CN-121985288-A - Neighbor ranging and positioning method based on phase and server

CN121985288ACN 121985288 ACN121985288 ACN 121985288ACN-121985288-A

Abstract

The invention discloses a neighbor ranging and positioning method based on phases and a server, wherein the method comprises the steps of sending neighbor phase measurement instructions to schedule electronic tag transmitting pairs which are preset as transmitting ends in a scene to be positioned to sequentially transmit broadcast signals according to a pre-allocated time sequence, receiving neighbor phase measurement results sent by the electronic tags in the scene to be positioned after all the electronic tag transmitting pairs in the scene to be positioned complete broadcast signal transmission, dividing the tags in the scene to be positioned into a plurality of phase difference operation groups according to the results, calculating distance differences among the tags in each group in a phase difference operation mode, wherein each phase difference operation group at least comprises a pair of tag transmitting pairs, and determining the positions of the electronic tags to be positioned in the scene to be positioned based on the known positions of anchor tags in the scene to be positioned and the distance differences among the electronic tags. The invention can efficiently and accurately determine the position of the electronic tag.

Inventors

LIANG MIN
CHU JIANHONG
WANG YUJING
LI XUHUI
CHEN GENGFENG
SU YANAN
Xing Jiangcen

Assignees

汉朔科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260123

Claims (20)

