, wherein the positioning method comprises the following steps: determining N positioning areas, wherein at least one signal receiving device is arranged on each positioning area in the N positioning areas, and the area ratio of a shielding object in the positioning areas to the positioning areas is smaller than a preset threshold value; for each of the N positioning areas, acquiring positioning measurement information obtained by at least one signal receiving device on the positioning area based on positioning signals transmitted by the signal transmitting device, and determining the initial position of the signal transmitting device based on the positioning measurement information; the target location of the signal transmitting device is determined based on the M initial locations of the signal transmitting device. Thereby, the positioning accuracy can be improved.

Description

Positioning method, device, equipment and storage medium

Technical Field

The embodiment of the application relates to the technical field of communication, in particular to a positioning method, a positioning device, positioning equipment and a storage medium.

Background

Current distance-based positioning methods such as Time Of Arrival (TOA) and Time difference Of Arrival (Time Difference Of Arrival, TDOA) require that the positioning signal be guaranteed to travel along a straight line. However, in the practical application scenario, due to the reflection and scattering of the positioning signal by the obstruction, multipath effects easily occur, which will cause the positioning result to be inaccurate.

Disclosure of Invention

The application provides a positioning method, a positioning device, positioning equipment and a storage medium, so that positioning accuracy can be improved.

In a first aspect, an embodiment of the present application provides a positioning method, including: n positioning areas are determined, N is a positive integer, at least one signal receiving device is arranged on each positioning area in the N positioning areas, and the area ratio of a shielding object in the positioning areas to the positioning areas is smaller than a preset threshold; for each of the N positioning areas, acquiring positioning measurement information obtained by at least one signal receiving device on the positioning area based on positioning signals transmitted by the signal transmitting device, and determining the initial position of the signal transmitting device based on the positioning measurement information; a target location of the signal transmitting device is determined based on the M initial locations of the signal transmitting device, M initial positions are in one-to-one correspondence with M positioning areas in the N positioning areas, and M is a positive integer smaller than or equal to N.

In a second aspect, an embodiment of the present application provides a positioning device, including: a determining module and an acquiring module; the determining module is used for determining N positioning areas, N is a positive integer, at least one signal receiving device is arranged on each positioning area in the N positioning areas, and the area ratio of a shielding object in the positioning area to the positioning area is smaller than a preset threshold; for each of the N positioning areas, the acquisition module is configured to acquire positioning measurement information obtained by at least one signal receiving device on the positioning area based on the positioning signal transmitted by the signal transmitting device, and the determination module is further configured to determine an initial position of the signal transmitting device based on the positioning measurement information; the determining module is further configured to determine a target position of the signal transmitting device based on M initial positions of the signal transmitting device, where the M initial positions are in one-to-one correspondence with M positioning areas of the N positioning areas, and M is a positive integer less than or equal to N.

In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory for storing a computer program, the processor being for invoking and running the computer program stored in the memory for performing the method as in the first aspect or in various implementations thereof.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program that causes a computer to perform a method as in the first aspect or implementations thereof.

In a fifth aspect, embodiments of the present application provide a computer program product comprising computer program instructions for causing a computer to perform the method as in the first aspect or implementations thereof.

In a sixth aspect, embodiments of the present application provide a computer program that causes a computer to perform the method as in the first aspect or implementations thereof.

According to the technical scheme provided by the embodiment of the application, as the shielding objects in the positioning area are as few as possible, the multipath effect can be reduced, and the positioning accuracy can be improved. Further, if the target position of the signal transmitting device is in the one-dimensional positioning area and the target position is obtained based on the two-dimensional positioning area, the electronic device can correct the target position, so that the target position of the signal transmitting device is obtained based on the one-dimensional positioning area, and the smoothness of positioning can be improved, and the robustness of the positioning method is further ensured. In addition, the embodiment of the application can be suitable for various complex application scenes, so that the applicability of the positioning method can be improved.

Drawings

FIG. 1 is an application scenario diagram provided in an embodiment of the present application;

FIG. 2 is another application scenario diagram provided in an embodiment of the present application;

FIG. 3 is a view of still another application scenario provided in an embodiment of the present application;

FIG. 4 is a flowchart of a positioning method according to an embodiment of the present application;

fig. 5 is a schematic diagram illustrating division of a positioning area according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a distance-based positioning according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a positioning method according to an embodiment of the present application;

FIG. 8 is a schematic diagram of positioning based on different positioning areas according to an embodiment of the present application;

FIG. 9 is a flowchart of another positioning method according to an embodiment of the present application;

FIG. 10 is a flowchart of another positioning method according to an embodiment of the present application;

FIG. 11 is a schematic diagram of another embodiment of positioning based on different positioning areas;

FIG. 12 is a flowchart of a positioning method according to an embodiment of the present application;

FIG. 13 is a diagram showing the comparison of the effect of the positioning method according to the embodiment of the present application and the conventional positioning method;

FIG. 14 is a schematic top plan view of a movement track based on a conventional positioning method;

FIG. 15 is a top plan view of a positioning area division provided by an embodiment of the present application;

FIG. 16 is a schematic top plan view of a movement track obtained by the positioning method according to the embodiment of the present application;

FIG. 17 is a diagram of an embodiment of the present application a schematic diagram of a positioning device 1700;

fig. 18 is a schematic block diagram of an electronic device provided by an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Before the technical scheme of the application is introduced, the following description is made on the relevant knowledge of the technical scheme of the application:

ultra Wide Band (UWB) technology: the wireless carrier communication technology is characterized in that a sine carrier is not adopted, and data is transmitted by utilizing non-sine wave narrow pulses of nanosecond level, so that the occupied frequency spectrum range is very wide, and the UWB technology is particularly suitable for high-speed wireless access in indoor and other dense multipath places.

Multipath effects: for the signal receiving apparatus, the intensity of the positioning signal received by it will be superimposed by each of the direct wave, reflected wave and scattered wave, thereby forming a multipath effect. On the one hand, multipath effects cause signal fading, and the electrical length of each path varies with time, so that the phase relationship between the component fields arriving at the signal receiving device also varies with time. Random interference of these component fields creates a fading of the total received field, resulting in inaccurate positioning. On the other hand, multipath efficiency may cause the signal receiving apparatus to misinterpret the reflected wave as a direct wave, and based on this, this approach causes a problem of inaccurate positioning in the distance-based positioning method.

As described above, the distance-based positioning methods such as TOA and TDOA currently require that the positioning signal is transmitted along a straight line. However, in the practical application scene, multipath effects are easy to occur due to the reflection of the positioning signals by the shielding object. Based on this, multipath effects will cause a problem that the positioning result is not accurate enough.

In order to solve the above technical problems, an embodiment of the present application proposes to divide a complex positioning area into a plurality of simple positioning areas, and to position a signal transmitting device based on the simple positioning areas. Because the shielding objects in each positioning area except the signal unreachable area in the simple positioning areas are as few as possible, the multipath effect can be reduced, and the positioning accuracy can be improved.

It is to be understood that the shielding means that any object arranged between the signal transmitting device and the signal receiving device may be, for example, a building or the like, the shielding may affect the normal transmission of the positioning signal, e.g. the shielding may form reflected waves and scattered waves.

The technical scheme of the application can be applied to the following scenes, but is not limited to the following scenes:

for example, fig. 1 is an application scenario diagram provided in an embodiment of the present application, and as shown in fig. 1, a signal transmitting device 11 may generate a positioning signal and transmit the positioning signal. In this application scenario, a plurality of signal receiving apparatuses 12 may be disposed, each signal receiving apparatus 12 is disposed at a fixed location, and is configured to receive a positioning signal and generate positioning measurement information based on the positioning signal, further, the signal receiving apparatus 12 may send the positioning measurement information to the positioning platform 13, and the positioning platform 13 may position the signal transmitting apparatus 11 based on the positioning measurement information.

