CN110381457A - A kind of indoor equipment positioning system and method - Google Patents
A kind of indoor equipment positioning system and method Download PDFInfo
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- CN110381457A CN110381457A CN201910808288.8A CN201910808288A CN110381457A CN 110381457 A CN110381457 A CN 110381457A CN 201910808288 A CN201910808288 A CN 201910808288A CN 110381457 A CN110381457 A CN 110381457A
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- 230000004807 localization Effects 0.000 claims abstract description 47
- 230000001360 synchronised effect Effects 0.000 claims abstract description 17
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of indoor equipment positioning system and method, which includes at least two indoor equipmenies and at least four base stations.Keep clock synchronous between each base station；The setting position of base station meets condition: any four base station is not in the same plane, and indoor equipment can receive the signal at least three Base Transmitters at an arbitrary position；Base station number is to meet the minimum number of the condition；When indoor equipment currently can receive to the signal of three base stations, current three-dimensional localization position is determined therefrom that using TOF, when currently can receive to the signal of at least four base stations, determines therefrom that current three-dimensional localization position using TDOA；Base station sequentially arranges each signal received, and first signal is unmarked and not when last bit, the time of last time processing homologous signal and current time are in certain time length, moves it to last bit and marks, otherwise handles first signal.This programme can handle in time the signal of each indoor equipment, to improve positioning accuracy.
Description
Technical field
The present invention relates to field of computer technology, in particular to a kind of indoor equipment positioning system and method.
Background technique
GPS (Global Positioning System, global positioning system) positioning, is presently the most common one kind
Equipment positions implementation, but is not suitable for the positioning of indoor equipment.Existing common indoor wireless location technology, have honeycomb,
WiFi, bluetooth, infrared ray, ultra wide band, RFID (Radio Frequency Identification, radio frequency identification), ZigBee
(ZigBee protocol) and ultrasonic wave.
By taking ultra wide band positions as an example, several base stations can be installed indoors, indoor equipment is indoors in moving process, according to
Its distance parameter between each base station, is positioned using location algorithm.The execution of location algorithm, can be related to base station and
Signal transmitting and receiving between indoor equipment, when there are multiple indoor equipmenies, usually successively each indoor equipment of sequential processes is sent out for base station
The signal come.
But, when the number of signals received in the short time is more, it is possible to base station occur and handle a certain interior always
The signal that equipment is sent, and be later than and handle the case where other indoor equipmenies are signaled, cause signal processing not prompt enough, thus
Influence positioning accuracy.
Summary of the invention
The present invention provides a kind of indoor equipment positioning system and methods, can handle the letter of each indoor equipment in time
Number, to improve positioning accuracy.
In order to achieve the above object, the present invention is achieved through the following technical solutions:
On the one hand, the present invention provides a kind of indoor equipment positioning systems, comprising: at least two indoor equipmenies and at least four
A base station；
Wherein, the base station is mounted on indoor wall；
Keep clock synchronous between each base station；
The setting position of the base station meets condition one；
Base station number is to meet the minimum number of the condition one；
The indoor equipment can move freely in area of space indoors；
The condition one includes: that base station described in any four is not in the same plane, and any indoor equipment
When at any interior space position in its mobile range, which be can receive at least three Base Transmitters
Signal；
Wherein, each described indoor equipment utilizes when being used to currently to can receive to the signal of three Base Transmitters
TOF (Time of flight, flight time telemetry) is based on three base stations with the current three-dimensional localization position of determination；Currently may be used
When receiving the signal of at least four Base Transmitters, TDOA (Time Difference of Arrival, reaching time-difference are utilized
Method) based at least four base station with the current three-dimensional localization position of determination；
Each described base station is used to sequentially arrange each signal received；For the preceding first letter that sorts
Number, the first signal is unmarked, the first signal does not exist in last bit, the time of last time processing homologous signal and current time
When within the scope of prefixed time interval, marks the first signal and move to last bit, otherwise handle the first signal, wherein is same
The sender of source signal is identical.
Further, each described indoor equipment, is used to the signal that currently can receive at least four Base Transmitters
When, judge at least four base station, if exist spacing apart from itself relatively closer to four first base stations, and it is any
The difference of spacing of two first base stations apart from itself is no more than preset threshold, if so, being based on this four first using TDOA
Base station is with the current three-dimensional localization position of determination, otherwise, determined from least four base station apart from itself relatively closer four
A base station, using TDOA based on four base stations with the current three-dimensional localization position of determination.
