CN111669698A - Positioning method, device, system and storage medium - Google Patents
Positioning method, device, system and storage medium Download PDFInfo
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Abstract
The embodiment of the invention relates to a positioning method, equipment, a system and a storage medium, wherein the method comprises the following steps: acquiring direction-finding data of a plurality of first terminals by using direction-finding equipment; determining a plurality of first positions of the first terminal according to a plurality of direction-finding data; determining at least one second position which accords with a set rule from a plurality of first positions; and determining a third position from the second positions by adopting a set algorithm, taking the third position as a target position of the first terminal, screening the obtained direction-finding data, and removing a part of unreliable data. Through the statistical screening of angle for the angle of the position point that the direction finding corresponds is more concentrated, and then makes many direction finding ray's junction denser, and the rethread is to the statistical screening of junction, makes the target location result further reduce, and then has promoted the accuracy degree of location. Meanwhile, unreliable data are screened out, and the calculation efficiency is improved while the calculation amount is reduced.
Description
Technical Field
Embodiments of the present invention relate to the field of communications, and in particular, to a positioning method, device, system, and storage medium.
Background
The traditional mobile communication terminal positioning method is mainly carried out in a vehicle-mounted direction finding mode, downlink signals of a base station are analyzed through vehicle-mounted direction finding equipment, uplink signals of communication between a mobile terminal and the base station are obtained, direction finding is carried out on the uplink signals, and final position confirmation is carried out through portable equipment when the uplink signals are close to a target.
However, in environments such as mountainous areas, rural areas, high buildings and the like, the influence of surrounding buildings and terrain environments is limited, and the traditional direction-finding positioning method has inaccurate direction-finding direction and low direction-finding efficiency in complex environments.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a positioning method, apparatus, system and storage medium to solve the above technical problems or some technical problems.
In a first aspect, an embodiment of the present invention provides a positioning method, including:
obtaining direction-finding data of a plurality of first terminals by using direction-finding equipment, wherein the direction-finding data comprises position information of the direction-finding equipment, azimuth angle information and energy information of the first terminals and the direction-finding equipment;
determining a plurality of first positions of the first terminal according to a plurality of direction-finding data;
determining at least one second position which accords with a set rule from a plurality of first positions;
and determining a third position from the second positions by adopting a set algorithm, and taking the third position as the target position of the first terminal.
In a possible embodiment, the obtaining, by the direction-finding device, direction-finding data of a plurality of first terminals includes:
determining a plurality of position points for data measurement of the direction-finding equipment;
numbering the position points in sequence;
and the direction-finding equipment acquires a plurality of direction-finding data corresponding to the first terminal at a plurality of position points.
In one possible embodiment, the determining a plurality of first positions of the first terminal according to a plurality of the direction-finding data includes:
selecting two corresponding direction-finding data from the position points according to the serial numbers of the position points;
determining a first position of the first terminal according to the two direction-finding data;
and sequentially determining a plurality of first positions of the first terminal.
In a possible embodiment, the determining the first position of the first terminal according to the two direction-finding data includes:
determining a direction-finding ray corresponding to the current position point according to the azimuth angle information and the position information;
and determining the first position of the first terminal according to the intersection point of the two direction-finding rays.
In a possible embodiment, the determining, from the plurality of first locations, at least one second location that meets a set rule includes:
and taking the position of the real intersection point corresponding to the plurality of first positions as at least one second position.
In one possible embodiment, the determining a third position from the second positions using a setting algorithm includes:
determining partial second positions of which the energy information corresponding to the second positions is larger than a set energy threshold;
determining the azimuth angle information corresponding to the part of the second position and the coordinate information corresponding to the second position;
and performing statistical processing on the azimuth angle information and the coordinate information by adopting a set algorithm to determine the target position of the first terminal.
In a possible implementation manner, the statistically processing the azimuth angle information and the coordinate information by using a set algorithm to determine the target position of the first terminal includes:
and performing statistical processing on the azimuth angle information and the coordinate information by adopting a cumulative error algorithm to determine the target position of the first terminal.
In a possible implementation manner, the statistically processing the azimuth angle information and the coordinate information by using a set algorithm to determine the target position of the first terminal further includes:
and performing statistical processing on the azimuth angle information and the coordinate information by adopting a clustering algorithm to determine the target position of the first terminal.
