CN104407325A - Object positioning method and positioning system - Google Patents
Object positioning method and positioning system Download PDFInfo
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- CN104407325A CN104407325A CN201410738067.5A CN201410738067A CN104407325A CN 104407325 A CN104407325 A CN 104407325A CN 201410738067 A CN201410738067 A CN 201410738067A CN 104407325 A CN104407325 A CN 104407325A
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- China
- Prior art keywords
- signal receiving
- receiving device
- sender unit
- coordinate position
- coordinates system
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
Abstract
The invention discloses an object positioning method. An object carries at least three signal receiving devices for determining the relative relations of positions. The positioning method comprises the following steps: when every one of at least three signal receiving devices receives wireless signals from a signal transmitting device, respectively calculating the distance between each signal receiving device and the signal transmitting device according to the received wireless signals; according to the coordinate of each signal receiving device in an object coordinate system and the distance between each signal receiving device and the signal transmitting device, determining the coordinate of the signal transmitting device in the object coordinate system; according to the coordinate of the signal transmitting device in the object coordinate system and the coordinate of each signal receiving device in the object coordinate system, respectively determining the relative coordinate between the signal transmitting device and each signal receiving device; according to the coordinate of the signal transmitting device in a map coordinate system and the relative coordinate between the signal transmitting device and each signal receiving device, determining the coordinate of the object in the map coordinate system.
Description
Technical field
The present invention relates to field of locating technology, more specifically, relate to a kind of localization method of object and the positioning system of object.
Background technology
At present, mainly utilize object relative to the distance of multiple wireless signal transmission point to the localization method of object, calculate the coordinate of object relative to signal launching site place coordinate system by certain algorithm, corresponding then according to certain predetermined map, determine the physical location realizing object, realize location.This method, requires wireless signal transmission point number at least 3, be less than 3 numbers then cannot realize location.
Summary of the invention
The invention provides localization method and the positioning system of the different object of a kind of and existing object positioning method.
According to an aspect of the present invention, provide a kind of localization method of object, described object carries at least three signal receiving devices having and determine position relative relation, and described localization method comprises:
During the wireless signal received from sender unit by each in described at least three signal receiving devices, calculate the distance of each signal receiving device and sender unit according to received wireless signal;
According to the coordinate position of each signal receiving device in object coordinates system and the coordinate position of distance determination sender unit in object coordinates system of each signal receiving device and sender unit;
The relative coordinate relation between sender unit and each signal receiving device is determined respectively according to the coordinate position of sender unit in object coordinates system and the coordinate position of each signal receiving device in object coordinates system;
The coordinate position of object in map coordinates system is calculated according to the coordinate position of sender unit in map coordinates system and the relative coordinate relation between sender unit and each signal receiving device.
Alternatively, described at least three signal receiving devices comprise first, second, and third signal receiving device.
Alternatively, comprise according to the coordinate position of distance determination sender unit in object coordinates system of the coordinate position of each signal receiving device in object coordinates system and each signal receiving device and sender unit and determine the coordinate position of sender unit in object coordinates system according to following formula:
Wherein, (x
r, y
r, z
r) represent the coordinate position of sender unit in object coordinates system, (x
a, y
a, z
a) represent the coordinate position of the first signal receiving device in object coordinates system, d
arepresent the distance of the first signal receiving device and sender unit, (x
b, y
b, z
b) represent the coordinate position of secondary signal receiving trap in object coordinates system, d
brepresent the distance of secondary signal receiving trap and sender unit, (x
c, y
c, z
c) represent the coordinate position of the 3rd signal receiving device in object coordinates system, d
crepresent the distance of the 3rd signal receiving device and sender unit.
Alternatively, calculate the coordinate position of object in map coordinates system according to the coordinate position of sender unit in map coordinates system and the relative coordinate relation between sender unit and each signal receiving device, comprising: calculate first, second, and third coordinate position of first, second, and third signal receiving device in map coordinates system according to the coordinate position of sender unit in map coordinates system and the relative coordinate relation between sender unit and first, second, and third signal receiving device; And, calculate the coordinate position of object in map coordinates system according to first, second, and third coordinate position of described first, second, and third signal receiving device in map coordinates system.