Further, each described indoor equipment, is used to the signal that currently can receive at least four Base Transmitters
When, judge at least four base station, if there are at least four target BS, the spacing of either objective base station distance itself is equal
No more than default distance values, if so, using TOF based on three base stations at least four target BS to determine position location
Place section, and using TDOA based on four base stations at least four target BS to determine position location location
Between, the intersection in section, no according to the intersection with the current three-dimensional localization position of determination where taking two position locations determined
Then, A1 or A2 is executed；
Wherein, the A1 includes: to determine from least four base station apart from itself three relatively closer base station, and
Using TOF based on three base stations with the current three-dimensional localization position of determination；
Wherein, the A2 includes: to determine from least four base station apart from itself three relatively closer base station, and
Section where being determined position location based on three base stations using TOF, is determined from least four base station apart from itself
Four relatively closer base stations, and section where position location is determined based on four base stations using TDOA are taken and are determined
The intersection in section where two position locations, according to the intersection with the current three-dimensional localization position of determination.
Further, each described indoor equipment is used to judging to execute there are when at least four target BS
Operations described below:
S1: judge at least four target BS, if exist spacing apart from itself relatively closer to four
Two base stations, and the difference of the spacing of the second base station distance of any two itself is no more than preset threshold, if so, S2 is executed, it is no
Then, S4 is executed；
S2: section where determining position location based on four second base stations using TDOA, and execute S3；
S3: from four second base stations, determine spacing apart from itself relatively closer to three third base stations, and
Section where determining position location based on three third base stations using TOF, and execute S8；
S4: determining from least four target BS apart from itself four relatively closer base station, and utilizes TDOA
Based on four base stations to determine section where position location, and execute S5；
S5: judge at least four target BS, if exist spacing apart from itself relatively closer to three
Four base stations, and the difference of the spacing of the 4th base station distance itself of any two is no more than the preset threshold, if so, executing
Otherwise S6 executes S7；
S6: section where determining position location based on three the 4th base stations using TOF, and execute S8；
S7: it is determined from least four target BS apart from itself three relatively closer base station, and utilizes TOF base
In three base stations to determine section where position location, and execute S8；
S8: the intersection in section where taking two position locations determined；The centre of sphere of smallest sphere including the intersection is sat
Mark is determined as current three-dimensional localization position.
Further, the condition one further include: any indoor equipment is located at any room in its mobile range
When at interior spatial position, which can receive the signal at least three Base Transmitters, and at least three base station, with
The spacing of the indoor equipment be not more than the base stations of default distance values at least there are three.
Further, the default distance values are any one numerical value in value range [8m, 12m].
Further, indoor equipment positioning system further include: clock chip；
Wherein, the clock chip is connected with base station described in each respectively by physical circuit；
The clock chip keeps clock synchronous for supporting between each base station.
Further, indoor equipment positioning system further include: central control system；
Wherein, the indoor equipment is unmanned plane；
The unmanned plane, the current three-dimensional localization position for will determine wirelessly are sent to described in real time
Central control system；
The central control system, in front end display screen, based on pre-configured interior space regional model,
Corresponding display in real time is carried out to the current three-dimensional localization position, so that the current three-dimensional localization position is in the interior space
Relative position in regional model, it is consistent with the relative position in the unmanned plane indoors area of space.
Further, the signal frequency range of each indoor equipment is respectively positioned within the scope of 2.42GHz~2.48GHz, and each frequency
The bandwidth of point is 20MHz.
On the other hand, the present invention provides a kind of indoor equipment localization methods, set applied to any of the above-described interior
For positioning system, keep clock synchronous between each base station in the indoor equipment positioning system, further includes:
For any base station in the indoor equipment positioning system, each signal received is sequentially arranged, for
Sort preceding first signal, and the first signal is unmarked, the first signal is not in last bit, last time processing homologous signal
When time and current time are within the scope of prefixed time interval, mark the first signal and move to last bit, otherwise described in processing
First signal, wherein the sender of homologous signal is identical；
For any indoor equipment in the indoor equipment positioning system, the letter to three Base Transmitters currently can receive
Number when, using flight time telemetry TOF based on three base stations with the current three-dimensional localization position of determination, currently can receive to
It is current three-dimensional fixed to determine based at least four base station using time difference method TDOA is reached when the signal of few four Base Transmitters
Position position.