In a second aspect, a positioning apparatus in an embodiment of the present invention includes:
the device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring direction-finding data of a plurality of first terminals by using direction-finding equipment, and the direction-finding data comprises position information of the direction-finding equipment, azimuth angle information and energy information of the first terminals and the direction-finding equipment;
a determining module, configured to determine a plurality of first positions of the first terminal according to the plurality of direction-finding data;
the determining module is further used for determining at least one second position which accords with a set rule from a plurality of first positions;
the determining module is further configured to determine a third position from the second positions by using a set algorithm, and use the third position as a target position of the first terminal.
In a third aspect, a positioning system in an embodiment of the present invention includes:
the device comprises a transceiver and a direction-finding device, wherein the transceiver is used for acquiring direction-finding data of a plurality of first terminals by using the direction-finding device, and the direction-finding data comprises position information of the direction-finding device, azimuth angle information and energy information of the first terminals and the direction-finding device;
a processor configured to determine a plurality of first locations of the first terminal based on a plurality of the direction-finding data;
the processor is further used for determining at least one second position which accords with a set rule from a plurality of first positions;
the processor is further configured to determine a third position from the second positions by using a setting algorithm, and use the third position as a target position of the first terminal.
In a fourth aspect, an embodiment of the present invention provides a storage medium, where one or more programs are stored, and the one or more programs are executable by one or more processors to implement the positioning method according to any one of the first aspects.
According to the positioning method provided by the embodiment of the invention, direction-finding data of a plurality of first terminals are obtained through direction-finding equipment; determining a plurality of first positions of the first terminal according to a plurality of direction-finding data; determining at least one second position which accords with a set rule from a plurality of first positions; and determining a third position from the second positions by adopting a set algorithm, taking the third position as a target position of the first terminal, screening the obtained direction-finding data, and removing a part of unreliable data. Through the statistical screening of angle for the angle of the position point that the direction finding corresponds is more concentrated, and then makes many direction finding ray's junction denser, and the rethread is to the statistical screening of junction, makes the target location result further reduce, and then has promoted the accuracy degree of location. Meanwhile, unreliable data are screened out, and the calculation efficiency is improved while the calculation amount is reduced.
Drawings
Fig. 1 is an application scenario diagram of a positioning method according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a positioning method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating a process of acquiring direction-finding data of a first terminal according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of determining a plurality of first positions of the first terminal according to a plurality of direction-finding data according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of determining a first position according to an embodiment of the present invention;
FIG. 6 is another schematic illustration of determining a first position in accordance with an embodiment of the present invention;
fig. 7 is a flowchart illustrating a target location of a first terminal according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a cumulative difference algorithm model according to an embodiment of the present invention
FIG. 9 is a schematic diagram of a clustering algorithm model according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of dotting and direction finding according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a positioning system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For the convenience of understanding of the embodiments of the present invention, the following description will be further explained with reference to specific embodiments, which are not to be construed as limiting the embodiments of the present invention.
Fig. 1 is an application scenario diagram of a positioning method according to an embodiment of the present invention, as shown in fig. 1, in the application scenario, a data transmission device and a direction finding device are used to perform accurate positioning on a terminal in a base station.
The terminal related to the embodiment is located in mountainous areas, rural areas, high-rise buildings and other environments, is limited by influences of surrounding buildings and terrain environments, and in order to improve accuracy of positioning of the terminal in the areas, a data transmission device is used for capturing downlink data signals of interaction between a base station and a first terminal, and terminal information of the first terminal is determined based on the downlink data signals.
The second terminal adopts a called communication mode to enable the first terminal to communicate with the base station, the data transmission equipment captures a downlink data signal sent by the base station to the first terminal, and the direction finding equipment captures an uplink data signal sent by the first terminal to the base station, so that the first terminal is positioned.
Further, the data transmission device and the direction finding device can both comprise: antenna, radio frequency board, digital board, group battery, display interface and number biography module.
Wherein, the radio frequency board includes: up signal and downstream signal processing unit, the digital board includes: an intermediate frequency processing unit and a baseband processing unit.
