技术领域technical field
本发明属于通信技术领域，尤其涉及一种定位方法及终端设备。The invention belongs to the field of communication technologies, and in particular relates to a positioning method and a terminal device.
背景技术Background technique
无线定位技术是一种利用基于无线技术的电子标签，对特定目标的位置进行定位的技术。电子标签可以是固定于定位目标上能够进行WiFi通信、蓝牙通信或ZigBee通信等无线通信的电子装置，也可以是手机、机器人等移动设备上的无线通信模块。此外，也可以将移动设备整体看作电子标签。无线定位技术通过无线通信信号对电子标签与附近的固定基站进行测距，根据基站坐标和测距值计算出移动标签的位置，从而实现对特定目标的定位。Wireless positioning technology is a technology that uses electronic tags based on wireless technology to locate the position of a specific target. The electronic tag can be an electronic device fixed on the positioning target and capable of wireless communication such as WiFi communication, Bluetooth communication or ZigBee communication, or a wireless communication module on mobile devices such as mobile phones and robots. In addition, the mobile device as a whole can also be regarded as an electronic tag. The wireless positioning technology measures the distance between the electronic tag and the nearby fixed base station through the wireless communication signal, and calculates the position of the mobile tag according to the coordinates of the base station and the distance measurement value, so as to realize the positioning of the specific target.
无线定位技术可以按定位参数测量方式不同进行分类，可分为对无线信号传输时间的测量来定位的传输时间定位法(TOA，Time Of Arrival)、对信号来源角度测量进行定位的角度测量法和对信号强度测量来进行定位的信号强度测量发等。Wireless positioning technology can be classified according to different measurement methods of positioning parameters, which can be divided into time of transmission positioning method (TOA, Time Of Arrival), which measures the transmission time of wireless signals, and angle measurement method, which measures the angle of the signal source. Signal strength measurement for positioning and so on.
传统的无线定位技术需要至少三个基站对移动标签进行测距才能实现对移动标签的定位，然而在移动标签所在区域的遮挡较为严重时，对移动标签进行测距的基站往往不足三个，这种情况下无法对移动标签进行定位。The traditional wireless positioning technology requires at least three base stations to measure the distance of the mobile tag to realize the positioning of the mobile tag. However, when the area where the mobile tag is located is seriously occluded, there are often less than three base stations to measure the distance of the mobile tag. In this case, the mobile label cannot be positioned.
发明内容SUMMARY OF THE INVENTION
有鉴于此，本发明实施例提供了定位方法及终端设备，以解决目前无线定位技术在对移动标签进行测距的基站不足三个的情况下无法对移动标签进行定位的的问题。In view of this, the embodiments of the present invention provide a positioning method and a terminal device to solve the problem that the current wireless positioning technology cannot locate the mobile tag when there are less than three base stations for ranging the mobile tag.
本发明实施例的第一方面提供了定位方法，包括：A first aspect of the embodiments of the present invention provides a positioning method, including:
获取当前帧之前的预设帧数的标签位置坐标；Get the label position coordinates of the preset number of frames before the current frame;
根据获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标，并根据所述预测位置坐标确定预测区域；Calculate the predicted position coordinates of the current frame label according to the obtained label position coordinates of the preset number of frames, and determine the predicted area according to the predicted position coordinates;
获取对当前帧标签测距的各个测距基站的位置坐标和各个测距基站对应的测距值，并根据各个测距基站的位置坐标和各个测距基站对应的测距值计算当前帧标签的至少一个参考位置坐标；Obtain the position coordinates of each ranging base station and the ranging value corresponding to each ranging base station for ranging the current frame label, and calculate the current frame label according to the position coordinates of each ranging base station and the ranging value corresponding to each ranging base station. at least one reference location coordinate;
根据所述至少一个参考位置坐标中位于所述预测区域内的参考位置坐标确定当前帧的标签位置坐标。The label position coordinates of the current frame are determined according to the reference position coordinates within the prediction area among the at least one reference position coordinates.
本发明实施例的第二方面提供了定位装置，包括：A second aspect of the embodiments of the present invention provides a positioning device, including:
获取模块，用于获取当前帧之前的预设帧数的标签位置坐标；The acquisition module is used to acquire the label position coordinates of the preset number of frames before the current frame;
预测模块，用于根据获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标，并根据所述预测位置坐标确定预测区域；a prediction module, configured to calculate the predicted position coordinates of the current frame label according to the obtained label position coordinates of the preset number of frames, and determine the predicted area according to the predicted position coordinates;
计算模块，用于获取对当前帧标签测距的各个测距基站的位置坐标和各个测距基站对应的测距值，并根据各个测距基站的位置坐标和各个测距基站对应的测距值计算当前帧标签的至少一个参考位置坐标；The calculation module is used to obtain the position coordinates of each ranging base station for ranging the current frame label and the ranging value corresponding to each ranging base station, and according to the position coordinates of each ranging base station and the corresponding ranging value of each ranging base station Calculate at least one reference position coordinate of the current frame label;
处理模块，用于根据所述至少一个参考位置坐标中位于所述预测区域内的参考位置坐标确定当前帧的标签位置坐标。The processing module is configured to determine the label position coordinates of the current frame according to the reference position coordinates located in the prediction area among the at least one reference position coordinates.
本发明实施例的第三方面提供了定位终端设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现第一方面中的定位方法。A third aspect of the embodiments of the present invention provides a positioning terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the computer program when the processor executes the computer program. The positioning method in the first aspect.
本发明实施例的第四方面提供了计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现第一方面中的定位方法。A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the positioning method in the first aspect.
本发明实施例与现有技术相比存在的有益效果是：根据获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标，能够根据之前预设帧数的标签位置坐标预测出当前帧标签的大致区域；根据各个测距基站的位置坐标和各个测距基站对应的测距值计算当前帧标签的至少一个参考位置坐标，能够根据测距基站的测距信息确定若干个当前帧标签的参考位置坐标；根据位于预测区域内的参考位置坐标确定当前帧的标签位置坐标，能够结合预测区域和测距基站的测距信息定位出当前帧的标签位置坐标。本发明实施例通过结合之前预设帧数的标签位置坐标信息和测距基站的测距信息实现标签定位，在对移动标签进行测距的基站只有两个的情况下，能够准确对标签进行定位，并且在对移动标签进行测距的基站超过两个的情况下，能够减小误差较大的测距值对定位结果的影响，从而提高定位精度。Compared with the prior art, the embodiment of the present invention has the beneficial effect that the predicted position coordinates of the current frame label are calculated according to the obtained label position coordinates of the preset number of frames, and the predicted position coordinates of the label of the previous preset number of frames can be predicted. The approximate area of the current frame label; at least one reference position coordinate of the current frame label is calculated according to the position coordinates of each ranging base station and the ranging value corresponding to each ranging base station, and several current frames can be determined according to the ranging information of the ranging base station. The reference position coordinates of the tag; the tag position coordinates of the current frame are determined according to the reference position coordinates located in the prediction area, and the tag position coordinates of the current frame can be located by combining the prediction area and the ranging information of the ranging base station. In this embodiment of the present invention, tag positioning is implemented by combining the tag position coordinate information of the preset number of frames and the ranging information of the ranging base station. In the case where there are only two base stations that measure the distance of the mobile tag, the tag can be positioned accurately. , and when there are more than two base stations that measure the distance of the mobile tag, the influence of the distance measurement value with a larger error on the positioning result can be reduced, thereby improving the positioning accuracy.