Alternatively, the signal transmitting device 11 may be in communication with the positioning platform 13 at the time of power-on initialization, so as to complete synchronization between the signal transmitting device 11 and the positioning platform 13.

Alternatively, the signal transmitting device 11 may be a UWB tag, but is not limited thereto. The test staff can carry the UWB tag to move in the positioning area, and based on the UWB tag, the test staff can be positioned. Alternatively, the UWB tag may be carried on an article, and based on this, locating the UWB tag is the locating of the article.

Alternatively, the signal transmitting device 11 may periodically transmit the positioning signal at a certain frequency.

Alternatively, the number of the signal transmitting devices 11 may be one or more, and the present application is not limited thereto.

Alternatively, the signal receiving apparatus 12 may be a UWB base station, but is not limited thereto.

Alternatively, the signal receiving device 12 may also transmit the positioning signal.

Optionally, the positioning platform 13 may be a server for implementing positioning, where the server may be an independent physical server, or may be a server cluster or a distributed system formed by multiple physical servers, or may be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms.

Alternatively, the positioning platform 13 may provide at least one of the following basic services in addition to the positioning function, but is not limited thereto: data communication between the signal receiving device 12 and the positioning platform 13, data communication between the signal transmitting device 11 and the signal receiving device 12, data communication between the signal transmitting device 11 and the positioning platform 13, detection of the on-line condition of the signal receiving device 12 and the signal transmitting device 11, real-time detection of positioning measurement information, storage of historical positioning measurement information, and the like.

For example, fig. 2 is another application scenario diagram provided in the embodiment of the present application, and as shown in fig. 2, the signal transmitting device 21 may generate a positioning signal and transmit the positioning signal. In this application scenario, a plurality of signal receiving apparatuses 22 may be disposed, each signal receiving apparatus 22 being disposed at a fixed location for receiving a positioning signal and generating positioning measurement information based on the positioning signal, further, the signal receiving apparatus 12 may transmit the positioning measurement information to the signal transmitting apparatus 21, and the signal transmitting apparatus 21 may position the signal transmitting apparatus 21 based on the positioning measurement information.

It should be understood that the descriptions of the signal transmitting device and the signal receiving device may refer to the above, and the disclosure is not repeated. It should be noted that, in the application scenario corresponding to fig. 2, the signal transmitting device 21 has a positioning function.

For example, fig. 3 is a schematic diagram of still another application scenario provided in an embodiment of the present application, and as shown in fig. 3, the signal transmitting device 31 may generate a positioning signal and transmit the positioning signal. In this application scenario, a plurality of signal receiving apparatuses may be deployed, including one main apparatus 32 and a plurality of auxiliary apparatuses 33, each of which is deployed in a fixed location, for receiving a positioning signal and generating positioning measurement information based on the positioning signal. Wherein each auxiliary device 33 may send positioning measurement information to the main device 32, and the main device 32 may position the signal transmitting device 31 based on the received positioning measurement information and the positioning measurement information calculated by itself.

Alternatively, the computing power of the primary device 32 is better than that of the secondary device 33.

It should be understood that, for the functions of the signal transmitting device and the signal receiving device, reference may be made to the above, and the description thereof will not be repeated. It should be noted that, in the application scenario corresponding to fig. 3, the main device 32 has a positioning function.

The technical scheme of the application will be described in detail as follows:

fig. 4 is a flowchart of a positioning method according to an embodiment of the present application, where the method may be performed by an electronic device, and the electronic device may be the positioning platform 13 in the application scenario shown in fig. 1, the signal transmitting device 21 in the application scenario shown in fig. 2, or the master device 32 in the application scenario shown in fig. 3, but is not limited thereto. As shown in fig. 4, the method may include:

S410: n positioning areas are determined, N is a positive integer, at least one signal receiving device is arranged on each positioning area in the N positioning areas, and the area ratio of a shielding object in each positioning area to the corresponding positioning area is smaller than a preset threshold;

s420: for each positioning area in the N positioning areas, positioning measurement information obtained by at least one signal receiving device on the positioning area based on positioning signals transmitted by the signal transmitting device is obtained, and the initial position of the signal transmitting device is determined based on the positioning measurement information;

s430: and determining a target position of the signal transmitting device based on M initial positions of the signal transmitting device, wherein the M initial positions are in one-to-one correspondence with M positioning areas in the N positioning areas, and M is a positive integer less than or equal to N.

Alternatively, the electronic device may divide the complex positioning area into a plurality of simple positioning areas, and the positioning areas other than the signal unreachable area among the simple positioning areas constitute the N positioning areas.

For example, fig. 5 is a schematic diagram illustrating the division of a positioning area according to an embodiment of the present application, where, as shown in fig. 5, a complex positioning area is divided into a one-dimensional positioning area 1, a one-dimensional positioning area 2, a one-dimensional positioning area 3, a two-dimensional positioning area 1, a two-dimensional positioning area 2, and a signal unreachable area, where a signal receiving device is disposed on each positioning area except for the signal unreachable area in the positioning areas, for example, two ends of the one-dimensional positioning area 1 are provided with a signal receiving device 4 and a signal receiving device 7; two ends of the one-dimensional positioning area 2 are provided with a signal receiving device 7 and a signal receiving device 8; two ends of the one-dimensional positioning area 3 are provided with a signal receiving device 8 and a signal receiving device 9; a signal receiving device 2, a signal receiving device 5, a signal receiving device 1 and a signal receiving device 6 are arranged on the two-dimensional positioning area 1; the two-dimensional positioning area 2 is provided with a signal receiving device 3, a signal receiving device 4, a signal receiving device 2, and a signal receiving device 5. Wherein all points of each of these positioning areas need to be within the effective measurement range of the signal receiving device to which the positioning area corresponds.

It should be understood that a two-dimensional positioning area refers to a two-dimensional positioning area in which one of the components of the three-dimensional coordinates of each point is constant, for example, the height of the UWB tag is constant when the tester moves with the UWB tag, so that the height component z is a constant. A one-dimensional positioning region refers to a one-dimensional positioning region in which one component of the three-dimensional coordinates of each point is constant, and the other two components are in a linear relationship, for example, when a tester moves along a straight line carrying the UWB tag, the height of the UWB tag is unchanged, so that the height component z is a constant, and the x component and the y component are in a linear relationship.

Optionally, the electronic device may divide the complex positioning area according to the obstruction and the signal unreachable area division. For example, assume that there is a certain building between the two-dimensional positioning area 1 and the two-dimensional positioning area 2 in fig. 5, based on which the electronic device can divide the two positioning areas by the building. As another example, assume that there is a certain building between the two-dimensional positioning area 2 and the one-dimensional positioning area 1 in fig. 5, on the basis of which the electronic device can divide the two positioning areas according to the building. For another example, assume that there is a certain building between the one-dimensional positioning region 2 and the one-dimensional positioning region 1 in fig. 5, based on which the electronic device can divide the two positioning regions by the building. As another example, assume that there is a certain building between the one-dimensional positioning region 2 and the one-dimensional positioning region 3 in fig. 5, based on which the electronic device can divide the two positioning regions by the building. In addition, the electronic device can divide the one-dimensional positioning area 1, the one-dimensional positioning area 2, the one-dimensional positioning area 3, the two-dimensional positioning area 1 and the two-dimensional positioning area 2 from the signal inaccessible area based on the signal inaccessible area.

Alternatively, the preset threshold may be 1%, 2%, or the like, but is not limited thereto. It will be appreciated that the purpose of setting the preset threshold is to keep the occlusion of each of the N positioning areas as small as possible to reduce the multipath effect of each positioning area.

Optionally, the positioning signal includes at least one of, but is not limited to: an identification of the signal transmitting device, a transmission time stamp of the positioning signal.

It will be appreciated that since the number of signal transmitting devices may be plural, the signal receiving device may carry an identification of each signal transmitting device based on which signal transmitting device the positioning signal is transmitted by in order to distinguish which signal transmitting device.