The data transmission device is arranged at an optimal position of the base station, and the position can be as follows: and (3) the position with the optimal signal-to-noise ratio and energy, for example, the digital transmission equipment is placed in the area corresponding to the position with-10 dB < the signal-to-noise ratio < 10dB and the position with-60 dBm < the energy < -80 dBm.
In an alternative of this embodiment, one data transmission device may be disposed in one base station, and one data transmission device may be disposed in each cell of a plurality of cells of the base station, which may be set according to actual requirements, which is not limited in this embodiment.
For example, base station a, including cells a1, a2, and a3, may determine an optimal location in base station a at which to place a data transfer device, which may be within one of cells a1, a2, or a 3; in addition, data transmission devices may be respectively placed in cells a1, a2 and a3, where the location where the data transmission device is placed in the cell may be an optimal location in the cell.
The direction-finding device may be, but is not limited to: unmanned aerial vehicle direction finding equipment adopts unmanned aerial vehicle direction finding equipment to carry out the location at terminal in a plurality of different positions aerial.
It should be noted that, besides the unmanned aerial vehicle, a plurality of fixed direction-finding devices with different positions and different heights may be used for positioning, for example, the direction-finding devices are fixed at relatively high positions such as a signal tower and a roof, and then data measured at a plurality of fixed positions are integrated to position the terminal.
The following describes the positioning method according to the embodiment of the present invention in detail, with the direction-finding device as an implementation subject.
Fig. 2 is a schematic flowchart of a positioning method according to an embodiment of the present invention, and as shown in fig. 2, the method specifically includes:
s201, direction-finding data of a plurality of first terminals are obtained by using the direction-finding equipment.
In this embodiment, a plurality of position points in the air are selected as measurement positions, and the direction-finding device is placed at the position points to perform direction-finding processing on the first terminal, so as to obtain direction-finding data of the plurality of first terminals.
Further, referring to fig. 3, obtaining the direction-finding data of the first terminal may be implemented by the following sub-steps, specifically including:
and S31, determining a plurality of position points of the direction-finding equipment for data measurement.
And S32, sequentially numbering the position points.
A plurality of position points in the air are randomly selected and are numbered in sequence, for example, the position points are represented by id, and the position points are numbered by numbers (0.1.2.. n.), for example, id0.id1.id2.. idn., which represents the n +1 th position point.
And S33, the direction-finding equipment acquires a plurality of direction-finding data corresponding to the first terminal at the plurality of position points.
Sequentially carrying out direction-finding processing according to the numbered position point sequence, and respectively obtaining a plurality of direction-finding data corresponding to the first terminal, for example, carrying out direction-finding processing according to the sequence of id0.id1.id2.
The direction-finding data comprise position information of the direction-finding equipment, azimuth angle information and energy information of the first terminal and the direction-finding equipment;
for example, the azimuth information θ i of the first terminal and the direction-finding device, the energy information Ei, and the location information of the direction-finding device are the GPS longitude and the GPS latitude of the location point.
It should be noted that: in this embodiment, direction finding may be performed multiple times under the same id, and direction finding may also be performed multiple times under different ids, and may be set according to actual requirements, which is not specifically limited in this embodiment.
S202, determining a plurality of first positions of the first terminal according to the plurality of direction-finding data.
Determining a plurality of first positions of the first terminal according to the plurality of direction-finding data, which can be realized by the following substeps with reference to fig. 4, specifically including:
and S41, selecting two corresponding direction-finding data from the position points according to the serial numbers of the position points.
And S42, determining the first position of the first terminal according to the two direction-finding data.
After obtaining the direction-finding data of a plurality of position points, two corresponding direction-finding data are selected from the plurality of position points according to the number of the position points, for example, the direction-finding data s1 and s2 of id0 and id1 are selected, longitude and latitude seat marks of the azimuth information theta 1 (marked as alpha) and id0 in s1 are marked as A (x0, y0), and the longitude and latitude seat marks of the azimuth information theta 2 (marked as beta) and id1 in s2 are marked as B (x1, y 1).
From the above parameters, the following geometric formula can be constructed:
further, the first position of the first terminal is obtained as:
in an alternative of the embodiment of the present invention, the determining the first position of the first terminal by placing the direction-finding data and the position information of the position point in the coordinate system specifically includes: determining a direction-finding ray corresponding to the current position point according to the azimuth angle information and the position information; and determining the first position of the first terminal according to the intersection point of the two direction-finding rays.