附图说明Description of drawings
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.
图1是本发明实施例提供的定位方法的实现流程图；Fig. 1 is the realization flow chart of the positioning method provided by the embodiment of the present invention;
图2是本发明实施例提供的定位方法中计算当前帧标签的预测位置坐标的实现流程图；Fig. 2 is the realization flow chart of calculating the predicted position coordinates of the current frame label in the positioning method provided by the embodiment of the present invention;
图3是本发明实施例提供的定位方法中确定预测区域的实现流程图；Fig. 3 is the realization flow chart of determining the prediction area in the positioning method provided by the embodiment of the present invention;
图4是本发明实施例提供的定位方法中计算参考位置坐标的实现流程图；4 is a flow chart of an implementation of calculating reference position coordinates in a positioning method provided by an embodiment of the present invention;
图5是本发明实施例提供的定位方法中确定当前帧的标签位置坐标的实现流程图；Fig. 5 is the realization flow chart of determining the label position coordinate of the current frame in the positioning method provided by the embodiment of the present invention;
图6是本发明实施例提供的定位装置的示意图；6 is a schematic diagram of a positioning device provided by an embodiment of the present invention;
图7是本发明实施例提供的定位终端设备的示意图。FIG. 7 is a schematic diagram of a positioning terminal device provided by an embodiment of the present invention.
具体实施方式Detailed ways
以下描述中，为了说明而不是为了限定，提出了诸如特定系统结构、技术之类的具体细节，以便透彻理解本发明实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本发明。在其它情况中，省略对众所周知的系统、装置、电路以及方法的详细说明，以免不必要的细节妨碍本发明的描述。In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
为了说明本发明所述的技术方案，下面通过具体实施例来进行说明。In order to illustrate the technical solutions of the present invention, the following specific embodiments are used for description.
图1为本发明实施例提供的定位方法的实现流程图，详述如下：Fig. 1 is the realization flow chart of the positioning method provided by the embodiment of the present invention, and is described in detail as follows:
在S101中，获取当前帧之前的预设帧数的标签位置坐标。In S101, the label position coordinates of a preset number of frames before the current frame are acquired.
在本实施例中，终端设备可以按照预设频率对标签进行定位。例如终端设备可以以每秒10帧的频率对标签进行定位，此时每隔0.1秒终端设备会根据获取到的数据进行一次定位，计算得到该帧的标签位置坐标。由于标签可能处于运动状态或静止状态，不同帧定位出的标签的位置坐标可能相同，也可能不同。In this embodiment, the terminal device may locate the tag according to the preset frequency. For example, the terminal device can locate the tag at a frequency of 10 frames per second. At this time, the terminal device will locate the tag every 0.1 second according to the acquired data, and calculate the position coordinate of the tag in the frame. Since the label may be in a moving state or a stationary state, the location coordinates of the label located in different frames may be the same or different.
当前帧为终端设备正在进行标签定位的数据帧。预设帧数可以根据实际需求进行设定，例如预设帧数可以为3、4等。获取当前帧之前的预设帧数的标签位置坐标可以是获取当前帧之前相邻的预设帧数的标签位置坐标。例如，若当前帧为第10帧，预设帧数为3，则可以获取之前定位出的第7帧、第8帧和第9帧的标签位置坐标；若预设帧数为4，则可以获取之前定位出的第6帧、第7帧、第8帧和第9帧的标签位置坐标。The current frame is the data frame in which the terminal device is performing tag positioning. The preset number of frames can be set according to actual needs, for example, the preset number of frames can be 3, 4, etc. Obtaining the label position coordinates of the preset number of frames before the current frame may be to obtain the label position coordinates of the adjacent preset number of frames before the current frame. For example, if the current frame is the 10th frame and the preset number of frames is 3, you can obtain the label position coordinates of the 7th, 8th and 9th frames previously located; if the preset number of frames is 4, you can Obtain the label position coordinates of the 6th, 7th, 8th, and 9th frames previously located.
当前帧之前的预设帧数的标签位置坐标可以是通过本实施例中的定位方法定位出的标签位置坐标，也可以是通过常用的无线定位方法定位出的标签位置坐标。其中，常用的无线定位方法可以是三角质心法、最小二乘法等，在此不作限定。The tag position coordinates of the preset number of frames before the current frame may be the tag position coordinates located by the positioning method in this embodiment, or may be the tag position coordinates located by the commonly used wireless positioning method. Wherein, the commonly used wireless positioning method may be the triangular centroid method, the least square method, etc., which is not limited here.
在S102中，根据获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标，并根据所述预测位置坐标确定预测区域。In S102, the predicted position coordinates of the current frame label are calculated according to the obtained label position coordinates of the preset number of frames, and the predicted area is determined according to the predicted position coordinates.
在本实施例中，预测位置坐标为标签可能的位置坐标。终端设备可以根据当前帧之前的预设帧数的标签位置坐标来预测当前帧标签的可能的位置坐标，并根据预测位置坐标确定预测区域。若是对标签进行二维定位，则预测区域为二维区域，例如预测区域的形状可以为圆形、椭圆形、矩形或其他形状；若是对标签进行三维定位，则预测区域为三维空间区域，例如预测区域可以为球体、椭球体、正方体、长方体或其他立体形状。预测区域的形状可以根据标签的运动模型确定，或者根据定位的误差范围确定。In this embodiment, the predicted position coordinates are the possible position coordinates of the tag. The terminal device can predict the possible position coordinates of the current frame label according to the label position coordinates of the preset number of frames before the current frame, and determine the prediction area according to the predicted position coordinates. If the label is positioned in two dimensions, the prediction area is a two-dimensional area. For example, the shape of the prediction area can be a circle, an ellipse, a rectangle or other shapes; if the label is positioned in three dimensions, the prediction area is a three-dimensional space area, such as The prediction area can be a sphere, ellipsoid, cube, cuboid, or other solid shapes. The shape of the prediction area can be determined according to the motion model of the label, or according to the error range of the positioning.
作为本发明的一个实施例，如图2所示，S102中根据获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标可以包括：As an embodiment of the present invention, as shown in FIG. 2 , calculating the predicted position coordinates of the current frame label according to the obtained label position coordinates of the preset number of frames in S102 may include:
在S201中，根据获取到的预设帧数的标签位置坐标计算标签的移动速度。In S201, the movement speed of the label is calculated according to the obtained label position coordinates of the preset number of frames.
在本实施例中，每帧之间的间隔时间较短，例如每秒10帧的频率进行标签定位，则每帧之间的间隔时间为0.1秒；每秒20帧的频率进行标签定位，则每帧之间的间隔时间为0.02秒。因此可以将标签在空间中的运动近似看作匀速运动。通过预设帧数的标签位置坐标以及两帧之间的间隔时间，可以计算出标签的移动速度。In this embodiment, the interval time between each frame is short. For example, for tag positioning at a frequency of 10 frames per second, the interval time between each frame is 0.1 second; for tag positioning at a frequency of 20 frames per second, then The interval between each frame is 0.02 seconds. Therefore, the motion of the label in space can be approximated as a uniform motion. The movement speed of the label can be calculated through the label position coordinates of the preset number of frames and the interval time between two frames.