1. The neighbor ranging and positioning method based on the phase is characterized by comprising the following steps of: transmitting a neighbor phase measurement instruction to schedule an electronic tag transmitting pair which is preset as a transmitting end in a scene to be positioned to sequentially transmit broadcast signals according to a pre-allocated time sequence, wherein each shelf channel in the scene to be positioned at least comprises a pair of electronic tag transmitting pairs; after all the electronic tag transmitting pairs in the scene to be positioned complete the broadcast signal transmission, receiving neighbor phase measurement results sent by the electronic tags in the scene to be positioned; Dividing the electronic tags in the scene to be positioned into a plurality of phase difference operation groups according to the received neighbor phase measurement results, and calculating the distance difference between the electronic tags in each phase difference operation group in a phase difference operation mode, wherein each phase difference operation group at least comprises a pair of electronic tag transmitting pairs, and other electronic tags in the group are electronic tags receiving broadcast signals of the electronic tag transmitting pairs; And determining the position of the electronic tag to be positioned in the scene to be positioned based on the known position of the anchor point electronic tag in the scene to be positioned and the calculated distance difference between the electronic tags in each phase difference operation group.
2. The method of claim 1, wherein sequentially transmitting broadcast signals at the pre-assigned timing with the pair of electronic tag transmissions pre-set as the transmitting end in the scheduled to-be-located scene comprises sequentially transmitting broadcast signals at the pre-assigned timing with the pair of electronic tag transmissions pre-set as the transmitting end in the scheduled to-be-located scene on at least two frequency bins.
3. The method of claim 2, wherein sequentially transmitting broadcast signals on at least two frequency points according to a pre-allocated time sequence with an electronic tag transmission pair preset as a transmitting end in a scheduled scene to be positioned, comprises: after the broadcast signal transmission of all the electronic tag transmitting pairs in the scene to be positioned is completed on one frequency point, switching to the next frequency point, and transmitting the broadcast signal on the next frequency point by all the electronic tag transmitting pairs in the scene to be positioned until the broadcast signal transmission of all the electronic tag transmitting pairs in the scene to be positioned is completed on all the frequency points; Or dividing the electronic tags into a plurality of electronic tag groups according to the shelf channels, and after the electronic tag transmitting pairs in one electronic tag group complete the broadcast signal transmitting on all frequency points, starting the electronic tag transmitting pairs in the next electronic tag group to transmit the broadcast signal on all frequency points until the electronic tag transmitting pairs in all electronic tag groups in the scene to be positioned complete the broadcast signal transmitting on all frequency points.
4. The method of claim 1, wherein the neighbor phase measurement comprises raw IQ data of the broadcast signal received by each electronic tag or a phase correction term derived from the raw IQ data.
5. The method of claim 4, further comprising calculating a frequency offset of the electronic tag in each phase difference operation group according to the number of points of the IQ data and the sampling time interval if the neighbor phase measurement result includes original IQ data, so as to obtain a phase correction term after frequency offset compensation.
6. The method of claim 4 or 5, further comprising: dividing the electronic tags in the scene to be positioned into a plurality of phase difference operation groups according to the received neighbor phase measurement results, wherein each phase difference operation group at least comprises a pair of electronic tag transmitting pairs, and other electronic tags in the group are electronic tags which receive broadcast signals of the electronic tag transmitting pairs; when the distance between the electronic tag serving as the receiving end and any electronic tag in the electronic tag transmitting pair is known, calculating the distance between the electronic tag serving as the receiving end and the other electronic tag in the electronic tag transmitting pair in each phase difference operation group according to the phase correction term relation among the electronic tags in each phase difference operation group, which is established in advance; Determining the distance between the electronic tag transmitting pairs in each phase difference operation group according to the phase correction term relation between the electronic tag transmitting pairs pre-established in each phase difference operation group; And determining the position of the electronic tag to be positioned in the scene to be positioned according to the distance between the electronic tag serving as the receiving end and any one of the electronic tag transmitting pairs in each phase difference operation group, the distance between the electronic tag serving as the receiving end and the other electronic tag in the electronic tag transmitting pair, and the distance between the electronic tag transmitting pairs in each phase difference operation group.
7. The method of claim 1, wherein each phase difference operation group comprises at least four electronic tags, wherein the at least four electronic tags comprise at least three anchor point electronic tags with known positions, wherein the determining the positions of the electronic tags to be positioned in the scene to be positioned based on the known positions of the anchor point electronic tags in the scene to be positioned and the calculated distance difference between the electronic tags in each phase difference operation group comprises solving the coordinates of the rest electronic tags with unknown positions according to the following method: establishing a first difference equation formed by the distance difference between the residual electronic tags at unknown positions in the first phase difference operation group and the anchor point electronic tags in the first phase difference operation group; When the residual electronic tags at the unknown positions participate in the second phase difference operation group to calculate, a second difference equation formed by the distance difference between the residual electronic tags at the unknown positions in the second phase difference operation group and the anchor point electronic tags in the second phase difference operation group is established; And carrying out simultaneous solving on the first difference equation and the second difference equation to obtain the coordinates of the residual electronic tags at the unknown positions.
8. The method of claim 1, wherein each phase difference operation group comprises at least four electronic tags, wherein the at least four electronic tags comprise anchor point electronic tags with known positions, and wherein determining the positions of the electronic tags to be positioned in the scene to be positioned based on the known positions of the anchor point electronic tags in the scene to be positioned and the calculated distance difference between the electronic tags in each phase difference operation group comprises solving the coordinates of the remaining electronic tags with unknown positions according to the following method: and (3) using at least two phase difference operation groups to carry out position calculation on the residual electronic tags at unknown positions by solving hyperbola intersection points.