Referring to fig. 5, a schematic diagram of determining a first position according to an embodiment of the present invention is shown, where a direction-finding ray corresponding to a position point has a direction when performing direction-finding processing, as shown in fig. 5, an azimuth angle α corresponding to a point a (x0, y0) in a coordinate system corresponding to id0, an azimuth angle β corresponding to a point B (x1, y1) in a coordinate system corresponding to id1, a direction-finding intersection point of the two points is a point C (x, y), and the corresponding coordinate is C (x, y), where the point C is the first position.
And S43, sequentially determining a plurality of first positions of the first terminal.
Any two different position points are taken out for calculation from id0.id1.id2.
S203, determining at least one second position which accords with a set rule from the plurality of first positions.
Furthermore, the position where the intersection corresponding to the plurality of first positions is the real intersection is taken as at least one second position.
In this embodiment, because the direction-finding rays have directionality, two direction-finding rays have a forward intersection (real intersection) or a reverse intersection (virtual intersection), and in actual direction finding, the virtual intersection has a serious error in positioning, so the virtual intersection needs to be removed.
Referring to fig. 6, another schematic diagram of determining the first position according to an embodiment of the present invention is shown, as shown in fig. 6, there is no intersection point in the forward direction of the two direction-finding rays at the point a and the point B, that is, the intersection point of the two direction-finding devices is a reverse extension line intersection point (that is, an imaginary focus), and therefore, the imaginary focus is not taken as the first position.
Referring to fig. 6, assuming that C is a real intersection point and the origin of coordinates is translated to point a, the relative position between the point C and the origin (point a) can be determined by the angle α, and the relative position between the point C and the origin (point B) can be determined by the angle β. That is, in the coordinate system with point a as the origin, the quadrant of point C should coincide with the quadrant of angle α, and in the coordinate system with point B as the origin, the quadrant of point C should coincide with the quadrant of angle β. Alternatively, the angle of the straight line formed by the points a and C in the global coordinate system (not translated) is equal to α, and the angle of the straight line formed by the points B and C in the global coordinate system (not translated) is equal to β.
Let id be a certain direction finding point (x) of kk，yk) Has an azimuth angle value of thetakWhen the obtained coordinates of the target point are C (x, y), the conditions that C is the real intersection point are shown in the following table:
| first quadrant + x-axis positive half shaft | θk∈[0，90) | x≥xk，y＞yk |
| Second quadrant + y-axis positive half shaft | θk∈[90，180) | x＜xk，y≥yk |
| Negative semi-axis of third quadrant + x axis | θk∈[180，270) | x≤xk，y＜yk |
| Negative semi-axis of fourth quadrant + y axis | θk∈[270，360) | x＞xk，y≤yk |
TABLE 1
And S204, determining a third position from the second positions by adopting a set algorithm, and taking the third position as the target position of the first terminal.
Referring to fig. 7, a schematic flowchart illustrating a target location of a first terminal according to an embodiment of the present invention is shown, and as shown in fig. 7, the method specifically includes:
and S71, determining the partial second positions of which the energy information corresponding to the second positions is larger than the set energy threshold.
In this embodiment, an energy threshold is preset, such as-120 dBm, direction-finding data with an energy value smaller than-120 dBm corresponding to the energy information is removed, and a part of the second position where-120 dBm is larger than the set energy threshold is removed.
And S72, determining the azimuth angle information corresponding to the second position of the part and the coordinate information corresponding to the second position.
And S73, performing statistical processing on the azimuth angle information and the coordinate information by adopting a set algorithm, and determining the target position of the first terminal.
Performing statistical processing on the azimuth angle information and the coordinate information by adopting a cumulative error algorithm to determine a target position of the first terminal; or, performing statistical processing on the azimuth information and the coordinate information by adopting a clustering algorithm to determine the target position of the first terminal.
Suppose that under a certain id, all energy values { E } of the signals received by the direction-finding deviceiI ═ 1 to M };
suppose that under a certain id, all azimuth angles { theta ] under a rectangular coordinate systemiI ═ 1 to N };
assuming that under all ids, all target point coordinates { P (x) } obtained after target calculation and verificationi，yi) I ═ 1 to n }.