It should be appreciated that since the signal transmitting device may periodically transmit positioning signals at a certain frequency, each positioning signal may carry a transmission time stamp of the positioning signal in order to achieve real-time positioning of the signal transmitting device.

Optionally, the positioning measurement information of the certain signal receiving apparatus based on the certain positioning signal includes at least one of the following, but is not limited thereto: the identification of the signal transmitting device that transmitted the positioning signal, the arrival time stamp of the positioning signal (i.e., the time the positioning signal arrived at the signal receiving device), the identification of the signal receiving device, the signal strength of the positioning signal, the multipath characteristics of the positioning signal, the generation time stamp of the positioning measurement information (i.e., the time the signal receiving device generated the positioning measurement information).

Optionally, the multipath characteristics of the positioning signal include: the peak value of the superimposed signal of the direct wave, the reflected wave, and the scattered wave of the positioning signal is not limited thereto.

Alternatively, each signal receiving device may package and transmit the positioning measurement information to the electronic device in a fixed format.

Alternatively, for each of the N positioning areas, the electronic device may determine the initial position of the signal transmitting device using a TOA positioning method or a TDOA positioning method after acquiring the positioning measurement information transmitted by at least one signal receiving device on the positioning area, but is not limited thereto.

For example, fig. 6 is a schematic diagram of distance-based positioning according to an embodiment of the present application, and with reference to fig. 6, an electronic device may combine a TOA equation set according to a distance between a to-be-positioned point P and each signal receiving device:

wherein, (x) _i ,y _i ,z _i ) Representing the coordinates of the signal receiving device i, (x, y, z) representing the coordinates of the point to be positioned P, z being a constant at the time of two-dimensional positioning; in one-dimensional positioning, z is a constant, and x, y are linearly related, d _i Represents the distance of the pending site P from the signal receiving apparatus i, where d _i Equal to the product of the transmission time length and the transmission speed of the positioning signal, wherein the transmission time length of the positioning signal is equal to the difference between the arrival time stamp and the transmission time stamp of the positioning signal.

Based on this, the electronic device can obtain the coordinates of the to-be-positioned point P by solving the above equation set (1).

For another example, as shown in fig. 6, the electronic device may calculate, based on the TDOA location method, a distance difference between the to-be-located point P and the different signal receiving devices according to an arrival time difference between the location signal and the different signal receiving devices, and combine the TOA equation set:

wherein, (x) _i ,y _i ,z _i ) Representing the coordinates of the signal receiving device i, (x, y, z) representing the coordinates of the point to be positioned P, z being a constant at the time of two-dimensional positioning; in one-dimensional positioning, z is a constant, and x, y are linearly related, d _i1 Representing the difference in distance between the point of treatment P to the signal receiving apparatus i and to the signal receiving apparatus 1, wherein d _i1 Equal to the product of the arrival time difference between the positioning signal to the signal receiving apparatus i and the signal receiving apparatus 1 and the transmission speed.

Based on this, the electronic device can obtain the coordinates of the to-be-positioned point P by solving the above equation set (2).

For example, fig. 7 is a positioning schematic diagram provided by the embodiment of the present application, and referring to fig. 5 and fig. 7, an electronic device may calculate, based on a TDOA positioning method, a difference in distance between a to-be-positioned point P and different signal receiving devices in a two-dimensional positioning area 1 according to an arrival time difference between the positioning signal and the different signal receiving devices, and combine a TDOA equation set:

Wherein, (x) _i ,y _i ,z _i ) Representing the coordinates of the signal receiving device i, (x, y, z) representing the coordinates of the point to be positioned P, z being a constant at the time of two-dimensional positioning; in one-dimensional positioning, z is a constant, and x, y are linearly related, d _i1 Representing the difference in distance between the point of treatment P to the signal receiving apparatus i and to the signal receiving apparatus 1, wherein d _i1 Equal to the time difference of arrival and transmission of the positioning signal between the signal receiving device i and the signal receiving device 1The product of the speeds.

Based on this, the electronic device can obtain the initial position of the to-be-positioned point P in the two-dimensional positioning area 1 by solving the above equation set (3).

It should be understood that in general, the electronic device may obtain one initial position based on each of the N positioning areas, that is, the electronic device may obtain N initial positions of the signal transmitting device. For example, as shown in fig. 5, the electronic device may obtain one initial position based on the one-dimensional positioning area 1, the one-dimensional positioning area 2, the one-dimensional positioning area 3, the two-dimensional positioning area 1, and the two-dimensional positioning area 2, respectively, and normally, the electronic device may obtain 5 initial positions of the signal transmitting device. However, in an actual application scenario, there may be some abnormal situations of the signal receiving device, which causes that the signal receiving device cannot normally receive the positioning signal, and further may cause that the electronic device cannot position the signal transmitting device based on the positioning area where the signal receiving device is located. For example, fig. 8 is a schematic diagram of positioning based on different positioning areas according to an embodiment of the present application, as shown in fig. 8, assuming that an actual position of a signal transmitting device is at point P, an electronic device uses a TODA positioning method to position the signal transmitting device based on a one-dimensional positioning area 3, if a signal receiving device 9 cannot receive a positioning signal, the signal receiving device 9 cannot obtain positioning measurement data, and according to the TODA positioning method, the electronic device cannot position the signal transmitting device based on the one-dimensional positioning area 3. And assuming that other signal devices than the signal receiving device 9 can normally receive the positioning signal, the electronic device may obtain an initial position P2 point based on the two-dimensional positioning area 1, obtain an initial position P1 point based on the two-dimensional positioning area 2, obtain an initial position P3 based on the one-dimensional positioning area 1, and obtain an initial position P4 point based on the one-dimensional positioning area 2. It is known that the number M of initial positions actually obtained by the electronic device may be less than or equal to the number N of positioning areas.

It should be understood that in the embodiment of the present application, a positioning signal that is normally received may be referred to as an active positioning signal, and a positioning signal that is not normally received may be referred to as an inactive positioning signal.

Optionally, the effective positioning signal satisfies at least one of the following conditions: the signal strength is larger than the preset strength, and the multipath characteristics meet the preset multipath characteristic conditions. Accordingly, the effective positioning signal satisfies at least one of the following conditions: the signal strength is smaller than or equal to the preset strength, and the multipath characteristics do not meet the preset multipath characteristic conditions. Alternatively, the effective positioning signal satisfies at least one of the following conditions: the signal strength is greater than or equal to the preset strength, and the multipath characteristics meet the preset multipath characteristic conditions. Accordingly, the effective positioning signal satisfies at least one of the following conditions: the signal strength is smaller than the preset strength, and the multipath characteristics do not meet the preset multipath characteristic conditions.

Optionally, the preset multipath feature condition includes: the peak value of the superimposed signal is larger than a preset peak value, but is not limited thereto.

Optionally, for each of the N positioning areas, the electronic device may determine that the number of effective positioning signals of the positioning area reaches a preset number, and if the number of effective positioning signals of the positioning area reaches the preset number, the electronic device determines an initial position of the signal transmitting device based on positioning measurement information of the positioning area. Wherein the preset number is the minimum number of positioning signals required to calculate the initial position of the signal emitting device. For example, for a one-dimensional positioning area, assuming that the electronic device is positioned using the TDOA positioning method, at least two valid positioning signals are required, based on which the preset number in this case is 2.

The following details regarding S430:

in one implementation, the electronic device may select, as the target location, one initial location among M initial locations of the signal emitting device according to a preset selection rule. For example, as shown in fig. 5, the electronic device may obtain one initial position based on the one-dimensional positioning area 1, the one-dimensional positioning area 2, the one-dimensional positioning area 3, the two-dimensional positioning area 1, and the two-dimensional positioning area 2, respectively. Based on this, the electronic device can select one of the 5 initial positions, such as an initial position obtained based on the two-dimensional positioning area 2 as a target position of the signal transmitting device.