例如，可以根据前后相邻两帧的标签位置坐标求出两帧间隔时间内标签的移动距离，结合间隔时间可以求出间隔时间内标签的移动速度。将根据预设帧数的标签位置坐标求出的多个间隔时间内标签的移动速度取平均，可以得到标签的平均移动速度，将该平均移动速度作为标签的移动速度。For example, the moving distance of the label within the interval between two frames can be obtained according to the position coordinates of the label in two adjacent frames before and after, and the moving speed of the label within the interval can be obtained by combining the interval time. The average moving speed of the label can be obtained by averaging the moving speed of the label in a plurality of intervals obtained according to the label position coordinates of the preset number of frames, and the average moving speed is used as the moving speed of the label.
在S202中，根据上一帧标签的位置坐标和所述移动速度计算当前帧标签的预测位置坐标。In S202, the predicted position coordinates of the current frame label are calculated according to the position coordinates of the previous frame label and the moving speed.
在本实施例中，根据标签的移动速度和当前帧与上一帧之间的时间间隔可以求出标签的移动距离。根据获取到的预设帧数的标签位置坐标可以估计出标签的移动方向。根据上一帧标签的位置坐标、标签的移动距离和标签的移动方向可以计算出当前帧标签的预测位置坐标。In this embodiment, the moving distance of the label can be obtained according to the moving speed of the label and the time interval between the current frame and the previous frame. The movement direction of the label can be estimated according to the obtained label position coordinates of the preset number of frames. The predicted position coordinates of the current frame label can be calculated according to the position coordinates of the label in the previous frame, the moving distance of the label and the moving direction of the label.
本实施例通过预设帧数的标签位置坐标求出标签的移动速度，根据上一帧的标签位置坐标和移动速度预测出当前帧的预测位置坐标。该预测方法计算的数据量小，可以实现快速预测，从而提高标签定位的速度，并且可以通过增加每秒的帧数来提高预测的准确度，便于在速度和精准度之间灵活调节。In this embodiment, the movement speed of the label is obtained by using the label position coordinates of a preset number of frames, and the predicted position coordinates of the current frame are predicted according to the label position coordinates and movement speed of the previous frame. The amount of data calculated by the prediction method is small, which can achieve fast prediction, thereby improving the speed of label positioning, and can improve the accuracy of prediction by increasing the number of frames per second, which is convenient for flexible adjustment between speed and accuracy.
作为本发明的另一实施例，S102中根据获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标可以包括：As another embodiment of the present invention, calculating the predicted position coordinates of the current frame label according to the obtained label position coordinates of the preset number of frames in S102 may include:
根据卡尔曼滤波算法和获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标。Calculate the predicted position coordinates of the current frame label according to the Kalman filter algorithm and the obtained label position coordinates of the preset number of frames.
在本实施例中，卡尔曼滤波算法是一种利用线性系统状态方程，通过系统输入输出观测数据，对系统状态进行最优估计的算法。卡尔曼滤波算法是以最小均方误差为估计的最佳准则，来寻求一套递推估计的算法，其基本思想是：采用信号与噪声的状态空间模型，利用前一时刻的估计值和现时刻的观测值来更新对状态变量的估计，求出现时刻的估计值。In this embodiment, the Kalman filter algorithm is an algorithm that uses a linear system state equation to optimally estimate the system state by inputting and outputting observation data of the system. The Kalman filter algorithm uses the minimum mean square error as the best criterion for estimation, and seeks a set of recursive estimation algorithms. The observed value of the moment is used to update the estimation of the state variable, and the estimated value of the occurrence moment is obtained.
因此，卡尔曼滤波算法可以用来根据预设帧数的标签位置坐标预测出当前帧标签的预测位置坐标。由于卡尔曼滤波算法以最小均方误差为估计的最佳准则，通过卡尔曼滤波算法预测出当前帧的标签的预测位置坐标，预测的准确度较高。Therefore, the Kalman filtering algorithm can be used to predict the predicted position coordinates of the current frame label according to the label position coordinates of the preset number of frames. Since the Kalman filter algorithm takes the minimum mean square error as the best criterion for estimation, the predicted position coordinates of the label of the current frame are predicted by the Kalman filter algorithm, and the prediction accuracy is high.
作为本发明的另一实施例，如图3所示，S102中根据所述预测位置坐标确定预测区域可以包括：As another embodiment of the present invention, as shown in FIG. 3 , determining the prediction area according to the predicted position coordinates in S102 may include:
在S301中，根据定位参数计算距离阈值；所述定位参数包括标签的移动速度和两帧定位的间隔时间。In S301, a distance threshold is calculated according to a positioning parameter; the positioning parameter includes the movement speed of the tag and the interval time between two frames of positioning.
在本实施例中，标签的移动速度可以是标签的最大移动速度，或者预设时间段内标签的平均移动速度等，也可以是根据当前帧之前的预设帧数的标签位置坐标预测出的标签的移动速度。距离阈值可以通过将标签的移动速度和两帧定位的间隔时间相乘得到。In this embodiment, the movement speed of the label may be the maximum movement speed of the label, or the average movement speed of the label within a preset time period, etc., or it may be predicted according to the label position coordinates of the preset number of frames before the current frame. The speed at which the label moves. The distance threshold can be obtained by multiplying the moving speed of the label by the time interval between two frames of positioning.
可选的，定位参数可以包括但不限于测距误差、标签的移动速度和两帧定位的间隔时间。其中，测距误差为测距基站对标签进行测距时存在的误差。距离阈值可以通过将标签的移动速度乘以两帧定位的间隔时间，再加上测距误差计算得到，也可以将标签的移动速度乘以两帧定位的间隔时间，再加上测距误差后，再乘以预设权重系数计算得到。其中，预设权重系数可以为大于1的预设值，例如1.5、1.8或2等。通过预设权重系数使距离阈值留有一定的余量，避免由于距离阈值过小使预测区域不包含标签的真实坐标的情况。Optionally, the positioning parameters may include, but are not limited to, ranging error, movement speed of the tag, and time interval between two frames of positioning. The ranging error is the error existing when the ranging base station performs ranging on the tag. The distance threshold can be calculated by multiplying the moving speed of the tag by the interval between two frames of positioning, plus the ranging error, or by multiplying the moving speed of the tag by the interval between two frames of positioning, plus the ranging error. , and then multiplied by the preset weight coefficient to calculate. The preset weight coefficient may be a preset value greater than 1, such as 1.5, 1.8, or 2. A certain margin is reserved for the distance threshold by the preset weight coefficient, so as to avoid the situation that the prediction area does not contain the real coordinates of the label due to the too small distance threshold.
在S302中，根据所述距离阈值和所述预测位置坐标确定所述预测区域。In S302, the prediction area is determined according to the distance threshold and the predicted position coordinates.