The present invention provides a kind of indoor equipment positioning system and methods, and the system is including at least two indoor equipmenies and extremely
Few four base stations.Keep clock synchronous between each base station；The setting position of base station meets condition: any four base station is not located at
On same plane, indoor equipment can receive the signal at least three Base Transmitters at an arbitrary position；Base station number is to meet
The minimum number of the condition；When indoor equipment currently can receive to the signal of three base stations, current three-dimensional is determined therefrom that using TOF
Position location determines therefrom that current three-dimensional localization position using TDOA when currently can receive to the signal of at least four base stations；Base
Stand each signal for sequentially arranging and receiving, first signal it is unmarked and not last bit, last time processing homologous signal time and work as
It when the preceding time is in certain time length, moves it to last bit and marks, otherwise handle first signal.The present invention can be handled respectively in time
The signal of a indoor equipment, to improve positioning accuracy.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of schematic diagram for indoor equipment positioning system that one embodiment of the invention provides；
Fig. 2 is a kind of schematic diagram that three-dimensional localization position is determined using TOF that one embodiment of the invention provides；
Fig. 3 is the schematic diagram for another indoor equipment positioning system that one embodiment of the invention provides；
Fig. 4 is a kind of flow chart for indoor equipment localization method that one embodiment of the invention provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, may include: at least two Room the embodiment of the invention provides a kind of indoor equipment positioning system
Interior equipment 101 and at least four base stations 102；
Wherein, the base station 102 is mounted on indoor wall；
Keep clock synchronous between each base station 102；
The setting position of the base station 102 meets condition one；
The number of base station 102 is the minimum number for meeting the condition one；
The indoor equipment 101 can move freely in area of space indoors；
The condition one includes: that base station 102 described in any four is not in the same plane, and any interior is set
When being located at any interior space position in its mobile range for 101, which be can receive at least three bases
Stand 102 transmitting signals；
Wherein, each described indoor equipment 101, when being used to currently can receive the signal emitted to three base stations 102,
Using TOF based on three base stations 102 with the current three-dimensional localization position of determination；It currently can receive at least four base stations 102 and send out
When the signal penetrated, using TDOA based at least four base station 102 with the current three-dimensional localization position of determination；
Each described base station 102 is used to sequentially arrange each signal received；It is preceding first for sorting
Signal, the first signal is unmarked, the first signal is in last bit, the time of last time processing homologous signal and current time
When within the scope of prefixed time interval, marks the first signal and moves to last bit, otherwise handle the first signal, wherein
The sender of homologous signal is identical.
The embodiment of the invention provides a kind of indoor equipment positioning systems, and the system is including at least two indoor equipmenies and extremely
Few four base stations.Keep clock synchronous between each base station；The setting position of base station meets condition: any four base station is not located at
On same plane, indoor equipment can receive the signal at least three Base Transmitters at an arbitrary position；Base station number is to meet
The minimum number of the condition；When indoor equipment currently can receive to the signal of three base stations, current three-dimensional is determined therefrom that using TOF
Position location determines therefrom that current three-dimensional localization position using TDOA when currently can receive to the signal of at least four base stations；Base
Stand each signal for sequentially arranging and receiving, first signal it is unmarked and not last bit, last time processing homologous signal time and work as
It when the preceding time is in certain time length, moves it to last bit and marks, otherwise handle first signal.The embodiment of the present invention can be timely
The signal of each indoor equipment is handled, to improve positioning accuracy.
In the embodiment of the present invention, due to indoor equipment, such as unmanned plane, it usually needs freely moved in area of space indoors
It is dynamic, therefore to avoid base station from causing to stop to the mobile route of indoor equipment, base station can be set on indoor wall.Here wall
Wall refers to the synthesis of indoor side wall and indoor roof.
In the embodiment of the present invention, TDOA is time difference when reaching different base station based on same signal to realize positioning, such as
This, holding clock is synchronous between can limiting each base station, and the realization principle based on TDOA, can limit base station number as extremely
It is four few.
It is different from TDOA, when being based on TOF, need three base stations that positioning can be realized.
It, can be according to the base station portion of its surrounding enviroment when indoor equipment is moved to different location in the embodiment of the present invention
Situation selects suitable location algorithm to realize positioning.
In view of the positioning accuracy and speed of TDOA can slightly be better than TOF, but the increase of base station can bring certain cost to throw
Enter, in this way, above-mentioned condition one can be limited, to guarantee locating effect as well as possible with base station as few as possible.
Based on above-mentioned condition one, when indoor equipment is at an interior space position, it can receive at least three base stations and send out
The signal penetrated.In this way, base station number here uses TOF when being 3, TDOA is otherwise used.In detail, this signal usually can be with
For pulse-modulated signal.
For TOF, based between base station and indoor equipment signal transmitting and receiving and signal received and dispatched when timestamp,
Can by issuing and receive time difference of signal, calculate label to be positioned to base station distance.Calculation formula can be di
=c × (t/2), t are the time difference, and c is signaling rate, diFor linear distance length between the two.There are when 3 base stations,
Linear distance length of the indoor equipment respectively between this 3 base stations can be calculated.
Referring to FIG. 2, being directed to a base station, one can be formed using this base station as the centre of sphere, diFor the spherical surface of radius, spherical surface public affairs
Formula is (x-xi)2+(y-yi)2+(z-zi)2=ri 2, (xi, yi, zi) it is base station coordinates, di=ri.When there are two the information of base station
When, two spherical surfaces will intersect at a circumference；When there are three the information of base station, three spherical surfaces will intersect at a point.Pass through
Three spherical formulas of simultaneous solve, and the coordinate (x, y, z) of intersection point can be obtained, the 3 d space coordinate of this i.e. indoor equipment, i.e., its
Current three-dimensional localization position.