Alternatively, the preset selection rule may be a random algorithm rule, or an initial position of the one-dimensional positioning area with the largest index is selected, which is not limited in the present application.

In another implementation manner, as shown in fig. 9, before S430, the method further includes:

s910: determining a location of each signal receiving apparatus on the M positioning areas;

accordingly, S430 may include:

s920: the target position of the signal transmitting device is determined based on the M initial positions of the signal transmitting device, the position of each signal receiving device, and the positioning measurement information acquired by each signal receiving device.

Optionally, for each signal receiving apparatus on the M positioning areas, there is a one-to-one correspondence between the identity of the signal receiving apparatus and the location of the signal receiving apparatus. After the electronic device receives the positioning measurement information sent by the signal receiving device, it may parse the identification of the signal receiving device from the positioning measurement information, and may further determine the position of the signal receiving device based on a one-to-one correspondence between the identification of the signal receiving device and the position of the signal receiving device.

Alternatively, the electronic device may employ a TDOA location method or a TOA location method to determine the target location of the signal transmitting device based on the M initial locations of the signal transmitting device, the location of each signal receiving device, and the location measurement information acquired by each signal receiving device, but is not limited thereto.

The following details are set forth for determining a target position of a signal transmitting device by using a TDOA location method for an electronic device:

as shown in fig. 10, the S920 may include:

s1010: for each of the M initial positions, determining an estimated distance difference between the initial position and each of the two signal receiving devices based on the initial position and the position of each of the signal receiving devices;

S1020: determining a measured distance difference between the signal transmitting device and each of the two signal receiving devices based on the positioning measurement information acquired by each of the signal receiving devices;

s1030: for each initial position of the M initial positions, determining a first distance error corresponding to the initial position based on each pair of measured distance differences and estimated distance differences corresponding to the initial position;

s1040: and determining the target position of the signal transmitting device based on the first distance errors corresponding to the M initial positions.

It should be understood that, in the embodiment of the present application, the estimated distance difference between the initial position and each of the two signal receiving apparatuses refers to the distance difference between the initial position and each of the two signal receiving apparatuses determined based on the initial position and the position of each of the signal receiving apparatuses. The measured distance difference between the signal transmitting device and each of the two signal receiving devices refers to a distance difference between the signal transmitting device and each of the two signal receiving devices determined based on the positioning measurement information acquired by each of the signal receiving devices.

Alternatively, for each of the M initial positions, the electronic device may determine an estimated distance difference between the initial position and each of the two signal receiving devices using a euclidean distance calculation method, but is not limited thereto.

For example, assume an initial position P _l Is the coordinates of (a)The electronic device calculates the position and the initial position P of the signal receiving device i through the formula (4) _l Distance between:

the electronic device calculates the position and the initial position P of the signal receiving device j through the formula (5) _l Distance between:

further, the electronic device can calculate by the formula (6)And->Is the difference of (a):

it should be understood that the number of the devices,namely the initial position P _l And the estimated distance difference between the signal receiving device i and the signal receiving device j.

As described above, the positioning measurement information of a certain signal receiving device based on a certain positioning signal may include an arrival time stamp of the positioning signal, based on which, after acquiring the positioning measurement information sent by each signal receiving device, the electronic device may calculate an arrival time difference between the certain positioning signal and each two signal receiving devices, and then calculate a product of the arrival time difference and a transmission speed of the positioning signal, so as to obtain a measured distance difference between the signal transmitting device and each two signal receiving devices. Wherein the initial position P can be determined _l The difference in measured distance from the signal receiving device i and the signal receiving device j is denoted as d _ij 。

Based on this, for each initial position, there is one estimated distance difference and one measured distance difference between the initial position and each two signal receiving apparatuses, each two estimated distance differences and measured distance differences constituting a distance difference pair, for example, And d _ij A distance difference pair is formed. Further, the electronic deviceThe first distance error corresponding to the initial position may be determined in the following realizable manner, but is not limited thereto:

optionally, the electronic device may determine a second distance error between each pair of the estimated distance difference and the measured distance difference corresponding to the initial position; and obtaining a first distance error corresponding to the initial position based on at least one second distance error corresponding to the initial position. The electronic device may obtain the first distance error corresponding to the initial position based on at least one second distance error corresponding to the initial position by using any one of the following realizable modes, but is not limited to this:

in one implementation manner, the electronic device may sum absolute values of at least one second distance error corresponding to the initial position to obtain a first distance error corresponding to the initial position, see, for details, formula (7):

wherein,representing the estimated distance difference +>And measuring the distance difference d _ij A second distance error between e and e represents the initial position P _l A corresponding first distance error.

In another implementation manner, the electronic device may square and sum the absolute value of at least one second distance error corresponding to the initial position to obtain a first distance error corresponding to the initial position, see, for details, formula (8):

The following details S1040:

optionally, the electronic device may determine a first minimum error among first distance errors corresponding to each of the M initial positions; and determining the target position of the signal transmitting equipment based on the initial position corresponding to the first minimum error.

It should be understood that, in order to distinguish the minimum error herein from the second minimum error mentioned later, in the embodiment of the present application, the minimum error among the first distance errors corresponding to each of the M initial positions is referred to as a first minimum error, for example, as shown in fig. 8, it is assumed that the electronic device obtains an initial position P2 point based on the two-dimensional positioning area 1, obtains an initial position P1 point based on the two-dimensional positioning area 2, obtains an initial position P3 based on the one-dimensional positioning area 1, and obtains an initial position P4 point based on the one-dimensional positioning area 2. And assuming that the electronic device adopts the calculation method of the first distance error, and determines that the first distance error corresponding to the point P2 obtained from the initial position based on the two-dimensional positioning area 1 is minimum, the first distance error may be referred to as a first minimum error.

In one implementation, the electronic device may determine an initial position corresponding to the first minimum error as a target position of the signal emitting device. For example, as shown in fig. 8, assuming that the electronic device determines that the first distance error corresponding to the initial position P2 point obtained based on the two-dimensional positioning area 1 is minimum, the electronic device may finally determine the initial position P2 point as the target position of the signal transmitting device.

In a practical application scenario, if the target position of the signal transmitting device is within a one-dimensional positioning area, it is desirable that the target position is obtained based on the one-dimensional positioning area, not based on the two-dimensional positioning area, to increase the smoothness of the positioning result. For example, assuming that a tester performs a positioning test in a one-dimensional positioning area, the running track of the tester will be a straight line, if positioning is performed based on a two-dimensional positioning area, the estimated track of the tester, that is, the estimated positioning result, will be a curve, which can be understood as a straight line with burrs, and obviously, the positioning result is not smooth enough, and there is a certain error between the positioning result and the actual running track, but if the electronic device performs positioning based on a one-dimensional positioning area, the positioning smoothness can be ensured. Based on this, it is assumed that the above-described M positioning areas include at least one of the following positioning areas: a one-dimensional positioning area, a two-dimensional positioning area; the embodiment of the application provides the following another realizable mode for determining the target position of the signal transmitting equipment:

And if the initial position corresponding to the first minimum error is obtained based on the one-dimensional positioning area, determining the initial position corresponding to the first minimum error as the target position of the signal transmitting equipment. For example, as shown in fig. 8, it is assumed that the electronic device obtains an initial position P2 point based on the two-dimensional positioning area 1, obtains an initial position P1 point based on the two-dimensional positioning area 2, obtains an initial position P3 based on the one-dimensional positioning area 1, and obtains an initial position P4 point based on the one-dimensional positioning area 2. And assuming that the electronic device adopts the calculation method of the first distance error, the first distance error corresponding to the point P3 obtained based on the one-dimensional positioning area 1 is determined to be the smallest, namely the first distance error corresponding to the point P3 is the first smallest error, and since the point P3 is obtained based on the one-dimensional positioning area 1, the point P3 can be determined as the target position of the signal transmitting device.