Wherein M is the number of all energy values of signals received by the direction-finding equipment under a certain id, N is the number of data left after energy screening, and N is the number of all target point coordinates obtained under all ids.
Referring to fig. 8, a schematic diagram of a cumulative difference algorithm model is shown, and a cumulative difference algorithm is used to perform statistical processing on the azimuth information and the coordinate information to determine a target position of the first terminal, which specifically includes:
for all azimuth angles theta under a certain id and rectangular coordinate systemiI ═ 1 to N }:
angle of azimuth thetaiAnd computing the distance by pairwise difference with other azimuth angles, summing and accumulating the distance values, and setting the obtained result as SdiTaking min (Sd) with the smallest accumulated differencei) Corresponding angle thetamin＝min(θi). Setting an error range in thetaminCentered from all azimuth angles thetaiIn (1), all the data θ satisfying the condition that the distance is not more than the predetermined distance are obtainedkOn the assumption that θ satisfying a distance threshold or less is foundkIs NDefinition of confidence level
AConfid∈[0，1]. Generally, the reliability may be greater than 0.1. If there are multiple identical minimum values min (Sd)i) Then the angle theta corresponding to a plurality of minimum valuesminAll need to calculate one pass NTaking NThe largest data. Finally, storing the theta screened under the idkK is 1 to NAnd the calculated and checked angle value is used as the target position.
For all the target point coordinates { P (x) } obtained after calculating and checking the target position under all the idi，yi) I — statistics from 1 to n }:
to coordinate point (x)j，yj) Distance is calculated with other coordinate points pairwise, the distance values are summed and accumulated, and the obtained result is set as SdiTaking min (Sd) with the smallest accumulated differencei) Corresponding coordinate Pmin(xmin，ymin). Setting an error range, taking Pmin(xmin，ymin) As a center, from all the target point coordinate sets { P (x)i，yi) In the method, all the satisfied distances d are obtainedk＝||Pmin|-|PkCoordinate set { P | < | |k}. The distance d is assumed to be satisfiedkP is less than or equal tokThe number is nDefining the confidence level:
PConfid∈[0，1]. Generally, the reliability may be greater than 0.1. If there are multiple identical minimum values min (Sd)i) Then the coordinates P corresponding to a plurality of minimum valuesmin(xmin，ymin) All calculate a pass nTaking nMaximum data, last pair set { P }k(xk，yk) Get the average to get Pm(xm，ym)。
Store P calculated under all idsm(xm，ym) And the coordinate corresponding to the target position finally obtained is used.
Referring to fig. 9, a schematic diagram of a clustering algorithm model is shown, and determining the target position of the first terminal by performing statistical processing on the azimuth information and the coordinate information through a clustering algorithm includes:
for all azimuth angles theta under a certain id and rectangular coordinate systemiI ═ 1 to N }:
under different ids, a clustering method can be used, which is equivalent to using an accumulation error method for each data with the same id; under the same id, the clustering method is not suitable for the azimuth statistics, and the accumulation error method is more suitable for the statistics, because generally, when the direction finding is normal, the main direction of the azimuth is only one, but the clustering method can be used for the statistics of the coordinates of the target point.
For all the target point coordinates { P (x) } obtained after target calculation and verification under all the idi，yi) I ═ 1 to n };
coordinate point { (x)j，yj) J is 1 to n, i is not equal to j, and the distance d is obtained by pairwise matching with other coordinate pointsijSetting an error range, counting the number of points in the error range by taking the coordinate of each point (i-1 to n) as a center, and making d be dijAt most, CdijWhen d is equal to 1ijWhen more than that, CdijWhen the error is equal to 0, the point number in the error range is collected as
Set of computations { CiAt this time, every C should be recordediA set of corresponding coordinates. Finding C with the largest number of pointsiNamely max (C)i) Value, while obtaining a corresponding set of coordinates { P }kWhere k is the set { P }kThe number of data in the sequence is assumed to be n, the maximum number of points to be foundThen k is 1 to nDefining the confidence level:
PConfid∈[0，1]. Generally, the reliability may be greater than 0.1. If there are multiple same C with the maximum number of pointsiNamely max (C)i) Value, then max (C)i) Corresponding set of coordinatesAnd { P }kAll need to calculate one pass nTaking nThe largest data. Set of last pair { Pk(xk，yk) Averaging to obtain: pm(xm，ym)。
Store P calculated under all idsm(xm，ym) And the coordinate corresponding to the target position finally obtained is used.