For TDOA, the time difference of signal is received using multiple base stations to determine the position of mobile target.Assuming that
After indoor equipment issues a signal, i-th of base station is t at the time of receiving signali, distance of the indoor equipment to i-th of base station
For ri.In the case where fully synchronized between the base stations, it can be deduced that indoor equipment is with respect to four groups of base stations of Mr. Yu (assuming that this 4 groups of bases
Stand be respectively base station 1 and base station 2, base station 2 and base station 3, base station 3 and base station 4, base station 4 and base station 1) range difference.
By taking base station 1 and base station 2 as an example, d12=r1-r2=(t1-t2)×c。r1For indoor equipment to base station 1 straight line away from
From r2For indoor equipment to the linear distance of base station 2, t1At the time of receiving signal for base station 1, t2Signal is received for base station 2
At the time of, c is signaling rate.
In addition,(x, y,
It z) is indoor equipment coordinate, (x1, y1, z1) it is 1 coordinate of base station, (x2, y2, z2) it is 1 coordinate of base station.
Similarly, available d23、d34、d41.This equation group is solved, the coordinate of indoor equipment can be acquired.
It, can be according to it when indoor equipment is moved to different location by limiting above-mentioned condition one in the embodiment of the present invention
The base station portion situation of surrounding enviroment can switch on demand using TOF and TDOA and realize positioning, so as to as few as possible
Base station guarantees locating effect as well as possible.
In the embodiment of the present invention, for each signal that base station receives, and indirect sequential processes, but use in real time more
The mode of new sort and poll, to handle signal.
As an example it is assumed that a base station receives the signal that 3 indoor equipmenies are sent, respectively signal A-1, signal B- at first
1, signal A-2, signal C-1.Wherein, indoor equipment A sends signal A-1 and signal A-2, and the sender of the two is indoor equipment
A, therefore the two is homologous signal.Indoor equipment B sends signal B-1, and indoor equipment C sends signal C-1.
At this point, first signal is signal A-1, it is known that, signal A-1 is unmarked, it is any not yet to handle not in last bit and at present
Signal, therefore can directly handle signal A-1.It can be removed after the completion of signal A-1 processing.
Then, first signal is signal B-1, it is known that, signal B-1 is unmarked, not yet processes it not in last bit and at present
Homologous signal, therefore can directly handle signal B-1.
Later, first signal is signal A-2, it is known that, signal A-2 is unmarked, not in last bit, but it is same to assume that last time handles it
The time of source signal (signal A-1) and current time can not handle signal A-2 first in prefixed time interval range T, and
It is to move it to last bit and mark, in this way, signal A-2 is located at after signal C-1.
Later, first signal is signal C-1, it is known that, signal C-1 is unmarked, not yet processes it not in last bit and at present
Homologous signal, therefore after can directly handling signal C-1.
Later, first signal is signal A-2, it is known that, signal A-2 is marked and in last bit, even if last time, to handle its homologous
The time of signal (signal A-1) and current time still directly handle signal A-2 in T.
Assuming that when processing signal C-1, and receive signal D-1.Then signal D-1 is located at after signal A-2.Even if signal A-
2 in last bit, and time for handling its homologous signal (signal A-1) last time and current time be in T, since its is marked, i.e.,
It had been delayed by once, then without postponing again, can directly handle.Signal A-2 and then processing signal D-1 is handled.
Based on above content, the embodiment of the present invention can be able to the signal processing between each indoor equipment of guarantee of relative equilibrium
Processing in time.Due to position location calculating and signal processing it is timely whether exist and be associated with, signal processing is more timely, is calculated
Position location it is more accurate.
In an embodiment of the invention, each described indoor equipment 101, is used to currently can receive at least four
When the signal that base station 102 emits, judge at least four base station 102, if exist spacing apart from itself relatively closer to
Four first base stations, and the difference of spacing of any two first base station apart from itself is no more than preset threshold, if so, sharp
With TDOA based on four first base stations with the current three-dimensional localization position of determination, otherwise, determined from least four base station 102
Out apart from itself four relatively closer base station 102, using TDOA based on four base stations 102 with the current three-dimensional localization position of determination
It sets.
When using TDOA, positioning only can be realized with 4 base stations.In this way, being subjected to more than 4 base stations in current environment
Signal when, can be with optimum selecting base station with for calculating position location.
In the present embodiment, closer 4 base stations of spacing between preferred distance indoor equipment, and require between different spacing
Gap is answered sufficiently small.Since spacing is closer, and the difference between different spacing is sufficiently small, then calculated position location is logical accordingly
It is often more accurate.Herein on basis, when this 4 base stations are not present, it is contemplated that when brought by signal transmission distance is remoter
Between error it is relatively bigger, therefore 4 base stations that can be relatively closer with preferred distance indoor equipment, and being calculated based on this 4 base stations
Position location.
It,, can be with by base station preferred operations when can be used for position location there are multiple base stations and calculate in the embodiment of the present invention
Position location is calculated using more preferably base station, is beneficial to improve positioning accuracy.