According to a further aspect in the invention, additionally provide a kind of positioning system of object, comprising: be arranged on object, there are at least three signal receiving devices determining position relative relation, and locating module, wherein:
Each reception in described at least three signal receiving devices is from the wireless signal of sender unit;
Locating module, for performing following functions: the wireless signal received by each signal receiving device calculates the distance of each signal receiving device self and sender unit respectively; According to the coordinate position of each signal receiving device in object coordinates system and the coordinate position of distance determination sender unit in object coordinates system of each signal receiving device and sender unit; The relative coordinate relation between sender unit and each signal receiving device is determined respectively according to the coordinate position of sender unit in object coordinates system and the coordinate position of each signal receiving device in object coordinates system; And, calculate the coordinate position of object in map coordinates system according to the coordinate position of sender unit in map coordinates system and the relative coordinate relation between sender unit and each signal receiving device.
Alternatively, described at least three signal receiving devices comprise first, second, and third signal receiving device.
Alternatively, described locating module is used for determining the coordinate position of sender unit in object coordinates system according to the distance of the coordinate position of first, second, and third signal receiving device in object coordinates system and first, second, and third signal receiving device and sender unit according to following formula:
Wherein, (x
r, y
r, z
r) represent the coordinate position of sender unit in object coordinates system, (x
a, y
a, z
a) represent the coordinate position of the first signal receiving device in object coordinates system, d
arepresent the distance of the first signal receiving device and sender unit, (x
b, y
b, z
b) represent the coordinate position of secondary signal receiving trap in object coordinates system, d
brepresent the distance of secondary signal receiving trap and sender unit, (x
c, y
c, z
c) represent the coordinate position of the 3rd signal receiving device in object coordinates system, d
crepresent the distance of the 3rd signal receiving device and sender unit.
Alternatively, described locating module calculates the coordinate position of object in map coordinates system according to the coordinate position of sender unit in map coordinates system and the relative coordinate relation between sender unit and each signal receiving device, comprising: calculate first, second, and third coordinate position of first, second, and third signal receiving device in map coordinates system according to the coordinate position of sender unit in map coordinates system and the relative coordinate relation between sender unit and first, second, and third signal receiving device; And, go out the coordinate position of object in map coordinates system according to the second coordinate position in map coordinates system of first coordinate position of described first signal receiving device in map coordinates system, described secondary signal receiving trap and the three-dimensional position calculation of described 3rd signal receiving device in map coordinates system.
Alternatively, each one of being configured with in described locating module or described first, second, and third signal receiving device in described first, second, and third signal receiving device is configured with described locating module, or described locating module and first, second, and third signal receiving device are provided separately.
The embodiment of the present invention utilizes the distance of at least three signal receiving devices in object coordinates system on coordinate position and object of at least three signal receiving devices that object configures and sender unit can determine the coordinate position of sender unit in object coordinates system, thus can obtain the relative coordinate relation between each signal receiving device and sender unit.Because the coordinate position of sender unit in map is known, the coordinate position of each sender unit in map of object therefore can be obtained based on relative coordinate relation.Further, can the coordinate position of positioning object in map according to the coordinate position of each sender unit in map, realize object localization.The embodiment of the present invention without the need to knowing 3 positions of different wireless signal launching site in map, also without the need to receiving from the wireless signal of 3 unlike signal launching site.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the localization method of object according to the embodiment of the present invention.
Fig. 2 is the example realizing the localization method of object according to the embodiment of the present invention.
Fig. 3 is the structural representation of the positioning system of object according to the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention are further described.
Fig. 1 is the schematic flow sheet of the localization method of object according to the embodiment of the present invention.For realizing the object positioning method of the embodiment of the present invention, object needs be configured with at least 3 signal receiving devices, these signal receiving devices have the position relative relation determined.Signal receiving device is used for the wireless signal that Received signal strength emitter is launched, and realizing object positioning method of the present invention needs only 1 signal launching site or sender unit, and at least 3 signal receiving devices.
As shown in Figure 1, the localization method of this object comprises:
S101, each reception at least three signal receiving devices is from the wireless signal of sender unit;
S102, calculates the distance of each signal receiving device and sender unit respectively according to received wireless signal;
S103, according to the coordinate position of each signal receiving device in object coordinates system and the coordinate position of distance determination sender unit in object coordinates system of each signal receiving device and sender unit;
S104, determines the relative coordinate relation between sender unit and each signal receiving device respectively according to the coordinate position of sender unit in object coordinates system and the coordinate position of each signal receiving device in object coordinates system;
S105, according to the coordinate position of sender unit in map coordinates system and the coordinate position of relative coordinate relation determination object in map coordinates system between sender unit and each signal receiving device.
