CN106507478A - A kind of localization method, positioning network and alignment system - Google Patents
A kind of localization method, positioning network and alignment system Download PDFInfo
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- CN106507478A CN106507478A CN201611063670.3A CN201611063670A CN106507478A CN 106507478 A CN106507478 A CN 106507478A CN 201611063670 A CN201611063670 A CN 201611063670A CN 106507478 A CN106507478 A CN 106507478A
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- base station
- locating base
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- positioning terminal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of localization method, positioning network and alignment system, the localization method includes：When positioning terminal enters the orientation range of locating base station network, the first area that the positioning terminal is located in the orientation range is determined by pre-determined bit network；Control first kind locating base station in the locating base station network to position the positioning terminal, the first kind locating base station is used for positioning the first area.Due to only being positioned to positioning terminal by first kind locating base station, it is scanned without the need for other locating base stations outside first kind locating base station, so other locating base stations outside reducing first kind locating base station are scanned the time spent during positioning, significantly reduce delay, so as to solve present in prior art because multiple locating base stations are positioned to virtual reality device by the way of timesharing, cause the technical problem that positioning result delay is larger.
Description
Technical field
The present invention relates to positioning field, more particularly to a kind of localization method, positioning network and alignment system.
Background technology
Virtual reality (English：Virtual Reality；Referred to as：VR) it is a kind of can establishment and the experiencing virtual world
Computer simulation system, it generate a kind of simulated environment using computer, by interactively Three-Dimensional Dynamic what comes into a driver's and entity row
For system emulation user is immersed in the environment, be that user brings the sensory experience for surmounting real life environment.In vision
For aspect, virtual reality technology generates the image of virtual scene using computer equipment, and passes through optics by image light
Line is delivered to human eye so that user visually can experience the virtual scene completely.
At present, typically can also be by locating base station come the change in location of real-time detection virtual reality device, so as to according to position
The image that change provides a user with the virtual scene of respective change is put, so as to provide the user more real virtual reality experience,
And the orientation range of single locating base station is limited, if desired realize in positioning interior in a big way, then can be by multiple positioning bases
Stand and cooperate with to detect change in location of the virtual reality device in orientation range, namely multiple locating base stations are to virtual reality device
Positioned.
In order to ensure that the accuracy for positioning, multiple locating base stations are carried out to virtual reality device typically by the way of timesharing
Position, namely No. 1 first locating base station send framing signal to surrounding, then No. 2 locating base stations send framing signal to surrounding,
Then No. 3 locating base stations send framing signal to surrounding, by that analogy, until all locating base stations all send one-time positioning signal
Afterwards, all locating base stations carry out the framing signal sending action of next round again, that is to say, that be pointed to the virtuality in some region
For real world devices, it is assumed which is merely capable of receiving the framing signal that a locating base station sends, then which receives framing signal
Interval time and locating base station quantity positive correlation, the delay of positioning result is larger, so as to cause the virtual reality device cannot
Provide a user with the image of the virtual scene of respective change in time according to change in location, affect then the virtual reality body of user
Test.
Therefore, existing in prior art is carried out determining to virtual reality device by the way of timesharing because of multiple locating base stations
Position, causes the technical problem that positioning result delay is larger.
Content of the invention
It is an object of the invention to provide a kind of localization method, positioning network and alignment system, solve in prior art and deposit
Virtual reality device is positioned by the way of timesharing because of multiple locating base stations, cause positioning result delay larger
Technical problem.
In order to realize that foregoing invention purpose, first aspect present invention provide a kind of localization method, it is characterised in that bag
Include：
When positioning terminal enters the orientation range of locating base station network, the positioning terminal is determined by pre-determined bit network
The first area being located in the orientation range；
Control first kind locating base station in the locating base station network to position the positioning terminal, the first kind
Locating base station is used for positioning the first area.
Alternatively, the locating base station in the locating base station network sets up topological structure certainly by following steps：
Control each locating base station successively to position other locating base stations, obtain each locating base station and positioned by which
Locating base station between relative position relation；
The corresponding relative position relation of all locating base stations is counted, the topological structure of the locating base station network is set up.
Alternatively, after the topological structure for setting up the locating base station network, methods described also includes：Set up described pre-
The topological structure of positioning network；And the coordinate system by the coordinate system of the pre-determined bit network with the locating base station network is carried out
Corresponding.
Alternatively, the pre-determined bit network by least 4 ZigBee modules, at least 4 magnetic field generators, at least 4
At least class composition in WIFI hot spot or at least 4 UWB base stations, described determines the positioning terminal position by pre-determined bit network
In the first area of the orientation range, specifically include：
According to the ZigBee letters that the positioning terminal receives at least 4 non-coplanar ZigBee modules in locating base station network
Number when received signal strength, determine and described be located at the first area to the positioning terminal；And/or
According to the magnetic that the positioning terminal receives at least 4 non-coplanar magnetic field generators in the locating base station network
Received signal strength during field signal, determines that the positioning terminal is located at the first area；And/or
According to the signal that the positioning terminal receives at least 4 non-coplanar WIFI hot spots in the locating base station network
When received signal strength, determine the positioning terminal be located at the first area；And/or
The UWB pulse data signals that the positioning terminal sends are received by least 4 non-coplanar UWB base stations, is determined
The positioning terminal is located at the first area.