In an embodiment of the invention, each described indoor equipment 101, is used to currently can receive at least four
When the signal that base station 102 emits, judge at least four base station 102, if there are at least four target BS, either objectives
The spacing of base station distance itself is no more than default distance values, if so, using TOF based on three at least four target BS
A base station to determine section where position location, and using TDOA based on four base stations at least four target BS with
Section where determining position location；The intersection in section where taking two position locations determined；Worked as according to the intersection with determination
Otherwise preceding three-dimensional position location executes A1 or A2；
Wherein, the A1 includes: to be determined from least four base station 102 apart from itself three relatively closer base
It stands, and utilizes TOF based on three base stations with the current three-dimensional localization position of determination；
Wherein, the A2 includes: to be determined from least four base station 102 apart from itself three relatively closer base
It stands, and determines position location place section based on three base stations using TOF, determined from least four base station 102
Four base stations relatively closer apart from itself, and position location place section is determined based on four base stations using TDOA, it takes
The intersection in section where two position locations determined, according to the intersection with the current three-dimensional localization position of determination.
In detail, default distance values can be arranged on demand, such as usually can be special according to the correlation of indoor equipment and base station
Property and determine, the distance to guarantee base station distance indoor equipment used for positioning is not too far, to improve positioning accurate as far as possible
Accuracy.Based on this, in an embodiment of the invention, the default distance values are any one in value range [8m, 12m]
Numerical value.For example, this default distance values can be 8m, 9m, 10m, 11m etc..
By taking default distance values are 10m as an example, for example, the distance value of at least four base station distances indoor equipment is distinguished
When for 1m, 2m, 5m, 6m, 7m, 7.5m, 11m, 12m, 15m, it can be determined that there are at least four target BS out (is herein 6
Target BS), distance value of each target BS apart from indoor equipment is respectively 1m, 2m, 5m, 6m, 7m, 7.5m.
For another example, the distance value of at least four base station distances indoor equipment is respectively 6m, 7m, 7.5m, 11m, 12m, 15m
When, it can be determined that at least four target BS (being herein 3 target BS) is not present out, therefore A1 or A2 can be executed.
In this way, for calculating three base stations of position location, the distance value apart from indoor equipment is respectively when executing A1
6m、7m、7.5m。
In this way, when executing A2, three base stations in section where position location is determined using TOF, apart from indoor equipment
Distance value is respectively 6m, 7m, 7.5m, four base stations in section where position location is determined using TDOA, apart from indoor equipment
Distance value be respectively 6m, 7m, 7.5m, 11m.
In detail, either TOF or TDOA, wherein the numerical value used usually not is an absolute definite value, and would generally
There is certain floating range.
For example, referring to FIG. 2, in TOF, using base station as the centre of sphere, base station between indoor equipment at a distance from be that radius makees ball
When body, sphere usually has certain wall thickness.In this way, it is an absolute anchor point that the intersection location of three spheres, which is not, and
It is an orientation range section, the position location of indoor equipment is i.e. in the section.
Similarly, in TDOA, an orientation range section, the position location area Ji Gai of indoor equipment finally can also be obtained
Between in.
In this way, the intersection in section where the two position locations can be taken, to reduce orientation range section.Due to positioning model
It encloses section accurately to be reduced, therefore calculated position location will be more accurate accordingly.
In an embodiment of the invention, each described indoor equipment 101 is used to judging that there are at least four
When target BS, operations described below is executed:
S1: judge at least four target BS, if exist spacing apart from itself relatively closer to four
Two base stations, and the difference of the spacing of the second base station distance of any two itself is no more than preset threshold, if so, S2 is executed, it is no
Then, S4 is executed；
S2: section where determining position location based on four second base stations using TDOA, and execute S3；
S3: from four second base stations, determine spacing apart from itself relatively closer to three third base stations, and
Section where determining position location based on three third base stations using TOF, and execute S8；
S4: determining from least four target BS apart from itself four relatively closer base station, and utilizes TDOA
Based on four base stations to determine section where position location, and execute S5；
S5: judge at least four target BS, if exist spacing apart from itself relatively closer to three
Four base stations, and the difference of the spacing of the 4th base station distance itself of any two is no more than the preset threshold, if so, executing
Otherwise S6 executes S7；
S6: section where determining position location based on three the 4th base stations using TOF, and execute S8；
S7: it is determined from least four target BS apart from itself three relatively closer base station, and utilizes TOF base
In three base stations to determine section where position location, and execute S8；
S8: the intersection in section where taking two position locations determined；The centre of sphere of smallest sphere including the intersection is sat
Mark is determined as current three-dimensional localization position.
For example, currently can receive to 6 target BS emit signal, this 6 target BS be respectively benchmark 1~
Base station 6, and this spacing of 6 target BS apart from indoor equipment is respectively 1m, 2m, 5m, 6m, 7m, 7.5m.Between different spacing
Difference, maximum can reach 6.5m, and minimum can be 0.5m.