Further, the above embodiment is described by way of example, referring to table 2, the second position corresponds to a plurality of measurement data of table 2, and table 2 adopts a mode of simultaneously carrying out direction finding for a plurality of times at the same position point.
TABLE 2
Taking-120 dBm with the energy value larger than the energy value as a part of the second position, calculating the azimuth angle of the rectangular coordinate, carrying out azimuth angle statistics by using a cumulative difference method, and removing 4 pieces of data with the distance larger than 10 degrees from the threshold to obtain a table 3:
| direction finding point | Angle of rotation | Energy of | Longitude (G) | Latitude |
| id＝0 | angle＝16.5 | energy＝-76.0 | longitude＝126.59885125469908 | latitude＝45.71230214531275 |
| id＝0 | angle＝302 | energy＝-66.0 | longitude＝126.59884227164397 | latitude＝45.71231473203889 |
| id＝1 | angle＝347.1 | energy＝-62.0 | longitude＝126.5982493900074 | latitude＝45.711565816867136 |
| id＝2 | angle＝43.3 | energy＝-63.0 | longitude＝126.59867159359709 | latitude＝45.71059661753175 |
TABLE 3
And (3) calculating and checking the target, calculating id-0 and id-1 to obtain 4-5-20 intersection points, calculating id-0 and id-2 to obtain 4-5-20 intersection points, calculating id-1 and id-2 to obtain 5-25 intersection points, performing real intersection point checking, and removing the virtual intersection points, wherein the virtual intersection points are not found, and the data are still unchanged.
And (4) counting the coordinates of the target points to obtain central coordinates [9829471.35, 5082844.94], removing data larger than a threshold value of 1000m to leave 62 coordinates, and obtaining target coordinates [9829474.98, 5082841.78] according to the 62 coordinates. The above coordinates have been converted from latitude and longitude to distance in meters.
The map shows that the target coordinates [9829474.98, 5082841.78] are converted into longitude and latitude [126.5996421, 45.71164583], the actual target longitude and latitude are [126.599663, 45.7116155], the obtained error is [1.63, 3.37] m, the straight line distance is 3.74 m, the error is only less than 4 m, the positioning requirement can be met, and the effect can refer to the attached figure 10.
According to the positioning method provided by the embodiment of the invention, direction-finding data of a plurality of first terminals are obtained through direction-finding equipment; determining a plurality of first positions of the first terminal according to a plurality of direction-finding data; determining at least one second position which accords with a set rule from a plurality of first positions; and determining a third position from the second positions by adopting a set algorithm, taking the third position as a target position of the first terminal, screening the obtained direction-finding data, and removing a part of unreliable data. Through the statistical screening of angle for the angle of the position point that the direction finding corresponds is more concentrated, and then makes many direction finding ray's junction denser, and the rethread is to the statistical screening of junction, makes the target location result further reduce, and then has promoted the accuracy degree of location. Meanwhile, unreliable data are screened out, and the calculation efficiency is improved while the calculation amount is reduced.
Fig. 11 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention, and as shown in fig. 11, the apparatus specifically includes:
an obtaining module 1101, configured to obtain, by using a direction-finding device, direction-finding data of a plurality of first terminals, where the direction-finding data includes location information of the direction-finding device, and azimuth angle information and energy information of the first terminals and the direction-finding device;
a determining module 1102, configured to determine a plurality of first locations of the first terminal according to a plurality of the direction-finding data;
the determining module 1102 is further configured to determine at least one second location meeting a set rule from the plurality of first locations;
the determining module 1102 is further configured to determine a third location from the second locations by using a setting algorithm, and use the third location as a target location of the first terminal.
Optionally, the obtaining module 1101 is specifically configured to determine a plurality of location points where the direction finding device performs data measurement; numbering the position points in sequence; and the direction-finding equipment acquires a plurality of direction-finding data corresponding to the first terminal at a plurality of position points.
Optionally, the determining module 1102 is specifically configured to select two corresponding direction finding data from the plurality of location points according to the numbers of the location points; determining a first position of the first terminal according to the two direction-finding data; and sequentially determining a plurality of first positions of the first terminal.