If the initial position corresponding to the first minimum error is obtained based on the two-dimensional positioning area and the initial position corresponding to the first minimum error is in the two-dimensional positioning area, determining the initial position corresponding to the first minimum error as the target position of the signal transmitting equipment. For example, as shown in fig. 8, it is assumed that the electronic device obtains an initial position P2 point based on the two-dimensional positioning area 1, obtains an initial position P1 point based on the two-dimensional positioning area 2, obtains an initial position P3 based on the one-dimensional positioning area 1, and obtains an initial position P4 point based on the one-dimensional positioning area 2. And assuming that the electronic device adopts the calculation method of the first distance error, the first distance error corresponding to the point P1 obtained based on the two-dimensional positioning area 2 is determined to be the smallest, that is, the first distance error corresponding to the point P1 is the first smallest error, and because the point P1 is in the two-dimensional positioning area 2, the point P1 can be determined as the target position of the signal transmitting device.

If the initial position corresponding to the first minimum error is obtained based on the two-dimensional positioning area and the initial position corresponding to the first minimum error is in the one-dimensional positioning area, determining a target position of the signal transmitting equipment based on the initial position corresponding to the first minimum error and the initial position corresponding to the second minimum error; the second minimum error is a minimum error determined based on the one-dimensional positioning area among the first distance errors corresponding to the M initial positions.

It should be understood that, since each of the M initial positions may be obtained based on a one-dimensional positioning area or may be obtained based on a two-dimensional positioning area, for example, as shown in fig. 8, the initial position P2 point is obtained based on a two-dimensional positioning area 1, the initial position P1 point is obtained based on a two-dimensional positioning area 2, the initial position P3 point is obtained based on a one-dimensional positioning area 1, and the initial position P4 point is obtained based on a one-dimensional positioning area 2. Further, the electronic device calculates the first distance errors corresponding to the first distance errors, and the first distance errors may be referred to as distance errors obtained based on the positioning area corresponding to the initial position, for example, the first distance error corresponding to the P2 point is referred to as a first distance error determined based on the two-dimensional positioning area 1, the first distance error corresponding to the P1 point is referred to as a first distance error determined based on the two-dimensional positioning area 2, the first distance error corresponding to the P3 point is referred to as a first distance error determined based on the one-dimensional positioning area 1, and the first distance error corresponding to the P4 point is referred to as a first distance error determined based on the one-dimensional positioning area 2. The smallest first distance error among the four distance errors is referred to as a first smallest error, and the smallest first distance error among the first distance error corresponding to the P3 point and the distance error corresponding to the P4 point is referred to as a second smallest error.

Optionally, if the distance between the initial position corresponding to the second minimum error and the initial position corresponding to the first minimum error is greater than a preset distance, determining the initial position corresponding to the first minimum error as the target position of the signal transmitting device; and if the distance between the initial position corresponding to the second minimum error and the initial position corresponding to the first minimum error is smaller than or equal to a preset distance, determining the initial position corresponding to the second minimum error as the target position of the signal transmitting equipment. Or if the distance between the initial position corresponding to the second minimum error and the initial position corresponding to the first minimum error is greater than or equal to the preset distance, determining the initial position corresponding to the first minimum error as the target position of the signal transmitting device; and if the distance between the initial position corresponding to the second minimum error and the initial position corresponding to the first minimum error is smaller than the preset distance, determining the initial position corresponding to the second minimum error as the target position of the signal transmitting equipment.

The preset distance may be 0.5 meter or 1 meter, which is not limited in the embodiment of the present application.

For example, as shown in fig. 11, fig. 11 differs from fig. 8 in that the point P1 in fig. 11 is located in the one-dimensional positioning area 1, assuming that the initial position corresponding to the first minimum error is the point P1, if the initial position corresponding to the second minimum error is the point P3, the distance between the two is 3 meters, and the preset distance is 1 meter, the electronic device determines the point P1 as the target position of the signal transmitting device because the distance between the two is greater than the preset distance.

As another example, as shown in fig. 11, if the P1 point is located in the one-dimensional positioning area 1, the initial position corresponding to the second minimum error is the P3 point, the initial position corresponding to the first minimum error is the P1 point, the distance between the two points is 0.5 meter, and the preset distance is 1 meter, and then the electronic device determines the P3 point as the target position of the signal transmitting device because the distance between the two points is smaller than the preset distance.

as shown in fig. 12, the step S920 may include:

s1210: for each of the M initial positions, determining an estimated distance between the initial position and each signal receiving device based on the initial position and the position of each signal receiving device;

s1220: determining a measurement distance between the signal transmitting device and each signal receiving device based on the positioning measurement information acquired by each signal receiving device;

s1230: for each initial position in the M initial positions, determining a third distance error corresponding to the initial position based on each pair of measured distance and estimated distance corresponding to the initial position;

s1240: and determining the target position of the signal transmitting device based on the third distance error corresponding to each of the M initial positions.

It should be understood that, in the embodiment of the present application, the estimated distance between the initial position and each of the two signal receiving apparatuses refers to the distance between the initial position and each of the signal receiving apparatuses determined based on the initial position and the position of each of the signal receiving apparatuses. The measured distance between the signal transmitting apparatus and each signal receiving apparatus refers to a distance between the signal transmitting apparatus and each signal receiving apparatus determined based on the positioning measurement information acquired by each signal receiving apparatus.

Alternatively, for each of the M initial positions, the electronic device may determine an estimated distance between the initial position and each signal receiving device using a euclidean distance calculation method, but is not limited thereto.

For example, assume an initial position P _l Is the coordinates of (a)The electronic device calculates the position and initial position P of the signal receiving device i by the above formula (4) _l Distance between them.

As described above, a certain positioning signal may include: the transmission time stamp of the positioning signal. The location measurement information of a certain signal receiving device based on the location signal may comprise an arrival time stamp of the location signal, based on which the electronic device, after having acquired the location measurement information sent by each signal receiving device, may calculate a certain location signal Wherein the transmission time length of the positioning signal is equal to the difference between the arrival time stamp and the sending time stamp of the positioning signal, and then calculating the product of the transmission time length and the transmission speed of the positioning signal, so as to obtain the measurement distance between the signal transmitting device and the signal receiving device. Wherein the initial position P can be determined _l The measured distance from the signal receiving apparatus i is denoted as d _i 。

Based on this, for each initial position, there is one estimated distance and one measured distance between the initial position and each signal receiving apparatus, each two estimated distances and measured distances constituting a distance pair, for example,and d _i A distance pair is formed. Further, the electronic device may determine the third distance error corresponding to the initial position by using the following realizable manner, but is not limited thereto:

optionally, the electronic device may determine a fourth distance error between each pair of the estimated distance and the measured distance corresponding to the initial position; and obtaining a third distance error corresponding to the initial position based on at least one fourth distance error corresponding to the initial position. The electronic device may obtain the third distance error corresponding to the initial position based on at least one fourth distance error corresponding to the initial position in any one of the following realizable modes, but is not limited thereto:

In one implementation manner, the electronic device may sum the absolute values of at least one fourth distance error corresponding to the initial position to obtain a third distance error corresponding to the initial position, see, for details, formula (9):

wherein,representing the estimated distance +.>And measuring distance d _i A fourth distance error between e represents the initial position P _l And a corresponding third distance error.

In another implementation manner, the electronic device may square and sum the absolute value of at least one fourth distance error corresponding to the initial position to obtain a third distance error corresponding to the initial position, see, for details, formula (10):

The following details S1140:

optionally, the electronic device may determine a third minimum error among the third distance errors corresponding to the M initial positions respectively; and determining the target position of the signal transmitting device based on the initial position corresponding to the third minimum error.