Situation 1: assuming that preset threshold is 3m, then the judging result of S1 is yes, and four the second base stations are 3~base station of base station 6.
In S2, using 3~base station of base station 6 to determine section 1.In S3, three third base stations are 4~base station of base station 6, and based on this with
Determine section 2.Then, S8 is executed, determines position location using section 1 and section 2.
Situation 2: assuming that preset threshold is 2m, then the judging result of S1 is no, then executes S4, determines Distance positioning equipment
Apart from 4 closer base stations: 1~base station of base station 4, and based on this to determine section 3.Then execute S5, judging result be it is yes,
Three the 4th base stations are 4~base station of base station 6.In S6, using 4~base station of base station 6 to determine section 4.Then, S8, benefit are executed
Position location is determined with section 3 and section 4.
Situation 3: assuming that preset threshold is 1m, then the judging result of S1 is no, then executes S4, determines Distance positioning equipment
Apart from 4 closer base stations: 1~base station of base station 4, and based on this to determine section 3.Then execute S5, judging result be it is no,
Then execute S7.In S7, three base stations are 1~base station of base station 3, and based on this to determine section 5.Then, S8 is executed, area is utilized
Between 3 and section 5 determine position location.
It, can be excellent in conjunction with above-mentioned base station on the technical foundation for taking intersection to determine position location based on above content
Selection operation, by the adduction effect of the two, preferably to improve positioning accuracy.
In an embodiment of the invention, the condition one further include: any indoor equipment 101 is removable positioned at it
When at any interior space position in range, which can receive the signal emitted at least three base stations 102,
And at least three base station 102, the base station 102 at least three of default distance values is not more than with the spacing of the indoor equipment 101
It is a.
Mentioned above, the principle of base station preferred operations is to select apart from the shortest base station of indoor equipment spacing, Lai Shixian
Location Calculation.Based on this, there are multiple base station optional times, can be selected by simple comparing calculation to do base station.
In this way, base station can be closely set as far as possible in the case where base station input cost is more than needed, it is close to increase base station
Degree.In this way, the operation that above-mentioned base station is selected can be saved, and part available base stations are selected at random, to simplify positioning operation
Processing.
It in detail, can be according to indoor equipment and the correlation properties of base station, this default distance values to be arranged on demand, to protect
The distance for demonstrate,proving base station distance indoor equipment used for positioning is not too far, to improve positioning accuracy as far as possible.Based on this,
In one embodiment of the invention, the default distance values are any one in value range [8m, 12m].
For example, more common, the default distance values can be 10m.Certainly, based on different practical application requests,
It can equally be set as other numerical value, such as 8m, 12m etc. on demand.
In an embodiment of the invention, referring to FIG. 3, the indoor equipment positioning system further include: clock chip 301；
Wherein, the clock chip 301 is connected with base station 102 described in each respectively by physical circuit；
The clock chip 301 keeps clock synchronous for supporting between each base station 102.
Referring to FIG. 3, clock chip is connected by physical circuit with each base station, when benchmark based on clock chip offer
Clock, can synchronised clock between each base station.Each base station clock is synchronous, is the basic demand for guaranteeing positioning accuracy.
Referring to FIG. 3, clock chip can be set in outdoor.But in other embodiments, can equally be arranged on demand
In interior.
In an embodiment of the invention, referring to FIG. 3, the indoor equipment positioning system further include: central control system
302；
Wherein, the indoor equipment 101 is unmanned plane；
The unmanned plane, the current three-dimensional localization position for will determine wirelessly are sent to described in real time
Central control system 302；
The central control system 302 is used in front end display screen, based on pre-configured interior space region mould
Type carries out corresponding display in real time to the current three-dimensional localization position, so that the current three-dimensional localization position is in the interior
Relative position in area of space model, it is consistent with the relative position in the unmanned plane indoors area of space.
In detail, the activity trajectory of unmanned plane can be shown through display screen, so that user's real time inspection.For example, nothing
Man-machine camera can shoot the image of its position, by synchronizing on a display screen to image and position location
It has been shown that, so that the viewing effect of user is more intuitive, user experience is good.
In an embodiment of the invention, the signal frequency range of each indoor equipment 101 is respectively positioned on 2.42GHz~2.48GHz
In range, and the bandwidth of each frequency point is 20MHz.
In detail, due to indoor equipment have it is multiple, to avoid the signal transmitting and receiving between different indoor equipmenies and base station from depositing mutually
It is interfering, signal frequency range corresponding to different indoor equipment receiving and transmitting signals can be enabled different, and specific certain bandwidth.
As shown in figure 4, the embodiment of the invention provides a kind of indoor equipment localization methods, applied to any of the above-described described
Indoor equipment positioning system, comprising:
Step 401: keeping clock synchronous between each base station in the indoor equipment positioning system.