Optionally, the determining module 1102 is specifically configured to determine, according to the azimuth information and the location information, a direction-finding ray corresponding to the current location point; and determining the first position of the first terminal according to the intersection point of the two direction-finding rays.
Optionally, the determining module 1102 is specifically configured to use, as the at least one second location, a location where an intersection corresponding to the plurality of first locations is an actual intersection.
Optionally, the determining module 1102 is specifically configured to determine a part of the second location where the energy information corresponding to the second location is greater than a set energy threshold; determining the azimuth angle information corresponding to the part of the second position and the coordinate information corresponding to the second position; and performing statistical processing on the azimuth angle information and the coordinate information by adopting a set algorithm to determine the target position of the first terminal.
Optionally, the determining module 1102 is specifically configured to perform statistical processing on the azimuth information and the coordinate information by using a cumulative difference algorithm, and determine the target position of the first terminal.
Optionally, the determining module 1102 is specifically configured to perform statistical processing on the azimuth information and the coordinate information by using a clustering algorithm, and determine the target position of the first terminal.
The positioning device provided in this embodiment may be the positioning device shown in fig. 11, and may perform all the steps of the positioning method shown in fig. 2 to 10, so as to achieve the technical effects of the positioning method shown in fig. 2 to 10, and please refer to the related descriptions of fig. 2 to 10 for brevity, which is not described herein again.
Fig. 12 is a schematic structural diagram of a positioning system according to an embodiment of the present invention, and as shown in fig. 12, the positioning system specifically includes:
a processor 1210, a memory 1220, and a transceiver 1230.
The memory 1220 is used for storing various applications, operating systems, and data. The memory 1220 may transfer the stored data to the processor 1210. The memory 1220 may include a volatile memory, a nonvolatile dynamic random access memory (NVRAM), a phase change random access memory (PRAM), a Magnetoresistive Random Access Memory (MRAM), and the like, such as at least one magnetic disk memory device, an electrically erasable programmable read-only memory (EEPROM), a flash memory device, such as a flash memory (NOR) or a flash memory (NAND), a semiconductor device, such as a Solid State Disk (SSD), and the like. The memory 1220 may also include a combination of the above types of memory.
A transceiver 1230 for transmitting and/or receiving data, the transceiver 1230 may be an antenna, etc.
The working process of each device is as follows:
the transceiver 1230 is configured to acquire, by using a direction-finding device, direction-finding data of a plurality of first terminals, where the direction-finding data includes location information of the direction-finding device, and azimuth angle information and energy information of the first terminals and the direction-finding device;
a processor 1210 configured to determine a plurality of first locations of the first terminal based on a plurality of the direction-finding data;
the processor 1210 is further configured to determine at least one second location from the plurality of first locations, wherein the second location meets a set rule;
the processor 1210 is further configured to determine a third location from the second locations by using a setting algorithm, and use the third location as a target location of the first terminal.
Optionally, the transceiver 1230 is specifically configured to determine a plurality of location points where the direction-finding device performs data measurement; numbering the position points in sequence; and the direction-finding equipment acquires a plurality of direction-finding data corresponding to the first terminal at a plurality of position points.
Optionally, the processor 1210 is specifically configured to select two corresponding direction finding data from the plurality of location points according to the number of the location point; determining a first position of the first terminal according to the two direction-finding data; and sequentially determining a plurality of first positions of the first terminal.
Optionally, the processor 1210 is specifically configured to determine, according to the azimuth information and the location information, a direction-finding ray corresponding to the current location point; and determining the first position of the first terminal according to the intersection point of the two direction-finding rays.
Optionally, the processor 1210 is specifically configured to use a position where an intersection corresponding to the plurality of first positions is an actual intersection as the at least one second position.
Optionally, the processor 1210 is specifically configured to determine a partial second location where the energy information corresponding to the second location is greater than a set energy threshold; determining the azimuth angle information corresponding to the part of the second position and the coordinate information corresponding to the second position; and performing statistical processing on the azimuth angle information and the coordinate information by adopting a set algorithm to determine the target position of the first terminal.
Optionally, the processor 1210 is specifically configured to perform statistical processing on the azimuth angle information and the coordinate information by using an accumulation algorithm, and determine a target position of the first terminal.