Object to be configured with three signal receiving devices, embodiments of the present invention are further described below.Fig. 2 is the example realizing the localization method of object according to the embodiment of the present invention.As shown in Figure 2, object 2 is configured with the first signal receiving device 4, secondary signal receiving trap 5 and the 3rd signal receiving device 6.Wherein, the coordinate of the first signal receiving device 4 in object coordinates system is (x
a, y
a, z
a); The coordinate of secondary signal receiving trap 5 in object coordinates system is (x
b, y
b, z
b); The coordinate of 3rd signal receiving device 6 in object coordinates system is (x
c, y
c, z
c).These three signal receiving devices have the position relative relation determined, such as, distance between the first signal receiving device 4 and secondary signal receiving trap 5 is d
ab, the distance between the first signal receiving device 4 and secondary signal receiving trap 6 is d
ac, the distance between secondary signal receiving trap 5 and secondary signal receiving trap 6 is d
bc.
Be configured in sender unit 3 wireless signal emission on target object 1.The wireless signal that signal receiving device 4,5 and 6 Received signal strength emitter 1 sends.
The wireless signal received according to the first signal receiving device 4 calculates the distance d of the first signal receiving device 4 and sender unit 3
a, the wireless signal received according to secondary signal receiving trap B calculates the distance d of secondary signal receiving trap 5 and sender unit 3
b, the wireless signal received according to the 3rd signal receiving device 6 calculates the distance d of the 3rd signal receiving device 6 and sender unit 3
c.In embodiments of the present invention, the method calculating the distance of object and sender unit according to the wireless signal received can adopt received signal strength method (RSSI) of the prior art, computing method time of arrival (TOA), difference computing method time of arrival (TDOA) and Received signal strength angle gauge algorithm (AOA) etc.
Then, the coordinate position of sender unit in object coordinates system can be determined according to following formula:
Wherein, (x
r, y
r, z
r) represent the coordinate position of sender unit in object coordinates system, (x
a, y
a, z
a) represent the coordinate position of the first signal receiving device in object coordinates system, d
arepresent the distance of the first signal receiving device and sender unit, (x
b, y
b, z
b) represent the coordinate position of secondary signal receiving trap in object coordinates system, d
brepresent the distance of secondary signal receiving trap and sender unit, (x
c, y
c, z
c) represent the coordinate position of the 3rd signal receiving device in object coordinates system, d
crepresent the distance of the 3rd signal receiving device and sender unit.
Then, according to the coordinate position (x of sender unit 3 in object coordinates system
r, y
r, z
r), the coordinate position (x of the first signal receiving device 4 in object coordinates system
a, y
a, z
a), the coordinate position (x of secondary signal receiving trap 5 in object coordinates system
b, y
b, z
b) and the coordinate position (x of the 3rd signal receiving device 6 in object coordinates system
c, y
c, z
c) can determine between sender unit 3 and the first signal receiving device 4 relative coordinate relation, the relative coordinate relation between sender unit 3 and secondary signal receiving trap 5 and the relative coordinate relation between sender unit 3 and the 3rd signal receiving device 6 respectively.
Owing to can downloading in advance and storing map on object, therefore the coordinate position of sender unit 3 in map coordinates system is known, thus can calculate first, second, and third coordinate position of first, second, and third signal receiving device in map coordinates system according to the coordinate position of sender unit in map coordinates system and the relative coordinate relation between sender unit and first, second, and third signal receiving device;
The coordinate position of object in map coordinates system is gone out according to the second coordinate position in map coordinates system of first coordinate position of described first signal receiving device in map coordinates system, described secondary signal receiving trap and the three-dimensional position calculation of described 3rd signal receiving device in map coordinates system.So just, achieve the location of object in map coordinates system.
It should be noted that, in order to clearly demonstrate so that those skilled in the art fully understand technical scheme of the present invention, described above is object configures 3 signal receiving devices to realize the embodiment of object localization.Should be understood that, the embodiment of the present invention is not limited only to utilize 3 signal receiving devices, also can be the location utilizing 4 signal receiving devices, 5 signal receiving devices etc. to realize object.