在本实施例中，可以以预测位置坐标为中心，参考距离阈值确定预测区域。例如，预测区域为以预测位置坐标为圆心，以距离阈值为半径的圆形区域，或者以预测位置坐标为球心，以距离阈值为半径的球形区域。预测区域也可以是以预测位置坐标为圆心，以距离阈值为半径的圆形的最小外接矩形所围成的矩形区域。预测区域还可以是其他形状，在此不作限定。In this embodiment, the prediction area may be determined with reference to the distance threshold with the coordinates of the predicted position as the center. For example, the prediction area is a circular area with the predicted position coordinate as the center and the distance threshold as the radius, or a spherical area with the predicted position coordinate as the sphere center and the distance threshold as the radius. The prediction area may also be a rectangular area enclosed by the smallest circumscribed rectangle of a circle whose center is the predicted position coordinate and whose radius is the distance threshold. The prediction area may also have other shapes, which are not limited here.
通过根据定位参数计算出距离阈值，结合距离阈值和预测位置坐标确定预测区域，能够使预测区域的范围更加合适，既避免了因预测区域过大造成的定位误差，又能保证预测区域在较大概率上包含标签的真实坐标，从而提高定位精度和定位速度。By calculating the distance threshold according to the positioning parameters, and combining the distance threshold and the predicted position coordinates to determine the prediction area, the range of the prediction area can be made more suitable, which not only avoids the positioning error caused by the large prediction area, but also ensures that the prediction area is larger The true coordinates of the label are included probabilistically, thereby improving the positioning accuracy and positioning speed.
在S103中，获取对当前帧标签测距的各个测距基站的位置坐标和各个测距基站对应的测距值，并根据各个测距基站的位置坐标和各个测距基站对应的测距值计算当前帧标签的至少一个参考位置坐标。In S103, the position coordinates of each ranging base station for ranging the current frame tag and the ranging value corresponding to each ranging base station are obtained, and the calculation is performed according to the position coordinates of each ranging base station and the ranging value corresponding to each ranging base station At least one reference position coordinate of the current frame label.
在本实施例中，标签可以与周围无线信号范围内的基站进行无线通信。与当前帧标签相通信的基站为测距基站，测距基站可以通过通信的无线信号强度、无线信号的传播时间等计算与标签的距离。与标签进行通信的测距基站可以有一个或多个，每个测距基站都可以计算得到一个对应的测距值，测距值为各个测距基站与标签之间的测量距离值。In this embodiment, the tag can wirelessly communicate with base stations within the range of surrounding wireless signals. The base station that communicates with the tag of the current frame is a ranging base station, and the ranging base station can calculate the distance to the tag based on the wireless signal strength of the communication and the propagation time of the wireless signal. There may be one or more ranging base stations that communicate with the tag, and each ranging base station can calculate a corresponding ranging value, which is the measured distance value between each ranging base station and the tag.
根据各个测距基站的位置坐标和各个测距基站对应的测距值可以确定当前帧标签的至少一个参考位置坐标。每一次定位过程中参考位置坐标的个数并不固定，如果该次定位中测距基站的个数较多，则参考位置坐标的个数通常较多，如果该次定位中测距基站的个数较少，则参考位置坐标的个数通常较少。At least one reference position coordinate of the current frame label can be determined according to the position coordinates of each ranging base station and the ranging value corresponding to each ranging base station. The number of reference position coordinates in each positioning process is not fixed. If the number of ranging base stations in this positioning is large, the number of reference position coordinates is usually large. If the number is smaller, the number of reference position coordinates is usually smaller.
作为本发明的一个实施例，如图4所示，S103中根据各个测距基站的位置坐标和各个测距基站对应的测距值计算当前帧标签的至少一个参考位置坐标可以包括：As an embodiment of the present invention, as shown in FIG. 4 , calculating at least one reference position coordinate of the current frame label according to the position coordinates of each ranging base station and the ranging value corresponding to each ranging base station in S103 may include:
在S401中，以各个测距基站的位置坐标为圆心，各个测距基站对应的测距值为半径确定各个测距基站对应的圆。In S401, a circle corresponding to each ranging base station is determined by taking the position coordinates of each ranging base station as the center of the circle, and the ranging value corresponding to each ranging base station as a radius.
在本实施例中，一个测距基站对应一个圆。一个测距基站对应的圆的圆心为该测距基站的位置坐标，半径为该测距基站对应的测距值。In this embodiment, one ranging base station corresponds to one circle. The center of a circle corresponding to a ranging base station is the position coordinate of the ranging base station, and the radius is the ranging value corresponding to the ranging base station.
在S402中，将各个测距基站对应的圆中任意两个圆进行组合，形成多个圆组。In S402, any two circles in the circles corresponding to each ranging base station are combined to form multiple circle groups.
假设有n个测距基站，则共有n个圆，任意两个圆进行组合后形成的圆组个数为例如，3个测距基站对应的圆分别表示为a，b和c，则任意两个圆进行组合后形成的3个圆组，各圆组包含的两个圆分别为ab，ac和bc。Assuming that there are n ranging base stations, there are a total of n circles, and the number of circle groups formed by combining any two circles is: For example, the circles corresponding to the three ranging base stations are denoted as a, b, and c, respectively, then three circle groups are formed by combining any two circles, and the two circles included in each circle group are ab, ac, and bc, respectively.
在S403中，若一个圆组中的两个圆相交，则将两个圆的交点作为当前帧标签的参考位置坐标。In S403, if two circles in a circle group intersect, the intersection of the two circles is used as the reference position coordinates of the current frame label.
其中，两个圆相交会产生两个交点，将这两个交点都作为当前帧标签的参考位置坐标。两个圆相交的各个圆组都会产生对应的两个交点。Among them, the intersection of two circles will generate two intersection points, and these two intersection points are used as the reference position coordinates of the current frame label. Each circle group where two circles intersect will produce two corresponding intersection points.
在S404中，若一个圆组中的两个圆相切或相离，则根据两个圆的圆心连线确定当前帧标签的参考位置坐标。In S404, if two circles in a circle group are tangent to or separated from each other, the reference position coordinates of the current frame label are determined according to the line connecting the centers of the two circles.
在本实施例中，如果一个圆组中两个圆相切，则只会产生一个交点，如果一个圆组中两个圆相离，则不会产生交点，此时，将一个圆组中的两个圆的圆心进行连线，根据两个圆心连线确定当前帧标签的参考位置坐标。In this embodiment, if two circles in a circle group are tangent, only one intersection point will be generated, and if two circles in a circle group are separated from each other, no intersection point will be generated. The centers of the two circles are connected, and the reference position coordinates of the current frame label are determined according to the connection of the two centers.
本实施例通过将各个测距基站对应的圆分为多个圆组，并根据各个圆组确定至少一个参考位置坐标，从而保证参考位置坐标选择的合理性，进而提高定位精度。In this embodiment, the circles corresponding to each ranging base station are divided into a plurality of circle groups, and at least one reference position coordinate is determined according to each circle group, so as to ensure the rationality of the reference position coordinate selection, thereby improving the positioning accuracy.