Step 402: for any base station in the indoor equipment positioning system, sequence arranges each letter received
Number, for the preceding first signal that sorts, the first signal is unmarked, the first signal is not same in last bit, last time processing
When the time of source signal and current time are within the scope of prefixed time interval, mark the first signal and move to last bit, otherwise
Handle the first signal, wherein the sender of homologous signal is identical.
Step 403: for any indoor equipment in the indoor equipment positioning system, currently can receive to three base stations
When the signal of transmitting, currently may be used using flight time telemetry TOF based on three base stations with the current three-dimensional localization position of determination
When receiving the signal of at least four Base Transmitters, worked as using time difference method TDOA is reached based at least four base station with determination
Preceding three-dimensional position location.
The contents such as information exchange, the implementation procedure between each equipment in the above method, due to implementing with present system
Example is based on same design, and particular content can be found in the narration in present system embodiment, and details are not described herein again.
In conclusion the embodiment of the present invention have it is at least following the utility model has the advantages that
1, in the embodiment of the present invention, indoor equipment positioning system includes at least two indoor equipmenies and at least four base stations.
Keep clock synchronous between each base station；The setting position of base station meets condition: any four base station is not in the same plane,
Indoor equipment can receive the signal at least three Base Transmitters at an arbitrary position；Base station number is to meet the minimum of the condition
Number；When indoor equipment currently can receive to the signal of three base stations, current three-dimensional localization position is determined therefrom that using TOF, when
It is preceding when can receive to the signal of at least four base stations, current three-dimensional localization position is determined therefrom that using TDOA；Base station sequence arranges
Each signal received, first signal it is unmarked and not last bit, last time processing homologous signal time and current time one
When in timing is long, moves it to last bit and mark, otherwise handle first signal.The embodiment of the present invention can handle each room in time
The signal of interior equipment, to improve positioning accuracy.
It 2, can basis when indoor equipment is moved to different location by limiting above-mentioned condition one in the embodiment of the present invention
The base station portion situation of its surrounding enviroment can switch on demand using TOF and TDOA and realize positioning, so as to as few as possible
Base station guarantee locating effect as well as possible.
It 3,, can by base station preferred operations when can be used for position location calculating there are multiple base stations in the embodiment of the present invention
With use more preferably base station calculate position location, be beneficial to improve positioning accuracy.
4, in the embodiment of the present invention, the intersection in section where the two position locations can be taken, to reduce orientation range area
Between.Since orientation range section is accurately reduced, therefore calculated position location will be more accurate accordingly.
5, in the embodiment of the present invention, in the case where base station input cost is more than needed, base station can be closely set as far as possible,
To increase base station density.In this way, the operation that above-mentioned base station is selected can be saved, and part available base stations are selected at random, with
Simplify positioning operation processing.
It should be noted that, in this document, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment for including a series of elements not only includes those elements,
It but also including other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged
Except there is also other identical factors in the process, method, article or apparatus that includes the element.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
In the various media that can store program code such as disk.
Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. a kind of indoor equipment positioning system characterized by comprising at least two indoor equipmenies and at least four base stations；
Wherein, the base station is mounted on indoor wall；
Keep clock synchronous between each base station；
The setting position of the base station meets condition one；
Base station number is to meet the minimum number of the condition one；
The indoor equipment can move freely in area of space indoors；
The condition one includes: that base station described in any four is not in the same plane, and any indoor equipment is located at
When at any interior space position in its mobile range, which can receive the letter at least three Base Transmitters
Number；
Wherein, each described indoor equipment, when being used to currently to can receive to the signal of three Base Transmitters, when using flight
Between telemetry TOF based on three base stations with the current three-dimensional localization position of determination；Currently it can receive at least four Base Transmitters
Signal when, using reach time difference method TDOA based at least four base station with the current three-dimensional localization position of determination；
Each described base station is used to sequentially arrange each signal received；For the preceding first signal that sorts, institute
State first signal is unmarked, the first signal not in last bit, the time of last time processing homologous signal and current time default
When within the scope of time interval, marks the first signal and move to last bit, otherwise handle the first signal, wherein homologous letter
Number sender it is identical.
2. indoor equipment positioning system according to claim 1, which is characterized in that
Each described indoor equipment judges this at least when being used to currently to can receive to the signal of at least four Base Transmitters
In four base stations, if exist spacing apart from itself relatively closer to four first base stations, and any two first base station
The difference of spacing apart from itself is no more than preset threshold, if so, being worked as using TDOA based on four first base stations with determination
Otherwise it determines to utilize apart from itself four relatively closer base station from least four base station in preceding three-dimensional position location
TDOA is based on four base stations with the current three-dimensional localization position of determination.