9. The method as recited in claim 1, further comprising: Dividing the electronic tags in the scene to be positioned into a plurality of electronic tag groups so as to eliminate signal interference among the electronic tags, and distributing a signal transmitting time sequence for the electronic tag transmitting in each electronic tag group; in the process of transmitting broadcast signals by the electronic tag transmitting pairs in each electronic tag group, the rest electronic tag groups are in a non-transmitting state.
10. The method of claim 9, wherein the step of dividing the electronic tags in the scene to be positioned into a plurality of electronic tag groups comprises dividing the electronic tags in the scene to be positioned into an odd channel electronic tag group and an even channel electronic tag group, wherein in the process of transmitting broadcast signals by the electronic tag transmitting pairs in the odd channel electronic tag group or the even channel electronic tag group, the electronic tags in the same channel with the electronic tag transmitting pairs are in a non-transmitting state, and in the same group, the electronic tag transmitting pairs in different channels with the electronic tag transmitting pairs can be in a transmitting state.
11. The method of claim 9, wherein separating the electronic tags in the scene to be positioned into a plurality of electronic tag groups comprises separating the electronic tags in the scene to be positioned into an odd shelf group electronic tag group of an odd channel, an even shelf group electronic tag group of an odd channel, an odd shelf group electronic tag group of an even channel, and an even shelf group electronic tag group of an even channel.
12. The method of claim 9, wherein for each frequency bin, each pair of electronic tags in the same electronic tag group transmits broadcast signals sequentially at a pre-assigned timing, frequency bin switching is accomplished between each frequency bin with a first signal transmission interval, and a second transmission time interval is set between two electronic tags in each pair of electronic tags to prevent signal overlap between the two electronic tags in the pair.
13. The method of claim 1, further comprising correcting the location of the electronic tag as follows: acquiring a current neighbor phase measurement result of an electronic tag to be corrected; Extracting a current phase difference characteristic from the current neighbor phase measurement result; Obtaining an actual distance difference corresponding to the current phase difference characteristic according to the current phase difference characteristic and a relation between a pre-established historical phase difference characteristic and the actual distance difference; and obtaining the correction position of the electronic tag to be corrected according to the actual distance difference corresponding to the current phase difference characteristic.
14. The method as recited in claim 13, further comprising: Processing the historical phase difference characteristics through a preset dimension reduction algorithm to obtain the historical dimension reduction phase difference characteristics; And establishing a relation between the historical dimension reduction phase difference characteristic and the actual distance difference.
15. The method as recited in claim 1, further comprising: Acquiring a row surface where the anchor point electronic tag is located in the phase difference operation group, and determining the row surface where the electronic tag at the unknown position is located through the positive-negative relationship of the distance difference between the electronic tag at the unknown position and the anchor point electronic tag; And judging which shelf of the electronic tag at the unknown position is on the row surface according to the distance difference between the electronic tags.
16. The method of claim 1, further comprising determining the pair of electronic tag emissions in the same shelf lane as follows: identifying shelves positioned on both sides of the shelf channel; Calculating the face-to-face overlapping rate of the electronic labels on the shelves at the two sides in the space position; and determining the two electronic tags with the face-to-face overlapping rate exceeding a preset threshold as a candidate electronic tag emission pair.
17. The method of claim 1, further comprising the step of determining whether the electronic tag is moving: acquiring the ID of an electronic tag received by each electronic tag in the current positioning round; Comparing the ID of the electronic tag received by each electronic tag in the current positioning round with the ID of the electronic tag received by the electronic tag in the previous positioning round to obtain an ID repetition rate; if the ID repetition rate is lower than a preset threshold value, determining that the electronic tag is moved.
18. The method of claim 1, further comprising the step of determining whether the electronic tag is moving: Acquiring at least one phase difference operation group into which the electronic tag is marked in an initial stage; obtaining standard distance differences among all electronic tags in the at least one phase difference operation group; Comparing the standard distance difference between the electronic tags in the at least one phase difference operation group into which the initial stage is divided with the current distance difference between the electronic tags in the at least one phase difference operation group into which the current positioning coherence is divided; and determining whether the electronic tag moves or not according to the comparison result.
19. The method of claim 1, further comprising the step of determining whether the electronic tag is moving: Acquiring at least one phase difference operation group into which the electronic tag is marked in an initial stage; acquiring initial ID information of each electronic tag in the at least one phase difference operation group and standard distance difference between each electronic tag; comparing the initial ID information with the current ID information of each electronic tag in at least one phase difference operation group into which the electronic tag is divided in the current positioning round; If the number of the phase difference operation groups with the same ID information is smaller than the preset group number threshold value, determining the difference value between the distance difference between the electronic tags of the current positioning round and the standard distance difference between the electronic tags in the initial stage in the phase difference operation groups with the same ID information; and if the difference value is larger than a preset difference value threshold value, determining that the electronic tag is moved.
20. The method according to any one of claims 17 to 19, further comprising setting the tag determined not to be moved as an anchor electronic tag, and if it is determined that the moved electronic tag has been previously set as a transmitting end, setting a broadcast signal transmitted by the moved electronic tag as invalid.

