CN-116367302-B - Positioning method, positioning system and electronic equipment

CN116367302BCN 116367302 BCN116367302 BCN 116367302BCN-116367302-B

Abstract

The application provides a positioning method and a positioning system, and relates to the technical field of positioning. The positioning method is applied to a controller of a positioning system, the positioning system further comprises a label and a plurality of base stations, the controller synchronizes clocks of the plurality of base stations, the clocks of each base station are divided into a plurality of intervals with equal intervals, each interval corresponds to one time scale, each base station receives a positioning signal sent by the label, determines time scales of the same positioning signal, calculates a time scale difference value between every two base stations, and finally the controller determines coordinates of the label according to the time scale difference value between every two base stations and coordinates of each base station. The positioning method and the positioning system provided by the application have the advantages of simple structure, low cost and long battery endurance time.

Inventors

YAN WEI
YAN HONG

Assignees

成都精位科技有限公司

Dates

Publication Date: 20260512
Application Date: 20230331

Claims (10)

1. A positioning method, characterized by a controller applied to a positioning system, the positioning system further comprising a tag and a plurality of base stations, the positioning method comprising: synchronizing clocks of the plurality of base stations, dividing the clock of each base station into a plurality of intervals with equal intervals, wherein each interval corresponds to a time scale; Receiving a positioning signal fed back by each base station, and determining the time scale of the same received positioning signal, wherein the positioning signal is sent out by a tag; Calculating a time scale difference value between every two base stations; And determining the coordinates of the tag according to the time scale difference value between every two base stations and the coordinates of each base station, wherein communication is not needed between the controller and the tag, and a receiver is not integrated on the tag.
2. The positioning method of claim 1, wherein the step of receiving the positioning signal fed back by each base station and determining the time scale for receiving the same positioning signal comprises: Receiving a positioning signal fed back by each base station, wherein the positioning signal carries positioning information, ID information and numbering information, and determining a target time scale according to the positioning information, the ID information and the numbering information; The step of calculating the time scale difference between every two base stations comprises: And determining a time scale difference value by using the target time scales of every two base stations.
3. The positioning method of claim 1, wherein the number of base stations includes at least four, and after the step of receiving the positioning signal fed back by each base station, the positioning method further comprises: and when the positioning signal fed back by any base station is not received, determining the coordinates of the tag by using the time scale difference values and the coordinates of the rest at least three base stations.
4. The positioning method of claim 1, wherein the positioning system comprises a plurality of base station groups, the step of synchronizing clocks of the plurality of base stations, and dividing the clock of each base station into a plurality of equally spaced intervals comprises: the clocks of a plurality of base stations in each base station group are synchronized, and the clocks of each base station are divided into a plurality of identical intervals with equal intervals.
5. The positioning method as claimed in claim 1, wherein the step of synchronizing clocks of the plurality of base stations and dividing the clock of each base station into a plurality of intervals equal in interval comprises: Transmitting a clock synchronization signal to each base station to enable the plurality of base stations to work under a unified clock; and dividing the synchronized clock of each base station into a plurality of intervals with equal intervals.
6. The positioning system is characterized by further comprising a controller, a tag and a plurality of base stations, wherein communication is not needed between the controller and the tag, a receiver is not integrated on the tag, the controller is used for synchronizing clocks of the plurality of base stations, the clocks of each base station are divided into a plurality of intervals with equal intervals, and each interval corresponds to one time scale; each base station is used for receiving the positioning signals sent by the tags and determining the time scales for receiving the same positioning signals; The controller is used for calculating the time scale difference value between every two base stations; the controller is also used for determining the coordinates of the tag according to the time scale difference value between every two base stations and the coordinates of each base station.
7. The positioning system of claim 6 wherein said controller is integrated within any base station.
8. The positioning system of claim 6 wherein the tag is configured to randomly transmit a positioning signal, wherein the positioning signal carries positioning information, ID information, and numbering information; The base station is also used for determining a target time scale according to the positioning information, the ID information and the number information; The controller is also used for determining a time scale difference value by utilizing the target time scales of every two base stations; And determining a time scale difference value by using the target time scales of every two base stations.
9. The positioning system of claim 6 wherein the number of base stations comprises at least four, and wherein the controller is further configured to determine coordinates of the tag using the remaining at least three base station time scale differences and coordinates when any one base station does not receive the positioning signal transmitted by the tag.
10. An electronic device, the electronic device comprising: A memory for storing one or more programs; A processor; the method of any of claims 1-5 is implemented when the one or more programs are executed by the processor.