3. indoor equipment positioning system according to claim 1, which is characterized in that
Each described indoor equipment judges this at least when being used to currently to can receive to the signal of at least four Base Transmitters
In four base stations, if there are at least four target BS, between the spacing of either objective base station distance itself is no more than presetting
Away from value, if so, section where determining position location based on three base stations at least four target BS using TOF, with
And using TDOA section where position location is determined based on four base stations at least four target BS, it takes and determines
Otherwise the intersection in section where two position locations, executes A1 or A2 according to the intersection with the current three-dimensional localization position of determination；
Wherein, the A1 includes: to determine from least four base station apart from itself three relatively closer base station, and is utilized
TOF is based on three base stations with the current three-dimensional localization position of determination；
Wherein, the A2 includes: to determine from least four base station apart from itself three relatively closer base station, and is utilized
Section where TOF determines position location based on three base stations is determined opposite apart from itself from least four base station
Four closer base stations, and position location place section is determined based on four base stations using TDOA, take two determined fixed
The intersection in section where the position of position, according to the intersection with the current three-dimensional localization position of determination.
4. indoor equipment positioning system according to claim 3, which is characterized in that
Each described indoor equipment is used to judging to execute operations described below there are when at least four target BS:
S1: judge at least four target BS, if exist spacing apart from itself relatively closer to four the second bases
It stands, and otherwise the difference of the spacing of the second base station distance of any two itself is held no more than preset threshold if so, executing S2
Row S4；
S2: section where determining position location based on four second base stations using TDOA, and execute S3；
S3: from four second base stations, determine spacing apart from itself relatively closer to three third base stations, and utilize
TOF determines section where position location based on three third base stations, and executes S8；
S4: it is determined from least four target BS apart from itself four relatively closer base station, and is based on using TDOA
Four base stations execute S5 to determine section where position location；
S5: judge at least four target BS, if exist spacing apart from itself relatively closer to three the 4th bases
It stands, and the difference of the spacing of the 4th base station distance itself of any two is no more than the preset threshold, if so, S6 is executed, it is no
Then, S7 is executed；
S6: section where determining position location based on three the 4th base stations using TOF, and execute S8；
S7: it is determined from least four target BS apart from itself three relatively closer base station, and being based on using TOF should
Three base stations execute S8 to determine section where position location；
S8: the intersection in section where taking two position locations determined；The sphere centre coordinate of smallest sphere including the intersection is true
It is set to current three-dimensional localization position.
5. indoor equipment positioning system according to claim 1, which is characterized in that
The condition one further include: any indoor equipment is located at any interior space position in its mobile range
When, which can receive the signal at least three Base Transmitters, and at least three base station, with the indoor equipment
Spacing be not more than the base stations of default distance values at least there are three.
6. indoor equipment positioning system according to claim 5, which is characterized in that
The default distance values are any one numerical value in value range [8m, 12m].
7. indoor equipment positioning system according to claim 1, which is characterized in that
Further include: clock chip；
Wherein, the clock chip is connected with base station described in each respectively by physical circuit；
The clock chip keeps clock synchronous for supporting between each base station.
8. indoor equipment positioning system according to claim 1, which is characterized in that
Further include: central control system；
Wherein, the indoor equipment is unmanned plane；
The unmanned plane, for the current three-dimensional localization position determined wirelessly to be sent to the center in real time
Control system；
The central control system is used in front end display screen, based on pre-configured interior space regional model, to institute
It states current three-dimensional localization position and carries out corresponding display in real time, so that the current three-dimensional localization position is in the interior space region
Relative position in model, it is consistent with the relative position in the unmanned plane indoors area of space.
9. according to claim 1 to any indoor equipment positioning system in 8, which is characterized in that
The signal frequency range of each indoor equipment is respectively positioned within the scope of 2.42GHz~2.48GHz, and the bandwidth of each frequency point is
20MHz。
10. a kind of indoor equipment localization method, which is characterized in that set applied to the interior as described in any in claim 1 to 9
For positioning system, keep clock synchronous between each base station in the indoor equipment positioning system, further includes:
For any base station in the indoor equipment positioning system, each signal received is sequentially arranged, for sequence
Preceding first signal, the first signal is unmarked, the first signal is in last bit, the time of last time processing homologous signal
When with current time within the scope of prefixed time interval, marks the first signal and move to last bit, otherwise handle described first
Signal, wherein the sender of homologous signal is identical；
For any indoor equipment in the indoor equipment positioning system, the signal to three Base Transmitters currently can receive
When, it currently can receive at least based on three base stations with the current three-dimensional localization position of determination using flight time telemetry TOF
When the signal of four Base Transmitters, using arrival time difference method TDOA based at least four base station with the current three-dimensional localization of determination
Position.
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Effective date of registration: 20231103 Address after: 200333, Room 1349, Building 20, No. 958 Zhenbei Road, Putuo District, Shanghai Patentee after: Shanghai Zhibai Intelligent Technology Co.,Ltd. Patentee after: Nanjing Paige measurement and Control Technology Co.,Ltd. Address before: 200333, Room 1349, Building 20, No. 958 Zhenbei Road, Putuo District, Shanghai Patentee before: Shanghai Zhibai Intelligent Technology Co.,Ltd. |