Description

Neighbor ranging and positioning method based on phase and server Technical Field The invention relates to the technical field of positioning, in particular to a neighbor ranging positioning method based on phase and a server. Background This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section. The position information of the electronic tag in the intelligent warehouse is extremely important, and the efficiency of warehouse operation can be greatly improved. Taking the smart retail industry as an example, store merchandise display management in the smart retail industry is an important ring of intelligence and digitization, and the accurate position information of the merchandise and shelves is a necessary condition for implementation. Because the electronic tags are bound with the goods one by one, the position information of the goods and the goods shelf is reflected on the position information of the electronic tags, and therefore the electronic tags are very important to obtain the accurate position information of the electronic tags. In the prior art, the electronic tag positioning method based on distance measurement only carries out distance measurement between every two electronic tags in each positioning, and has low efficiency. Meanwhile, the conventional ranging scheme of the electronic tag signal relies on a two-way signal receiving and transmitting process, so that the problems of complex measuring flow and long time consumption exist, the ranging needs the tag to have special hardware and corresponding protocols, the suitability is relatively weak, and the scene requirements of fast networking and batch detection of the tag equipment are difficult to adapt. In addition, the bidirectional receiving and transmitting mode is easily affected by channel interference and response difference of tag equipment, so that the robustness of a phase measurement result is insufficient, and meanwhile, the compatibility of the two-way receiving and transmitting mode for tag equipment of different protocols and different models is poor. Disclosure of Invention The embodiment of the invention provides a neighbor ranging and positioning method based on phase, which is used for efficiently and accurately determining the position of an electronic tag, and comprises the following steps: transmitting a neighbor phase measurement instruction to schedule an electronic tag transmitting pair which is preset as a transmitting end in a scene to be positioned to sequentially transmit broadcast signals according to a pre-allocated time sequence, wherein each shelf channel in the scene to be positioned at least comprises a pair of electronic tag transmitting pairs; after all the electronic tag transmitting pairs in the scene to be positioned complete the broadcast signal transmission, receiving neighbor phase measurement results sent by the electronic tags in the scene to be positioned; Dividing the electronic tags in the scene to be positioned into a plurality of phase difference operation groups according to the received neighbor phase measurement results, and calculating the distance difference between the electronic tags in each phase difference operation group in a phase difference operation mode, wherein each phase difference operation group at least comprises a pair of electronic tag transmitting pairs, and other electronic tags in the group are electronic tags receiving broadcast signals of the electronic tag transmitting pairs; And determining the position of the electronic tag to be positioned in the scene to be positioned based on the known position of the anchor point electronic tag in the scene to be positioned and the calculated distance difference between the electronic tags in each phase difference operation group. The embodiment of the invention also provides a neighbor ranging positioning server based on the phase, which is used for efficiently and accurately determining the position of the electronic tag, and comprises the following components: The device comprises a transmitting unit, a receiving unit and a receiving unit, wherein the transmitting unit is used for transmitting a neighbor phase measurement instruction to schedule an electronic tag transmitting pair which is preset as a transmitting end in a scene to be positioned to sequentially transmit broadcast signals according to a pre-allocated time sequence, and each shelf channel in the scene to be positioned at least comprises a pair of electronic tag transmitting pairs; The receiving unit is used for receiving neighbor phase measurement results sent by the electronic tags in the scene to be positioned after all the electronic tag transmitting pairs in the scene to be positioned complete the transmission of the broadcast signals; The phase difference operation unit is used for dividing the electr