It should be understood that, in order to distinguish the minimum error herein from the fourth minimum error mentioned later, in the embodiment of the present application, the minimum error in the third distance errors corresponding to each of the M initial positions is referred to as a third minimum error, for example, as shown in fig. 8, it is assumed that the electronic device obtains an initial position P2 point based on the two-dimensional positioning area 1, obtains an initial position P1 point based on the two-dimensional positioning area 2, obtains an initial position P3 based on the one-dimensional positioning area 1, and obtains an initial position P4 point based on the one-dimensional positioning area 2. And assuming that the electronic device adopts the calculation method of the third distance error, and determines that the third distance error corresponding to the point P2 obtained from the initial position based on the two-dimensional positioning area 1 is the smallest, the third distance error may be referred to as a third smallest error.

In one implementation, the electronic device may determine an initial position corresponding to the third minimum error as the target position of the signal emitting device. For example, as shown in fig. 8, assuming that the electronic device determines that the third distance error corresponding to the initial position P2 point obtained based on the two-dimensional positioning area 1 is minimum, the electronic device may finally determine the initial position P2 point as the target position of the signal transmitting device.

In a practical application scenario, if the target position of the signal transmitting device is within a one-dimensional positioning area, it is desirable that the target position is obtained based on the one-dimensional positioning area, not based on the two-dimensional positioning area, to increase the smoothness of the positioning result. Based on this, it is assumed that the above-described M positioning areas include at least one of the following positioning areas: a one-dimensional positioning area, a two-dimensional positioning area; the embodiment of the application provides the following another realizable mode for determining the target position of the signal transmitting equipment:

and if the initial position corresponding to the third minimum error is obtained based on the one-dimensional positioning area, determining the initial position corresponding to the third minimum error as the target position of the signal transmitting equipment. For example, as shown in fig. 8, it is assumed that the electronic device obtains an initial position P2 point based on the two-dimensional positioning area 1, obtains an initial position P1 point based on the two-dimensional positioning area 2, obtains an initial position P3 based on the one-dimensional positioning area 1, and obtains an initial position P4 point based on the one-dimensional positioning area 2. And assuming that the electronic device adopts the calculation method of the third distance error, the third distance error corresponding to the point P3 obtained based on the one-dimensional positioning area 1 is determined to be the smallest, namely the first distance error corresponding to the point P3 is the third smallest error, and since the point P3 is obtained based on the one-dimensional positioning area 1, the point P3 can be determined as the target position of the signal transmitting device.

If the initial position corresponding to the third minimum error is obtained based on the two-dimensional positioning area and the initial position corresponding to the third minimum error is in the two-dimensional positioning area, determining the initial position corresponding to the third minimum error as the target position of the signal transmitting equipment. For example, as shown in fig. 8, it is assumed that the electronic device obtains an initial position P2 point based on the two-dimensional positioning area 1, obtains an initial position P1 point based on the two-dimensional positioning area 2, obtains an initial position P3 based on the one-dimensional positioning area 1, and obtains an initial position P4 point based on the one-dimensional positioning area 2. And assuming that the electronic device adopts the calculation method of the third distance error, the third distance error corresponding to the point P1 obtained based on the two-dimensional positioning area 2 is determined to be the smallest, that is, the third distance error corresponding to the point P1 is the third smallest error, and because the point P1 is in the two-dimensional positioning area 2, the point P1 can be determined as the target position of the signal transmitting device.

If the initial position corresponding to the third minimum error is obtained based on the two-dimensional positioning area and the initial position corresponding to the third minimum error is in the one-dimensional positioning area, determining a target position of the signal transmitting device based on the initial position corresponding to the third minimum error and the initial position corresponding to the fourth minimum error; the fourth minimum error is a minimum error determined based on the one-dimensional positioning area among the third distance errors corresponding to the M initial positions.

It should be understood that, since each of the M initial positions may be obtained based on a one-dimensional positioning area or may be obtained based on a two-dimensional positioning area, for example, as shown in fig. 8, the initial position P2 point is obtained based on a two-dimensional positioning area 1, the initial position P1 point is obtained based on a two-dimensional positioning area 2, the initial position P3 point is obtained based on a one-dimensional positioning area 1, and the initial position P4 point is obtained based on a one-dimensional positioning area 2. Further, the electronic device calculates the first distance errors corresponding to the first distance errors, and may refer to these third distance errors as distance errors obtained based on the positioning area corresponding to the initial position, for example, refer to the third distance error corresponding to the P2 point as a third distance error determined based on the two-dimensional positioning area 1, refer to the third distance error corresponding to the P1 point as a third distance error determined based on the two-dimensional positioning area 2, refer to the third distance error corresponding to the P3 point as a third distance error determined based on the one-dimensional positioning area 1, and refer to the third distance error corresponding to the P4 point as a third distance error determined based on the one-dimensional positioning area 2. The smallest third distance error among the four distance errors is referred to as a third smallest error, and the smallest third distance error among the third distance errors corresponding to the P3 point and the third distance error corresponding to the P4 point is referred to as a fourth smallest error.

Optionally, if the distance between the initial position corresponding to the fourth minimum error and the initial position corresponding to the third minimum error is greater than a preset distance, determining the initial position corresponding to the third minimum error as the target position of the signal transmitting device; and if the distance between the initial position corresponding to the fourth minimum error and the initial position corresponding to the third minimum error is smaller than or equal to a preset distance, determining the initial position corresponding to the fourth minimum error as the target position of the signal transmitting equipment. Or if the distance between the initial position corresponding to the fourth minimum error and the initial position corresponding to the third minimum error is greater than or equal to the preset distance, determining the initial position corresponding to the third minimum error as the target position of the signal transmitting device; and if the distance between the initial position corresponding to the fourth minimum error and the initial position corresponding to the third minimum error is smaller than the preset distance, determining the initial position corresponding to the fourth minimum error as the target position of the signal transmitting equipment.

For example, as shown in fig. 11, fig. 11 differs from fig. 8 in that, in the one-dimensional positioning area 1, if the initial position corresponding to the fourth minimum error is P3 points and the initial position corresponding to the third minimum error is P1 points, the distance between the two points is 3 meters and the preset distance is 1 meter, and the electronic device determines the P1 points as the target positions of the signal transmitting device because the distance between the two points is greater than the preset distance.

As another example, as shown in fig. 11, fig. 11 differs from fig. 8 in that, in the one-dimensional positioning area 1, if the initial position corresponding to the fourth minimum error is P3, and the initial position corresponding to the third minimum error is P1, the distance between the two is 0.5 meter, and the preset distance is 1 meter, then the electronic device determines P3 as the target position of the signal transmitting device because the distance between the two is smaller than the preset distance.

In the embodiment of the application, the electronic equipment can determine N positioning areas, at least one signal receiving equipment is arranged on each positioning area in the N positioning areas, and the area ratio of the shielding object in the positioning area to the positioning area is smaller than a preset threshold; for each of the N positioning areas, acquiring positioning measurement information obtained by at least one signal receiving device on the positioning area based on positioning signals transmitted by the signal transmitting device, and determining the initial position of the signal transmitting device based on the positioning measurement information; the target location of the signal transmitting device is determined based on the M initial locations of the signal transmitting device. As the shielding objects in the positioning areas are as few as possible, the multipath effect can be reduced, and the positioning accuracy can be improved.

Further, in the embodiment of the present application, if the target position of the signal transmitting device is in the one-dimensional positioning area and the target position is obtained based on the two-dimensional positioning area, the electronic device may correct the target position, so that the target position of the signal transmitting device is obtained based on the one-dimensional positioning area, thereby improving the smoothness of positioning and further ensuring the robustness of the positioning method.

In addition, the embodiment of the application is suitable for complex application scenes, such as application scenes comprising one-dimensional positioning areas, two-dimensional positioning areas and even signal unreachable areas, so that the applicability of the positioning method can be improved.