Fig. 3 is the structural representation of the positioning system of object according to the embodiment of the present invention.As shown in Figure 3, this positioning system comprise locating module 20 and be arranged on object, there are at least three signal receiving devices 30 determining relativeness.Each signal receiving device 30 is for receiving the wireless signal from sender unit.
Locating module 20, for performing following functions: the wireless signal received according to each signal receiving device calculates the distance of each signal receiving device self and sender unit; According to the coordinate position of each signal receiving device in object coordinates system and the coordinate position of distance determination sender unit in object coordinates system of each signal receiving device and sender unit; The relative coordinate relation between sender unit and each signal receiving device is determined respectively according to the coordinate position of sender unit in object coordinates system and the coordinate position of each signal receiving device in object coordinates system; According to the coordinate position of sender unit in map coordinates system and the coordinate position of relative coordinate relation determination object in map coordinates system between sender unit and each signal receiving device.
Alternatively, described at least three signal receiving devices comprise first, second, and third signal receiving device.
Alternatively, locating module is used for determining the coordinate position of sender unit in object coordinates system according to the distance of the coordinate position of first, second, and third signal receiving device in object coordinates system and first, second, and third signal receiving device and sender unit according to following formula:
Wherein, (x
r, y
r, z
r) represent the coordinate position of sender unit in object coordinates system, (x
a, y
a, z
a) represent the coordinate position of the first signal receiving device in object coordinates system, d
arepresent the distance of the first signal receiving device and sender unit, (x
b, y
b, z
b) represent the coordinate position of secondary signal receiving trap in object coordinates system, d
brepresent the distance of secondary signal receiving trap and sender unit, (x
c, y
c, z
c) represent the coordinate position of the 3rd signal receiving device in object coordinates system, d
crepresent the distance of the 3rd signal receiving device and sender unit.
Alternatively, locating module, according to the coordinate position of sender unit in map coordinates system and the coordinate position of relative coordinate relation determination object in map coordinates system between sender unit and each signal receiving device, comprising: calculate first, second, and third coordinate position of first, second, and third signal receiving device in map coordinates system according to the coordinate position of sender unit in map coordinates system and the relative coordinate relation between sender unit and first, second, and third signal receiving device; And, go out the coordinate position of object in map coordinates system according to the second coordinate position in map coordinates system of first coordinate position of described first signal receiving device in map coordinates system, described secondary signal receiving trap and the three-dimensional position calculation of described 3rd signal receiving device in map coordinates system.
In the embodiment show in figure 3, locating module and each telltale are respective independently modules.Alternatively, can be that each signal receiving device is configured with a locating module, or one in first, second, and third signal receiving device be configured with described locating module.
The embodiment of the present invention utilizes the distance of at least three signal receiving devices in object coordinates system on coordinate position and object of at least three signal receiving devices that object configures and sender unit can determine the coordinate position of sender unit in object coordinates system, thus can obtain the relative coordinate relation between each signal receiving device and sender unit.Because the coordinate position of sender unit in map is known, the coordinate position of each sender unit in map of object therefore can be obtained based on relative coordinate relation.Further, can the coordinate position of positioning object in map according to the coordinate position of each sender unit in map, realize object localization.The embodiment of the present invention without the need to knowing 3 positions of different wireless signal launching site in map, also without the need to receiving from the wireless signal of 3 unlike signal launching site.
Although the present invention allows many multi-form embodiments, several possible embodiment of the present invention only described in detail by instructions and accompanying drawing.It is to be appreciated that the disclosure should be considered as the illustration to the principle of the invention, be not will limit the invention in the scope of exemplified embodiment.When not departing from spirit of the present invention, those skilled in the art can expect many distortion, and protection scope of the present invention should be determined by the content of appended claims.
Claims (9)
1. a localization method for object, described object carries at least three signal receiving devices having and determine position relative relation, and described localization method comprises:
During the wireless signal received from sender unit by each in described at least three signal receiving devices, calculate the distance of each signal receiving device and sender unit respectively according to received wireless signal;
According to the coordinate position of each signal receiving device in object coordinates system and the coordinate position of distance determination sender unit in object coordinates system of each signal receiving device and sender unit;
The relative coordinate relation between sender unit and each signal receiving device is determined respectively according to the coordinate position of sender unit in object coordinates system and the coordinate position of each signal receiving device in object coordinates system;
According to the coordinate position of sender unit in map coordinates system and the coordinate position of relative coordinate relation determination object in map coordinates system between sender unit and each signal receiving device.