作为本发明的一个实施例，S404中根据两个圆的圆心连线确定当前帧标签的参考位置坐标包括：As an embodiment of the present invention, determining the reference position coordinates of the current frame label according to the line connecting the centers of the two circles in S404 includes:
将两个圆的圆心连线与两个圆的交点作为当前帧标签的参考位置坐标；Take the line connecting the centers of the two circles and the intersection of the two circles as the reference position coordinates of the current frame label;
或者将两个圆圆心连线的等比分割点作为当前帧标签的参考位置坐标，所述等比分割点为圆心连线上将圆心连线分割成比例等于两个圆的半径比例的两部分的分割点。Or use the proportional dividing point of the line connecting the two circle centers as the reference position coordinates of the current frame label, and the proportional dividing point is that the circle center connecting line is divided into two parts whose ratio is equal to the ratio of the radii of the two circles. split point.
在本实施例中给出了两种可行的实现方式，下面分别进行说明。第一种实现方式，若一个圆组中的两个圆相切，两个圆的圆心连线与两个圆有一个交点，将该交点作为当前帧标签的参考位置坐标。若一个圆组中的两个圆相离，两个圆的圆心连线与两个圆有两个交点，将这两个交点作为当前帧标签的参考位置坐标。本实现方式根据圆心连线与两圆的交点确定当前帧标签的参考位置坐标，能够在两个圆相切或相离的情况下，准确合理的确定参考位置坐标。Two feasible implementation manners are given in this embodiment, which will be described separately below. In the first implementation, if two circles in a circle group are tangent, the line connecting the centers of the two circles has an intersection with the two circles, and the intersection is used as the reference position coordinate of the current frame label. If the two circles in a circle group are separated, the line connecting the centers of the two circles and the two circles has two intersection points, and the two intersection points are used as the reference position coordinates of the current frame label. In this implementation manner, the reference position coordinates of the current frame label are determined according to the intersection of the line connecting the circle centers and the two circles, and the reference position coordinates can be accurately and reasonably determined when the two circles are tangent or separated.
第二种实现方式，根据两个圆的半径比例在圆心连线上查找等比分割点，将查找到的等比分割点作为当前帧标签的参考位置坐标。其中等比分割点将圆心连线划分为两段，两段的长度之比等于两个圆的半径之比。例如两个圆的半径之比为3:5，则等比分割点将圆心连线划分的两段的长度之比也为3:5。本实现方式根据两个圆的半径比例在圆心连线上查找等比分割点作为参考位置坐标，在参考位置坐标确定的过程中，充分考虑了通常测距误差与测距距离成正比的关系，能够尽可能地减小测距误差对确定参考位置坐标的影响，从而提高参考位置坐标的准确度。The second implementation method is to find an equal division point on the line connecting the center of the circles according to the ratio of the radii of the two circles, and use the found equal division point as the reference position coordinate of the current frame label. The proportional dividing point divides the line connecting the center of the circle into two sections, and the ratio of the lengths of the two sections is equal to the ratio of the radii of the two circles. For example, if the ratio of the radii of two circles is 3:5, then the ratio of the lengths of the two segments divided by the line connecting the center of the circles by the proportional dividing point is also 3:5. According to the ratio of the radii of the two circles, this implementation finds the dividing point in equal proportion on the line connecting the center of the circles as the reference position coordinates. The influence of the ranging error on the determination of the reference position coordinates can be reduced as much as possible, thereby improving the accuracy of the reference position coordinates.
在S104中，根据所述至少一个参考位置坐标中位于所述预测区域内的参考位置坐标确定当前帧的标签位置坐标。In S104, the label position coordinates of the current frame are determined according to the reference position coordinates located in the prediction area among the at least one reference position coordinates.
在本实施例中，计算出的参考位置坐标中可能有些位于预测区域外，有些位于预测区域内。位于预测区域外的参考位置坐标通常存在的误差更大，因此将位于预测区域外的参考位置坐标舍弃，只根据位于预测区域内的参考位置坐标确定当前帧的标签位置坐标，能够进一步减小定位的误差，提高定位精度。In this embodiment, some of the calculated reference position coordinates may be located outside the prediction area, and some may be located in the prediction area. The reference position coordinates outside the prediction area usually have larger errors. Therefore, the reference position coordinates outside the prediction area are discarded, and the label position coordinates of the current frame are only determined according to the reference position coordinates located in the prediction area, which can further reduce the positioning. error and improve the positioning accuracy.
本发明实施例根据获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标，能够根据之前预设帧数的标签位置坐标预测出当前帧标签的大致区域；根据各个测距基站的位置坐标和各个测距基站对应的测距值计算当前帧标签的至少一个参考位置坐标，能够根据测距基站的测距信息确定若干个当前帧标签的参考位置坐标；根据位于预测区域内的参考位置坐标确定当前帧的标签位置坐标，能够结合预测区域和测距基站的测距信息定位出当前帧的标签位置坐标。本发明实施例通过结合之前预设帧数的标签位置坐标信息和测距基站的测距信息实现标签定位，在对移动标签进行测距的基站只有两个的情况下，能够准确对标签进行定位，并且在对移动标签进行测距的基站超过两个的情况下，能够减小误差较大的测距值对定位结果的影响，从而提高定位精度。The embodiment of the present invention calculates the predicted position coordinates of the current frame label according to the obtained label position coordinates of the preset number of frames, and can predict the approximate area of the current frame label according to the label position coordinates of the previous preset number of frames; Calculate at least one reference position coordinate of the current frame label according to the position coordinates of the ranging base station and the ranging value corresponding to each ranging base station, and can determine the reference position coordinates of several current frame labels according to the ranging information of the ranging base station; The tag position coordinates of the current frame are determined with reference to the position coordinates, and the tag position coordinates of the current frame can be located in combination with the prediction area and the ranging information of the ranging base station. In this embodiment of the present invention, tag positioning is implemented by combining the tag position coordinate information of the preset number of frames and the ranging information of the ranging base station. In the case where there are only two base stations that measure the distance of the mobile tag, the tag can be positioned accurately. , and when there are more than two base stations that measure the distance of the mobile tag, the influence of the distance measurement value with a larger error on the positioning result can be reduced, thereby improving the positioning accuracy.
作为本发明的一个实施例，S104可以包括：As an embodiment of the present invention, S104 may include:
对所述预测区域内的参考位置坐标求平均得出第一平均坐标，将所述第一平均坐标作为当前帧的标签位置坐标。A first average coordinate is obtained by averaging the reference position coordinates in the prediction area, and the first average coordinate is used as the label position coordinate of the current frame.
在本实施例中，将预测区域内所有的参考位置坐标取平均，得到第一平均值，将第一平均值作为当前帧的标签位置坐标。由于预测区域内的参考位置坐标的误差相对较小，都可以用于最终定位的计算。本实施例将预测区域内的参考位置坐标取平均，通过综合考虑这些坐标，能够使定位出的当前帧的标签位置坐标的误差减小，提高定位精度。In this embodiment, all the reference position coordinates in the prediction area are averaged to obtain a first average value, and the first average value is used as the label position coordinates of the current frame. Since the errors of the reference position coordinates in the prediction area are relatively small, they can all be used for the calculation of the final positioning. In this embodiment, the reference position coordinates in the prediction area are averaged, and by taking these coordinates into consideration comprehensively, the error of the located label position coordinates of the current frame can be reduced, and the positioning accuracy can be improved.
作为本发明的另一实施例，如图5所示，S104可以包括：As another embodiment of the present invention, as shown in FIG. 5 , S104 may include:
在S501中，对比所述预设区域内的参考位置坐标的个数和预设个数阈值。In S501, the number of reference position coordinates in the preset area is compared with a preset number threshold.