The technical effects of the embodiments of the present application are described in detail below by experimental data:

fig. 13 is a graph of comparison of effects of a positioning method and a conventional positioning method according to an embodiment of the present application, where the graph is shown in fig. 13, and the graph is a cumulative distribution function (Cumulative Distribution Function, CDF) graph, and an abscissa indicates an error between a predicted position and an actual position of a positioning point obtained by a positioning algorithm, for example, 0.05 indicates that an absolute value of a difference between the predicted position and the actual position is 0.05, and an ordinate indicates a duty ratio of a to-be-positioned point, of all to-be-positioned points, where the error is less than or equal to an error corresponding to the abscissa, and as can be seen from fig. 13, under each error, the duty ratio corresponding to the positioning algorithm provided by the embodiment of the present application is greater than the duty ratio corresponding to the conventional positioning method, for example, when the error is 0.05, the duty ratio of the to-be-positioned point, where the error obtained by the positioning algorithm provided by the embodiment of the present application is less than or equal to 0.05, is 0.1. Therefore, the positioning method provided by the embodiment of the application has higher precision and better robustness.

The following is a comparison of the effect of the positioning method provided by the embodiment of the present application with that provided by the conventional method by using fig. 14, 15 and 16:

fig. 14 is a schematic plan view of a moving track obtained based on a conventional positioning method, as shown in fig. 14, a region in a dashed box is a signal unreachable region, for example, a room, and the right side of the signal unreachable region is actually a one-dimensional positioning region.

Fig. 15 is a schematic top plan view of positioning area division provided by the embodiment of the present application, as shown in fig. 15, the positioning area 8 is a one-dimensional positioning area, and the movement track obtained based on the positioning method provided by the embodiment of the present application may be referred to fig. 16, as shown in fig. 16, where the area in the dashed box is a signal unreachable area, for example, a certain room, and the right side edge of the signal unreachable area is actually a one-dimensional positioning area, and the movement track of the right side edge obtained according to the positioning method provided by the embodiment of the present application is a straight line, which is close to the actual movement track. Therefore, the positioning method provided by the embodiment of the application has higher precision and better robustness.

Fig. 17 is a schematic diagram of a positioning device 1700 according to an embodiment of the present application, as shown in fig. 17, the device 1700 may include: a determination module 1710 and an acquisition module 1720; the determining module 1710 is configured to determine N positioning areas, where N is a positive integer, and for each positioning area of the N positioning areas, the positioning area is provided with at least one signal receiving device, and an area ratio of a shielding object in the positioning area to the positioning area is smaller than a preset threshold; for each of the N positioning areas, the acquiring module 1720 is configured to acquire positioning measurement information obtained by at least one signal receiving device on the positioning area based on the positioning signal transmitted by the signal transmitting device, and the determining module 1710 is further configured to determine an initial position of the signal transmitting device based on the positioning measurement information; the determining module 1710 is further configured to determine a target position of the signal transmitting device based on M initial positions of the signal transmitting device, where the M initial positions are in one-to-one correspondence with M positioning areas of the N positioning areas, and M is a positive integer less than or equal to N.

Optionally, the determining module 1710 is further configured to determine a location of each signal receiving device on the M positioning areas before the determining module 1710 determines the target location of the signal transmitting device based on the M initial locations of the signal transmitting devices; accordingly, the determining module 1710 is specifically configured to: the target position of the signal transmitting device is determined based on the M initial positions of the signal transmitting device, the position of each signal receiving device, and the positioning measurement information acquired by each signal receiving device.

Optionally, the determining module 1710 is specifically configured to: determining, for each of the M initial positions, an estimated distance difference between the initial position and each of the two signal receiving devices based on the initial position and the position of each of the signal receiving devices; determining a measured distance difference between the signal transmitting device and each of the two signal receiving devices based on the positioning measurement information acquired by each of the signal receiving devices; determining a first distance error corresponding to the initial position based on each pair of measured distance differences and estimated distance differences corresponding to the initial position for each of the M initial positions; and determining the target position of the signal transmitting device based on the first distance errors corresponding to the M initial positions.

Optionally, the determining module 1710 is specifically configured to: determining a second distance error between each pair of estimated distance differences and measured distance differences corresponding to the initial position; and obtaining a first distance error corresponding to the initial position based on at least one second distance error corresponding to the initial position.

Optionally, the determining module 1710 is specifically configured to: and summing absolute values of at least one second distance error corresponding to the initial position to obtain a first distance error corresponding to the initial position.

Optionally, the determining module 1710 is specifically configured to: determining a first minimum error in the first distance errors corresponding to the M initial positions respectively; and determining the target position of the signal transmitting equipment based on the initial position corresponding to the first minimum error.

Optionally, the determining module 1710 is specifically configured to: and determining the initial position corresponding to the first minimum error as the target position of the signal transmitting equipment.

Optionally, the M positioning areas include at least one of the following positioning areas: a one-dimensional positioning area, a two-dimensional positioning area; accordingly, the determining module 1710 is specifically configured to: if the initial position corresponding to the first minimum error is obtained based on the one-dimensional positioning area, determining the initial position corresponding to the first minimum error as a target position of the signal transmitting equipment; if the initial position corresponding to the first minimum error is obtained based on the two-dimensional positioning area and the initial position corresponding to the first minimum error is in the two-dimensional positioning area, determining the initial position corresponding to the first minimum error as a target position of the signal transmitting equipment; if the initial position corresponding to the first minimum error is obtained based on the two-dimensional positioning area and the initial position corresponding to the first minimum error is in the one-dimensional positioning area, determining a target position of the signal transmitting equipment based on the initial position corresponding to the first minimum error and the initial position corresponding to the second minimum error; the second minimum error is a minimum error determined based on the one-dimensional positioning area among the first distance errors corresponding to the M initial positions.

Optionally, the determining module 1710 is specifically configured to: if the distance between the initial position corresponding to the second minimum error and the initial position corresponding to the first minimum error is larger than the preset distance, determining the initial position corresponding to the first minimum error as a target position of the signal transmitting equipment; and if the distance between the initial position corresponding to the second minimum error and the initial position corresponding to the first minimum error is smaller than or equal to a preset distance, determining the initial position corresponding to the second minimum error as the target position of the signal transmitting equipment.

Optionally, the determining module 1710 is specifically configured to: if the number of the effective positioning signals in the positioning area reaches the preset number, determining the initial position of the signal transmitting equipment based on the positioning measurement information; wherein the positioning measurement information includes at least one of: signal strength of the positioning signal, multipath characteristics of the positioning signal; the effective positioning signal satisfies at least one of the following conditions: the signal strength is larger than the preset strength, and the multipath characteristics meet the preset multipath characteristic conditions.

It should be understood that apparatus embodiments and method embodiments may correspond with each other and that similar descriptions may refer to the method embodiments. To avoid repetition, no further description is provided here. Specifically, the apparatus 1700 shown in fig. 17 may perform the above method embodiments, and the foregoing and other operations and/or functions of each module in the apparatus 1700 are respectively for implementing corresponding flows in each method in the above method embodiments, and are not repeated herein for brevity.

The apparatus 1700 of the present embodiment is described above in terms of functional modules in conjunction with the accompanying drawings. It should be understood that the functional module may be implemented in hardware, or may be implemented by instructions in software, or may be implemented by a combination of hardware and software modules. Specifically, each step of the method embodiment in the embodiment of the present application may be implemented by an integrated logic circuit of hardware in a processor and/or an instruction in a software form, and the steps of the method disclosed in connection with the embodiment of the present application may be directly implemented as a hardware decoding processor or implemented by a combination of hardware and software modules in the decoding processor. Alternatively, the software modules may be located in a well-established storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, and the like. The storage medium is located in a memory, and the processor reads information in the memory, and in combination with hardware, performs the steps in the above method embodiments.

As shown in fig. 18, the electronic device may include:

a memory 1810 and a processor 1820, the memory 1810 being used to store computer programs and to transfer the program code to the processor 1820. In other words, the processor 1820 may invoke and execute a computer program from the memory 1810 to implement the method in embodiments of the present application.