2. localization method according to claim 1, is characterized in that, described at least three signal receiving devices comprise first, second, and third signal receiving device.
3. localization method according to claim 2, it is characterized in that, comprise according to the coordinate position of distance determination sender unit in object coordinates system of the coordinate position of each signal receiving device in object coordinates system and each signal receiving device and sender unit and determine the coordinate position of sender unit in object coordinates system according to following formula:
Wherein, (x
r, y
r, z
r) represent the coordinate position of sender unit in object coordinates system, (x
a, y
a, z
a) represent the coordinate position of the first signal receiving device in object coordinates system, d
arepresent the distance of the first signal receiving device and sender unit, (x
b, y
b, z
b) represent the coordinate position of secondary signal receiving trap in object coordinates system, d
brepresent the distance of secondary signal receiving trap and sender unit, (x
c, y
c, z
c) represent the coordinate position of the 3rd signal receiving device in object coordinates system, d
crepresent the distance of the 3rd signal receiving device and sender unit.
4. localization method according to claim 2, it is characterized in that, according to the coordinate position of sender unit in map coordinates system and the coordinate position of relative coordinate relation determination object in map coordinates system between sender unit and each signal receiving device, comprising:
First, second, and third coordinate position of first, second, and third signal receiving device in map coordinates system is calculated according to the coordinate position of sender unit in map coordinates system and the relative coordinate relation between sender unit and first, second, and third signal receiving device;
The coordinate position of object in map coordinates system is calculated according to first, second, and third coordinate position of described first, second, and third signal receiving device in map coordinates system.
5. a positioning system for object, comprising: be arranged on object, there are at least three signal receiving devices determining position relative relation, and locating module, wherein:
Each reception in described at least three signal receiving devices is from the wireless signal of sender unit;
Locating module, for performing following functions:
Wireless signal received by each signal receiving device calculates the distance of each signal receiving device self and sender unit respectively;
According to the coordinate position of each signal receiving device in object coordinates system and the coordinate position of distance determination sender unit in object coordinates system of each signal receiving device and sender unit;
The relative coordinate relation between sender unit and each signal receiving device is determined respectively according to the coordinate position of sender unit in object coordinates system and the coordinate position of each signal receiving device in object coordinates system;
According to the coordinate position of sender unit in map coordinates system and the coordinate position of relative coordinate relation determination object in map coordinates system between sender unit and each signal receiving device.
6. positioning system according to claim 5, wherein, described at least three signal receiving devices comprise first, second, and third signal receiving device.
7. positioning system according to claim 6, it is characterized in that, described locating module is used for determining the coordinate position of sender unit in object coordinates system according to the distance of the coordinate position of first, second, and third signal receiving device in object coordinates system and first, second, and third signal receiving device and sender unit according to following formula:
Wherein, (x
r, y
r, z
r) represent the coordinate position of sender unit in object coordinates system, (x
a, y
a, z
a) represent the coordinate position of the first signal receiving device in object coordinates system, d
arepresent the distance of the first signal receiving device and sender unit, (x
b, y
b, z
b) represent the coordinate position of secondary signal receiving trap in object coordinates system, d
brepresent the distance of secondary signal receiving trap and sender unit, (x
c, y
c, z
c) represent the coordinate position of the 3rd signal receiving device in object coordinates system, d
crepresent the distance of the 3rd signal receiving device and sender unit.
8. positioning system according to claim 6, it is characterized in that, described locating module, according to the coordinate position of sender unit in map coordinates system and the coordinate position of relative coordinate relation determination object in map coordinates system between sender unit and each signal receiving device, comprising:
First, second, and third coordinate position of first, second, and third signal receiving device in map coordinates system is calculated according to the coordinate position of sender unit in map coordinates system and the relative coordinate relation between sender unit and first, second, and third signal receiving device;
The coordinate position of object in map coordinates system is gone out according to the second coordinate position in map coordinates system of first coordinate position of described first signal receiving device in map coordinates system, described secondary signal receiving trap and the three-dimensional position calculation of described 3rd signal receiving device in map coordinates system.
9. the positioning system according to any one of claim 6-8, it is characterized in that, each one of being configured with in described locating module or described first, second, and third signal receiving device in described first, second, and third signal receiving device is configured with described locating module, or described locating module and first, second, and third signal receiving device are provided separately.
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