在本实施例中，预设个数阈值可以根据实际情况进行设定，例如预设个数阈值可以设为3、4等。可以首先确认预设区域内的参考位置坐标的个数，再将参考位置坐标的个数与预设个数阈值进行对比。In this embodiment, the preset number threshold may be set according to the actual situation, for example, the preset number threshold may be set to 3, 4, and so on. The number of reference position coordinates in the preset area may be confirmed first, and then the number of reference position coordinates is compared with the preset number threshold.
在S502中，若所述预设区域内的参考位置坐标的个数小于预设个数阈值，则对所述预测区域内的参考位置坐标求平均得出第二平均坐标，将所述第二平均坐标作为当前帧的标签位置坐标。In S502, if the number of reference position coordinates in the preset area is less than a preset number threshold, average the reference position coordinates in the prediction area to obtain a second average coordinate, and the second average coordinate is The average coordinates are used as the label position coordinates for the current frame.
在本实施例中，若预设区域内的参考位置坐标的个数小于预设个数阈值，则表明该次定位过程中预设区域内的参考位置坐标个数较少，可以直接对预测区域内的参考位置坐标求平均得出第二平均坐标，将第二平均坐标作为当前帧的的标签位置坐标。In this embodiment, if the number of reference position coordinates in the preset area is less than the preset number threshold, it indicates that the number of reference position coordinates in the preset area during this positioning process is small, and the prediction area can be directly The second average coordinates are obtained by averaging the reference position coordinates in the frame, and the second average coordinates are used as the label position coordinates of the current frame.
在S503中，若所述预设区域内的参考位置坐标的个数大于或等于预设个数阈值，则对所述预测区域内的参考位置坐标进行加权，对加权后的参考位置坐标求平均得到第三平均坐标，将所述第三平均坐标作为当前帧的标签位置坐标。In S503, if the number of reference position coordinates in the preset area is greater than or equal to a preset number threshold, weight the reference position coordinates in the prediction area, and average the weighted reference position coordinates The third average coordinate is obtained, and the third average coordinate is used as the label position coordinate of the current frame.
在本实施例中，若预设区域内的参考位置坐标的个数大于或等于预设个数阈值，则表明该次定位过程中预设区域内的参考位置坐标个数较多，此时如果直接取平均进行定位会导致较大误差，因此可以对预测区域内的参考位置坐标进行加权，对加权后的参考位置坐标求平均得到第三平均坐标，将第三平均坐标作为当前帧的的标签位置坐标。通过加权能够调整各个参考位置坐标对定位结果的影响，可以将误差较大的参考位置坐标配置较小权重，以削弱对定位结果的影响，将误差较小的参考位置坐标配置较大权重，从而提高定位精度。In this embodiment, if the number of reference position coordinates in the preset area is greater than or equal to the preset number threshold, it indicates that the number of reference position coordinates in the preset area during this positioning process is large. Directly taking the average for positioning will lead to large errors, so you can weight the reference position coordinates in the prediction area, average the weighted reference position coordinates to obtain the third average coordinate, and use the third average coordinate as the label of the current frame Position coordinates. By weighting, the influence of each reference position coordinate on the positioning result can be adjusted. The reference position coordinate with larger error can be assigned a smaller weight to weaken the influence on the positioning result, and the reference position coordinate with smaller error can be assigned a larger weight, so as to reduce the influence on the positioning result. Improve positioning accuracy.
可选地，可以根据预测区域中各个参考位置坐标与预测位置坐标之间的距离确定各个参考位置坐标的权重。例如，分别计算各个参考位置坐标与预测位置坐标之间的距离，将与预测位置坐标距离较小的参考位置坐标配置较大的权重，将与预测位置坐标距离较大的参考位置坐标配置较小的权重。由于距离预测位置坐标越近，参考位置坐标通常存在的误差会越小，这样通过权重调节能够提高对移动标签的定位精度。Optionally, the weight of each reference position coordinate may be determined according to the distance between each reference position coordinate and the predicted position coordinate in the prediction area. For example, calculate the distance between each reference position coordinate and the predicted position coordinate separately, assign a larger weight to the reference position coordinate with a smaller distance from the predicted position coordinate, and assign a smaller weight to the reference position coordinate with a larger distance from the predicted position coordinate. the weight of. As the distance from the predicted position coordinates is closer, the error of the reference position coordinates will usually be smaller, so that the positioning accuracy of the mobile tag can be improved through weight adjustment.
可选地，可以根据预测区域中各个参考位置坐标与第四平均坐标之间的距离确定各个参考位置坐标的权重。首先将预测区域中的参考位置坐标取平均得到第四平均坐标，然后分别计算各个参考位置坐标与第四平均坐标之间的距离，将与第四平均坐标距离较小的参考位置坐标配置较大的权重，将与第四平均坐标距离较大的参考位置坐标配置较小的权重。由于距离第四平均坐标越近，参考位置坐标通常存在的误差会越小，这样通过权重调节能够提高对移动标签的定位精度。Optionally, the weight of each reference position coordinate may be determined according to the distance between each reference position coordinate in the prediction area and the fourth average coordinate. First, average the reference position coordinates in the prediction area to obtain the fourth average coordinate, then calculate the distance between each reference position coordinate and the fourth average coordinate, and configure the reference position coordinate with the smaller distance from the fourth average coordinate to be larger. The weight of the reference position coordinate with the larger distance from the fourth average coordinate is configured with a smaller weight. As the distance from the fourth average coordinate is closer, the error usually exists in the reference position coordinate will be smaller, so that the positioning accuracy of the mobile tag can be improved by adjusting the weight.
本实施例通过加权的方式调节预测区域内各个参考位置坐标对定位结果的影响，通过配置不同的权重将误差较大的参考位置坐标的影响降低，从而提高对当前帧的的标签位置坐标的定位精度。In this embodiment, the influence of each reference position coordinate in the prediction area on the positioning result is adjusted by weighting, and the influence of the reference position coordinate with a large error is reduced by configuring different weights, thereby improving the positioning of the label position coordinate of the current frame. precision.
本发明实施例根据获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标，能够根据之前预设帧数的标签位置坐标预测出当前帧标签的大致区域；根据各个测距基站的位置坐标和各个测距基站对应的测距值计算当前帧标签的至少一个参考位置坐标，能够根据测距基站的测距信息确定若干个当前帧标签的参考位置坐标；根据位于预测区域内的参考位置坐标确定当前帧的标签位置坐标，能够结合预测区域和测距基站的测距信息定位出当前帧的标签位置坐标。本发明实施例通过结合之前预设帧数的标签位置坐标信息和测距基站的测距信息实现标签定位，在对移动标签进行测距的基站只有两个的情况下，能够准确对标签进行定位，并且在对移动标签进行测距的基站超过两个的情况下，能够减小误差较大的测距值对定位结果的影响，从而提高定位精度。The embodiment of the present invention calculates the predicted position coordinates of the current frame label according to the obtained label position coordinates of the preset number of frames, and can predict the approximate area of the current frame label according to the label position coordinates of the previous preset number of frames; Calculate at least one reference position coordinate of the current frame label according to the position coordinates of the ranging base station and the ranging value corresponding to each ranging base station, and can determine the reference position coordinates of several current frame labels according to the ranging information of the ranging base station; The tag position coordinates of the current frame are determined with reference to the position coordinates, and the tag position coordinates of the current frame can be located in combination with the prediction area and the ranging information of the ranging base station. In this embodiment of the present invention, tag positioning is implemented by combining the tag position coordinate information of the preset number of frames and the ranging information of the ranging base station. In the case where there are only two base stations that measure the distance of the mobile tag, the tag can be positioned accurately. , and when there are more than two base stations that measure the distance of the mobile tag, the influence of the distance measurement value with a larger error on the positioning result can be reduced, thereby improving the positioning accuracy.