For example, the processor 1820 may be configured to perform the method embodiments described above in accordance with instructions in the computer program.

In some embodiments of the application, the processor 1820 may include, but is not limited to:

a general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like.

In some embodiments of the application, the memory 1810 includes, but is not limited to:

volatile memory and/or nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (Double Data Rate SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), and Direct memory bus RAM (DR RAM).

In some embodiments of the application, the computer program may be partitioned into one or more modules that are stored in the memory 1810 and executed by the processor 1820 to perform the methods provided by the present application. The one or more modules may be a series of computer program instruction segments capable of performing the specified functions, which are used to describe the execution of the computer program in the electronic device.

As shown in fig. 18, the electronic device may further include:

a transceiver 1830, the transceiver 1830 may be coupled to the processor 1820 or the memory 1810.

Wherein the processor 1820 may control the transceiver 1830 to communicate with other devices, and in particular, may send information or data to other devices, or receive information or data sent by other devices. The transceiver 1830 may include a transmitter and a receiver. The transceiver 1830 may further include an antenna, the number of which may be one or more.

It will be appreciated that the various components in the electronic device are connected by a bus system that includes, in addition to a data bus, a power bus, a control bus, and a status signal bus.

The present application also provides a computer storage medium having stored thereon a computer program which, when executed by a computer, enables the computer to perform the method of the above-described method embodiments. Alternatively, embodiments of the present application also provide a computer program product comprising instructions which, when executed by a computer, cause the computer to perform the method of the method embodiments described above.

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, produces a flow or function in accordance with embodiments of the application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital video disc (digital video disc, DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.

Those of ordinary skill in the art will appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.

The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. For example, functional modules in various embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module.

The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A positioning method, comprising:

n positioning areas are determined, N is a positive integer, at least one signal receiving device is arranged on each positioning area in the N positioning areas, and the area ratio of a shielding object in each positioning area to the positioning area is smaller than a preset threshold;

For each positioning area in the N positioning areas, positioning measurement information obtained by at least one signal receiving device on the positioning area based on positioning signals transmitted by a signal transmitting device is obtained, and the initial position of the signal transmitting device is determined based on the positioning measurement information;

and determining a target position of the signal transmitting device based on M initial positions of the signal transmitting device, wherein the M initial positions are in one-to-one correspondence with M positioning areas in the N positioning areas, and M is a positive integer less than or equal to N.

2. The method of claim 1, wherein prior to determining the target location of the signal transmitting device based on the M initial locations of the signal transmitting device, further comprising:

determining a location of each signal receiving apparatus on the M positioning areas;

the determining the target position of the signal transmitting device based on the M initial positions of the signal transmitting device includes:

and determining the target position of the signal transmitting device based on the M initial positions of the signal transmitting device, the position of each signal receiving device and the positioning measurement information acquired by each signal receiving device.

3. The method of claim 2, wherein the determining the target location of the signal transmitting device based on the M initial locations of the signal transmitting device, the location of each signal receiving device, and the location measurement information acquired by each signal receiving device comprises:

determining, for each of the M initial positions, an estimated distance difference between the initial position and each two signal receiving devices based on the initial position and the position of each signal receiving device;

determining a measured distance difference between the signal transmitting device and each two signal receiving devices based on the positioning measurement information acquired by each signal receiving device;

for each initial position of the M initial positions, determining a first distance error corresponding to the initial position based on each pair of measured distance differences and estimated distance differences corresponding to the initial position;

and determining the target position of the signal transmitting equipment based on the first distance errors corresponding to the M initial positions.

4. A method according to claim 3, wherein said determining a first distance error for the initial position based on each pair of measured and predicted distance differences for the initial position comprises:

Determining a second distance error between each pair of estimated distance differences and measured distance differences corresponding to the initial position;

and obtaining a first distance error corresponding to the initial position based on at least one second distance error corresponding to the initial position.

5. The method of claim 4, wherein the obtaining the first distance error corresponding to the initial position based on the at least one second distance error corresponding to the initial position comprises:

and summing absolute values of at least one second distance error corresponding to the initial position to obtain a first distance error corresponding to the initial position.

6. The method according to any one of claims 3-5, wherein said determining a target location of the signal transmitting device based on the first range error corresponding to each of the M initial locations comprises:

determining a first minimum error in the first distance errors corresponding to the M initial positions respectively;

and determining the target position of the signal transmitting equipment based on the initial position corresponding to the first minimum error.

7. The method of claim 6, wherein the determining the target location of the signal transmitting device based on the initial location corresponding to the first minimum error comprises:

And determining the initial position corresponding to the first minimum error as the target position of the signal transmitting equipment.

8. The method of claim 7, wherein the M positioning areas comprise at least one of: a one-dimensional positioning area, a two-dimensional positioning area; the determining the target position of the signal transmitting device based on the initial position corresponding to the first minimum error includes:

if the initial position corresponding to the first minimum error is obtained based on a one-dimensional positioning area, determining the initial position corresponding to the first minimum error as a target position of the signal transmitting equipment;

if the initial position corresponding to the first minimum error is obtained based on the two-dimensional positioning area and the initial position corresponding to the first minimum error is in the two-dimensional positioning area, determining the initial position corresponding to the first minimum error as a target position of the signal transmitting equipment;

if the initial position corresponding to the first minimum error is obtained based on a two-dimensional positioning area and the initial position corresponding to the first minimum error is in the one-dimensional positioning area, determining the target position of the signal transmitting equipment based on the initial position corresponding to the first minimum error and the initial position corresponding to the second minimum error;

The second minimum error is a minimum error determined based on the one-dimensional positioning area in the first distance errors corresponding to the M initial positions.

9. The method of claim 8, wherein the determining the target location of the signal transmitting device based on the initial location corresponding to the first minimum error and the initial location corresponding to the second minimum error comprises:

if the distance between the initial position corresponding to the second minimum error and the initial position corresponding to the first minimum error is larger than a preset distance, determining the initial position corresponding to the first minimum error as a target position of the signal transmitting equipment;

and if the distance between the initial position corresponding to the second minimum error and the initial position corresponding to the first minimum error is smaller than or equal to the preset distance, determining the initial position corresponding to the second minimum error as the target position of the signal transmitting equipment.

10. The method according to any of claims 1-5, wherein said determining an initial position of the signal emitting device based on the positioning measurement information comprises:

if the number of the effective positioning signals in the positioning area reaches a preset number, determining the initial position of the signal transmitting equipment based on the positioning measurement information;

Wherein the positioning measurement information includes at least one of: the signal strength of the positioning signal, the multipath characteristics of the positioning signal;

the effective positioning signal satisfies at least one of the following conditions: the signal strength is larger than the preset strength, and the multipath characteristics meet the preset multipath characteristic conditions.

11. A positioning device, comprising: a determining module and an acquiring module;

the determining module is used for determining N positioning areas, N is a positive integer, at least one signal receiving device is arranged on each positioning area in the N positioning areas, and the area ratio of a shielding object in the positioning area to the positioning area is smaller than a preset threshold;

for each positioning area in the N positioning areas, the acquisition module is used for acquiring positioning measurement information obtained by at least one signal receiving device on the positioning area based on positioning signals transmitted by a signal transmitting device, and the determination module is also used for determining the initial position of the signal transmitting device based on the positioning measurement information;

the determining module is further configured to determine a target position of the signal transmitting device based on M initial positions of the signal transmitting device, where the M initial positions are in one-to-one correspondence with M positioning areas of the N positioning areas, and M is a positive integer less than or equal to N.

12. An electronic device, comprising:

a processor and a memory for storing a computer program, the processor being for invoking and running the computer program stored in the memory to perform the method of any of claims 1 to 10.

13. A computer readable storage medium for storing a computer program which, when run on a computer, causes the computer to perform the method of any one of claims 1 to 10.