Optionally, the processor 1210 is specifically configured to perform statistical processing on the azimuth information and the coordinate information by using a clustering algorithm, and determine a target position of the first terminal.
The positioning apparatus provided in this embodiment may be a positioning system as shown in fig. 12, and may perform all the steps of the positioning method shown in fig. 2 to 10, so as to achieve the technical effects of the positioning method shown in fig. 2 to 10, and please refer to the related descriptions of fig. 2 to 10 for brevity, which is not described herein again.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. 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 invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (11)
1. A method of positioning, comprising:
obtaining direction-finding data of a plurality of first terminals by using direction-finding equipment, wherein the direction-finding data comprises: the position information of the direction-finding equipment, and the azimuth angle information and the energy information of the first terminal and the direction-finding equipment;
determining a plurality of first positions of the first terminal according to a plurality of direction-finding data;
determining at least one second position which accords with a set rule from a plurality of first positions;
and determining a third position from the second positions by adopting a set algorithm, and taking the third position as the target position of the first terminal.
2. The method of claim 1, wherein obtaining direction-finding data for a plurality of first terminals using a direction-finding device comprises:
determining a plurality of position points for data measurement of the direction-finding equipment;
numbering the position points in sequence;
and the direction-finding equipment acquires a plurality of direction-finding data corresponding to the first terminal at a plurality of position points.
3. The method of claim 2, wherein determining a plurality of first locations of the first terminal from a plurality of the direction-finding data comprises:
selecting two corresponding direction-finding data from the position points according to the serial numbers of the position points;
determining a first position of the first terminal according to the two direction-finding data;
and sequentially determining a plurality of first positions of the first terminal.
4. The method of claim 3, wherein determining the first location of the first terminal from the two direction-finding data comprises:
determining a direction-finding ray corresponding to the current position point according to the azimuth angle information and the position information;
and determining the first position of the first terminal according to the intersection point of the two direction-finding rays.
5. The method according to claim 1 or 4, wherein said determining at least one second location from a plurality of said first locations that complies with a set rule comprises:
and taking the position of the real intersection point corresponding to the plurality of first positions as at least one second position.
6. The method of claim 1, wherein determining a third position from the second positions using a set algorithm comprises:
determining partial second positions of which the energy information corresponding to the second positions is larger than a set energy threshold;
determining the azimuth angle information corresponding to the part of the second position and the coordinate information corresponding to the second position;
and performing statistical processing on the azimuth angle information and the coordinate information by adopting a set algorithm to determine the target position of the first terminal.
7. The method according to claim 6, wherein the determining the target location of the first terminal by statistically processing the azimuth information and the coordinate information using a set algorithm comprises:
and performing statistical processing on the azimuth angle information and the coordinate information by adopting a cumulative error algorithm to determine the target position of the first terminal.
8. The method according to claim 6 or 7, wherein the determining the target position of the first terminal by statistically processing the azimuth information and the coordinate information by using a set algorithm further comprises:
and performing statistical processing on the azimuth angle information and the coordinate information by adopting a clustering algorithm to determine the target position of the first terminal.
9. A positioning apparatus, comprising:
the device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring direction-finding data of a plurality of first terminals by using direction-finding equipment, and the direction-finding data comprises position information of the direction-finding equipment, azimuth angle information and energy information of the first terminals and the direction-finding equipment;
a determining module, configured to determine a plurality of first positions of the first terminal according to the plurality of direction-finding data;
the determining module is further used for determining at least one second position which accords with a set rule from a plurality of first positions;
the determining module is further configured to determine a third position from the second positions by using a set algorithm, and use the third position as a target position of the first terminal.
10. A positioning system, comprising:
the device comprises a transceiver and a direction-finding device, wherein the transceiver is used for acquiring direction-finding data of a plurality of first terminals by using the direction-finding device, and the direction-finding data comprises position information of the direction-finding device, azimuth angle information and energy information of the first terminals and the direction-finding device;
a processor configured to determine a plurality of first locations of the first terminal based on a plurality of the direction-finding data;
the processor is further used for determining at least one second position which accords with a set rule from a plurality of first positions;
the processor is further configured to determine a third position from the second positions by using a setting algorithm, and use the third position as a target position of the first terminal.
11. A storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the positioning method according to any one of claims 1-8.
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