应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
对应于上文实施例所述的定位方法，图6示出了本发明实施例提供的定位装置的示意图。为了便于说明，仅示出了与本实施例相关的部分。Corresponding to the positioning method described in the above embodiments, FIG. 6 shows a schematic diagram of a positioning apparatus provided by an embodiment of the present invention. For convenience of explanation, only the parts related to this embodiment are shown.
参照图6，该装置包括获取模块61、预测模块62、计算模块63和处理模块64。Referring to FIG. 6 , the apparatus includes an acquisition module 61 , a prediction module 62 , a calculation module 63 and a processing module 64 .
获取模块61，用于获取当前帧之前的预设帧数的标签位置坐标。The obtaining module 61 is configured to obtain the label position coordinates of the preset number of frames before the current frame.
预测模块62，用于根据获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标，并根据所述预测位置坐标确定预测区域。The prediction module 62 is configured to calculate the predicted position coordinates of the current frame label according to the obtained label position coordinates of the preset number of frames, and determine the predicted area according to the predicted position coordinates.
计算模块63，用于获取对当前帧标签测距的各个测距基站的位置坐标和各个测距基站对应的测距值，并根据各个测距基站的位置坐标和各个测距基站对应的测距值计算当前帧标签的至少一个参考位置坐标。The calculation module 63 is used to obtain the position coordinates of each ranging base station for ranging the current frame label and the ranging value corresponding to each ranging base station, and according to the position coordinates of each ranging base station and the corresponding ranging base station The value computes at least one reference position coordinate for the current frame label.
处理模块64，用于根据所述至少一个参考位置坐标中位于所述预测区域内的参考位置坐标确定当前帧的标签位置坐标。The processing module 64 is configured to determine the label position coordinates of the current frame according to the reference position coordinates located in the prediction area among the at least one reference position coordinates.
优选地，所述预测模块62用于：Preferably, the prediction module 62 is used to:
根据获取到的预设帧数的标签位置坐标计算标签的移动速度；Calculate the movement speed of the label according to the obtained label position coordinates of the preset number of frames;
根据上一帧标签的位置坐标和所述移动速度计算当前帧标签的预测位置坐标。The predicted position coordinates of the current frame label are calculated according to the position coordinates of the previous frame label and the moving speed.
优选地，所述预测模块62用于：Preferably, the prediction module 62 is used to:
根据卡尔曼滤波算法和获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标。Calculate the predicted position coordinates of the current frame label according to the Kalman filter algorithm and the obtained label position coordinates of the preset number of frames.
优选地，所述预测模块62用于：Preferably, the prediction module 62 is used to:
根据定位参数计算距离阈值；所述定位参数包括标签的移动速度和两帧定位的间隔时间；Calculate the distance threshold according to the positioning parameter; the positioning parameter includes the movement speed of the label and the interval time between two frames of positioning;
根据所述距离阈值和所述预测位置坐标确定所述预测区域。The predicted area is determined according to the distance threshold and the predicted location coordinates.
优选地，所述计算模块63用于：Preferably, the computing module 63 is used for:
以各个测距基站的位置坐标为圆心，各个测距基站对应的测距值为半径确定各个测距基站对应的圆；Taking the position coordinates of each ranging base station as the center of the circle, and the ranging value corresponding to each ranging base station, the radius determines the circle corresponding to each ranging base station;
将各个测距基站对应的圆中任意两个圆进行组合，形成多个圆组；Combine any two circles in the circles corresponding to each ranging base station to form multiple circle groups;
若一个圆组中的两个圆相交，则将两个圆的交点作为当前帧标签的参考位置坐标；If two circles in a circle group intersect, take the intersection of the two circles as the reference position coordinates of the current frame label;
若一个圆组中的两个圆相切或相离，则根据两个圆的圆心连线确定当前帧标签的参考位置坐标。If two circles in a circle group are tangent or separated, the reference position coordinates of the current frame label are determined according to the line connecting the centers of the two circles.
优选地，所述计算模块63用于：Preferably, the computing module 63 is used for:
将两个圆的圆心连线与两个圆的交点作为当前帧标签的参考位置坐标；Take the line connecting the centers of the two circles and the intersection of the two circles as the reference position coordinates of the current frame label;
或者将两个圆圆心连线的等比分割点作为当前帧标签的参考位置坐标，所述等比分割点为圆心连线上将圆心连线分割成比例等于两个圆的半径比例的两部分的分割点。Or use the proportional dividing point of the line connecting the two circle centers as the reference position coordinates of the current frame label, and the proportional dividing point is that the circle center connecting line is divided into two parts whose ratio is equal to the ratio of the radii of the two circles. split point.
优选地，所述处理模块64用于：Preferably, the processing module 64 is used to:
对所述预测区域内的参考位置坐标求平均得出第一平均坐标，将所述第一平均坐标作为当前帧的的标签位置坐标。A first average coordinate is obtained by averaging the reference position coordinates in the prediction area, and the first average coordinate is used as the label position coordinate of the current frame.
优选地，所述处理模块64用于：Preferably, the processing module 64 is used to:
对比所述预设区域内的参考位置坐标的个数和预设个数阈值；Compare the number of reference position coordinates in the preset area with a preset number threshold;
若所述预设区域内的参考位置坐标的个数小于预设个数阈值，则对所述预测区域内的参考位置坐标求平均得出第二平均坐标，将所述第二平均坐标作为当前帧的标签位置坐标；If the number of reference position coordinates in the preset area is less than the preset number threshold, average the reference position coordinates in the prediction area to obtain a second average coordinate, and use the second average coordinate as the current The label position coordinates of the frame;
若所述预设区域内的参考位置坐标的个数大于或等于预设个数阈值，则对所述预测区域内的参考位置坐标进行加权，对加权后的参考位置坐标求平均得到第三平均坐标，将所述第三平均坐标作为当前帧的标签位置坐标。If the number of reference position coordinates in the preset area is greater than or equal to the preset number threshold, weight the reference position coordinates in the prediction area, and average the weighted reference position coordinates to obtain a third average coordinates, and the third average coordinate is used as the label position coordinate of the current frame.