Description

Positioning method, positioning system and electronic equipment Technical Field The application relates to the technical field of positioning, in particular to a positioning method and a positioning system. Background Ultra Wideband (UWB) positioning is a rapidly developing wireless positioning technology in recent years, which leads other wireless positioning technologies with high accuracy in the order of centimeters and high performance such as thousands of times per second, and is being popularized and popularized in the field of indoor and outdoor accurate positioning. In the scheme of UWB positioning technology, especially, a positioning system in TDOA (time difference of arrival) mode is mainstream, in the TDOA positioning system, in order to obtain the time difference of flight of positioning signals sent by the same tag to reach each base station, a set of control signal system of tag and system is often designed for coordinating the working time sequence between the positioning receiving base station and tag and between the tag and tag, so as to ensure that each time of positioning signal sending and receiving is orderly and reliable. Based on this, each tag currently integrates a set of wireless communication receivers for receiving control instructions of the system, which results in the problems of complex structure, high cost and short battery endurance time. Disclosure of Invention The application aims to provide a positioning method, a positioning system and electronic equipment, which are used for solving the problems of complex label structure, high cost and short battery endurance time in the prior art. In order to achieve the above object, the technical scheme adopted by the embodiment of the application is as follows: In a first aspect, an embodiment of the present application provides a positioning method, which is applied to a controller of a positioning system, where the positioning system further includes a tag and a plurality of base stations, and the positioning method includes: synchronizing clocks of the plurality of base stations, dividing the clock of each base station into a plurality of intervals with equal intervals, wherein each interval corresponds to a time scale; Receiving a positioning signal fed back by each base station, and determining the time scale of the same received positioning signal, wherein the positioning signal is sent out by a tag; Calculating a time scale difference value between every two base stations; And determining the coordinates of the tag according to the time scale difference value between every two base stations and the coordinates of each base station. Optionally, the step of receiving the positioning signal fed back by each base station and determining the time scale of receiving the same positioning signal includes: Receiving a positioning signal fed back by each base station, wherein the positioning signal carries positioning information, ID information and numbering information, and determining a target time scale according to the positioning information, the ID information and the numbering information; The step of calculating the time scale difference between every two base stations comprises: And determining a time scale difference value by using the target time scales of every two base stations. Optionally, the number of base stations includes at least four, and after the step of receiving the positioning signal fed back by each base station, the positioning method further includes: and when the positioning signal fed back by any base station is not received, determining the coordinates of the tag by using the time scale difference values and the coordinates of the rest at least three base stations. Optionally, the positioning system includes a plurality of base station groups, and the step of synchronizing clocks of the plurality of base stations and dividing the clock of each base station into a plurality of intervals equal to each other includes: the clocks of a plurality of base stations in each base station group are synchronized, and the clocks of each base station are divided into a plurality of identical intervals with equal intervals. Optionally, the step of synchronizing clocks of the plurality of base stations and dividing the clock of each base station into a plurality of equally spaced intervals comprises: Transmitting a clock synchronization signal to each base station to enable the plurality of base stations to work under a unified clock; and dividing the synchronized clock of each base station into a plurality of intervals with equal intervals. In a second aspect, an embodiment of the present application further provides a positioning system, where the positioning system further includes a controller, a tag, and a plurality of base stations, where the controller is configured to synchronize clocks of the plurality of base stations, divide the clock of each base station into a plurality of intervals with equal intervals,