本发明实施例根据获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标，能够根据之前预设帧数的标签位置坐标预测出当前帧标签的大致区域；根据各个测距基站的位置坐标和各个测距基站对应的测距值计算当前帧标签的至少一个参考位置坐标，能够根据测距基站的测距信息确定若干个当前帧标签的参考位置坐标；根据位于预测区域内的参考位置坐标确定当前帧的标签位置坐标，能够结合预测区域和测距基站的测距信息定位出当前帧的标签位置坐标。本发明实施例通过结合之前预设帧数的标签位置坐标信息和测距基站的测距信息实现标签定位，在对移动标签进行测距的基站只有两个的情况下，能够准确对标签进行定位，并且在对移动标签进行测距的基站超过两个的情况下，能够减小误差较大的测距值对定位结果的影响，从而提高定位精度。The embodiment of the present invention calculates the predicted position coordinates of the current frame label according to the obtained label position coordinates of the preset number of frames, and can predict the approximate area of the current frame label according to the label position coordinates of the previous preset number of frames; Calculate at least one reference position coordinate of the current frame label according to the position coordinates of the ranging base station and the ranging value corresponding to each ranging base station, and can determine the reference position coordinates of several current frame labels according to the ranging information of the ranging base station; The tag position coordinates of the current frame are determined with reference to the position coordinates, and the tag position coordinates of the current frame can be located in combination with the prediction area and the ranging information of the ranging base station. In this embodiment of the present invention, tag positioning is implemented by combining the tag position coordinate information of the preset number of frames and the ranging information of the ranging base station. In the case where there are only two base stations that measure the distance of the mobile tag, the tag can be positioned accurately. , and when there are more than two base stations that measure the distance of the mobile tag, the influence of the distance measurement value with a larger error on the positioning result can be reduced, thereby improving the positioning accuracy.
图7是本发明一实施例提供的定位终端设备的示意图。如图7所示，该实施例的定位终端设备7包括：处理器70、存储器71以及存储在所述存储器71中并可在所述处理器70上运行的计算机程序72，例如定位程序。所述处理器70执行所述计算机程序72时实现上述各个定位方法实施例中的步骤，例如图1所示的步骤101至104。或者，所述处理器70执行所述计算机程序72时实现上述各装置实施例中各模块/单元的功能，例如图6所示模块61至64的功能。FIG. 7 is a schematic diagram of a positioning terminal device according to an embodiment of the present invention. As shown in FIG. 7 , the positioning terminal device 7 of this embodiment includes: a processor 70 , a memory 71 , and a computer program 72 , such as a positioning program, stored in the memory 71 and executable on the processor 70 . When the processor 70 executes the computer program 72 , the steps in each of the foregoing positioning method embodiments are implemented, for example, steps 101 to 104 shown in FIG. 1 . Alternatively, when the processor 70 executes the computer program 72, the functions of the modules/units in each of the foregoing apparatus embodiments, such as the functions of the modules 61 to 64 shown in FIG. 6, are implemented.
示例性的，所述计算机程序72可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器71中，并由所述处理器70执行，以完成本发明。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序72在所述定位终端设备7中的执行过程。例如，所述计算机程序72可以被分割成获取模块、预测模块、计算模块和处理模块，各模块具体功能如下：Exemplarily, the computer program 72 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 71 and executed by the processor 70 to complete the this invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 72 in the positioning terminal device 7 . For example, the computer program 72 can be divided into an acquisition module, a prediction module, a calculation module and a processing module, and the specific functions of each module are as follows:
获取模块，用于获取当前帧之前的预设帧数的标签位置坐标；The acquisition module is used to acquire the label position coordinates of the preset number of frames before the current frame;
预测模块，用于根据获取到的预设帧数的标签位置坐标计算当前帧标签的预测位置坐标，并根据所述预测位置坐标确定预测区域；a prediction module, configured to calculate the predicted position coordinates of the current frame label according to the obtained label position coordinates of the preset number of frames, and determine the predicted area according to the predicted position coordinates;
计算模块，用于获取对当前帧标签测距的各个测距基站的位置坐标和各个测距基站对应的测距值，并根据各个测距基站的位置坐标和各个测距基站对应的测距值计算当前帧标签的至少一个参考位置坐标；The calculation module is used to obtain the position coordinates of each ranging base station for ranging the current frame label and the ranging value corresponding to each ranging base station, and according to the position coordinates of each ranging base station and the corresponding ranging value of each ranging base station Calculate at least one reference position coordinate of the current frame label;
处理模块，用于根据所述至少一个参考位置坐标中位于所述预测区域内的参考位置坐标确定当前帧的标签位置坐标。The processing module is configured to determine the label position coordinates of the current frame according to the reference position coordinates located in the prediction area among the at least one reference position coordinates.
所述定位终端设备7可以是桌上型计算机、笔记本、掌上电脑及云端服务器等计算设备。所述定位终端设备可包括，但不仅限于，处理器70、存储器71。本领域技术人员可以理解，图7仅仅是定位终端设备7的示例，并不构成对定位终端设备7的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述定位终端设备还可以包括输入输出设备、网络接入设备、总线、显示器等。The positioning terminal device 7 may be a computing device such as a desktop computer, a notebook computer, a palmtop computer, and a cloud server. The positioning terminal device may include, but is not limited to, a processor 70 and a memory 71 . Those skilled in the art can understand that FIG. 7 is only an example of the positioning terminal device 7, and does not constitute a limitation on the positioning terminal device 7, and may include more or less components than the one shown, or combine some components, or different For example, the positioning terminal device may also include input and output devices, network access devices, buses, displays, and the like.
所称处理器70可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。The so-called processor 70 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
所述存储器71可以是所述定位终端设备7的内部存储单元，例如定位终端设备7的硬盘或内存。所述存储器71也可以是所述定位终端设备7的外部存储设备，例如所述定位终端设备7上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(SecureDigital，SD)卡，闪存卡(Flash Card)等。进一步地，所述存储器71还可以既包括所述定位终端设备7的内部存储单元也包括外部存储设备。所述存储器71用于存储所述计算机程序以及所述定位终端设备所需的其他程序和数据。所述存储器71还可以用于暂时地存储已经输出或者将要输出的数据。The memory 71 may be an internal storage unit of the positioning terminal device 7 , such as a hard disk or a memory of the positioning terminal device 7 . The memory 71 may also be an external storage device of the positioning terminal device 7, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the positioning terminal device 7. ) card, flash card (Flash Card) and so on. Further, the memory 71 may also include both an internal storage unit of the positioning terminal device 7 and an external storage device. The memory 71 is used for storing the computer program and other programs and data required by the positioning terminal device. The memory 71 may also be used to temporarily store data that has been output or will be output.
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned system, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.
在本发明所提供的实施例中，应该理解到，所揭露的装置/终端设备和方法，可以通过其它的方式实现。例如，以上所描述的装置/终端设备实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。In the embodiments provided by the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
所述集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括是电载波信号和电信信号。The integrated modules/units, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed by the processor, the steps of the foregoing method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable media Excluded are electrical carrier signals and telecommunication signals.
以上所述实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围，均应包含在本发明的保护范围之内。The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to implement the foregoing implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201711436701.XACN109959894B (en) | 2017-12-26 | 2017-12-26 | Positioning method and terminal equipment |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711436701.XACN109959894B (en) | 2017-12-26 | 2017-12-26 | Positioning method and terminal equipment |
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| CN109959894Atrue CN109959894A (en) | 2019-07-02 |
| CN109959894B CN109959894B (en) | 2021-06-04 |
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| CN201711436701.XAActiveCN109959894B (en) | 2017-12-26 | 2017-12-26 | Positioning method and terminal equipment |
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