Alternatively, the locating base station near the first area is located in the control locating base station network to described
Positioning terminal is positioned, and is specifically included：
Determine the first kind locating base station near the first area；
Control the first kind locating base station in running order, and control in the locating base station network except described the
Other locating base stations outside one class locating base station are in off working state.
Alternatively, during positioning to the positioning terminal, determining the positioning terminal by described first
Region to second area move when, methods described also includes：
Determine that the Equations of The Second Kind locating base station near the second area, the Equations of The Second Kind locating base station are used for described second
Region is positioned；
Control the Equations of The Second Kind locating base station and the working condition is adjusted to by the off working state.
Second aspect present invention provides a kind of positioning network, it is characterised in that include：
Locating base station network, including multiple locating base stations, be provided with each locating base station framing signal dispensing device and
Positioning signal reception device；
Pre-determined bit network, including multiple pre-determined bit base stations；
Data processing equipment, is connected with the plurality of locating base station and the plurality of pre-determined bit base station respectively, for fixed
When position terminal enters the orientation range of locating base station network, determine that the positioning terminal is located at the positioning by pre-determined bit network
First area in scope, and control in the locating base station network first kind locating base station positioning terminal is carried out fixed
Position, the first kind locating base station are used for positioning the first area.
Alternatively, the data processing equipment is specifically additionally operable to control each locating base station successively enter other locating base stations
Row positioning, obtains each locating base station and the relative position relation between the locating base station that positioned by which, and counts all positioning
The corresponding relative position relation in base station, sets up the topological structure of the locating base station network.
Alternatively, the data processing equipment be specifically additionally operable to set up the locating base station network topological structure it
Afterwards, the topological structure of the pre-determined bit network set up, and by the coordinate system of the pre-determined bit network and the locating base station net
The coordinate system of network is corresponding.
Alternatively, the pre-determined bit network by least 4 ZigBee modules, at least 4 magnetic field generators, at least 4
At least class composition in WIFI hot spot or at least 4 UWB base stations.
Alternatively, the data processing equipment is specifically for determining the first kind locating base station near the first area,
And it is in running order to control the first kind locating base station, and control in the locating base station network except the first kind calmly
Other locating base stations outside the base station of position are in off working state.
Alternatively, the data processing equipment is specifically additionally operable to during positioning to the positioning terminal,
Determine the positioning terminal from the first area to second area move when, determine that Equations of The Second Kind near the second area is fixed
Position base station, and control the Equations of The Second Kind locating base station working condition is adjusted to by the off working state.
Third aspect present invention provides a kind of alignment system, including：
At least one positioning terminal；
Positioning network as described in second aspect.
One or more technical scheme in the embodiment of the present invention, at least has the following technical effect that or advantage：
First area of the positioning terminal in orientation range is determined as a result of pre-determined bit network is first passed through, then control
For the technical scheme positioned to positioning terminal by the first kind locating base station positioned by first area, it is to avoid predetermined
The relatively low defect of the positioning precision of positioning mode that position network is adopted, while avoid the positioning adopted by locating base station network
The slower defect of the locating speed of mode, is only positioned to positioning terminal by first kind locating base station, fixed without the need for the first kind
Other locating base stations outside the base station of position are scanned, so other locating base stations outside reducing first kind locating base station are entered
The time spent during row Scan orientation, hence it is evident that reduce delay, so as to solve present in prior art because of multiple positioning bases
Stand, cause the technical problem that positioning result delay is larger, it is achieved that
The purpose that comparatively fast, relatively accurately positioning terminal can be positioned.
Description of the drawings
Fig. 1 is the flow chart of localization method provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of locating base station network provided in an embodiment of the present invention；
Fig. 3 A are the schematic diagram of locating base station provided in an embodiment of the present invention；
Fig. 3 B are the top view of three laser signals of outgoing in locating base station provided in an embodiment of the present invention；
Fig. 3 C are that the position of first plane of scanning motion and second plane of scanning motion in locating base station provided in an embodiment of the present invention is closed
The front view of system；
Fig. 3 D are schematic diagram when locating base station provided in an embodiment of the present invention is scanned by laser；
Fig. 4 A are the structural representation of magnetic field generator provided in an embodiment of the present invention；
Fig. 4 B are a kind of structural representation of field signal receiver provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of the pre-determined bit network being made up of UWB base stations provided in an embodiment of the present invention.
Specific embodiment
Accompanying drawing in below in conjunction with the embodiment of the present invention, to the embodiment of the present invention in technical scheme carry out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiment.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The invention provides a kind of localization method, positioning network and alignment system, solve present in prior art because
Multiple locating base stations are positioned to virtual reality device by the way of timesharing, and the technology for causing positioning result delay larger is asked
Topic.
Fig. 1 is refer to, Fig. 1 is the flow chart of localization method provided in an embodiment of the present invention, as shown in figure 1, the positioning side
Method includes：
S1：When positioning terminal enters the orientation range of locating base station network, positioning terminal is determined by pre-determined bit network
The first area being located in orientation range；
S2：In control locating base station network, first kind locating base station is positioned to positioning terminal, first kind locating base station
For positioning to first area.
In specific implementation process, positioning terminal can be virtual reality device such as head-mounted display apparatus, operation handle
Etc., here is not limited.
In specific implementation process, locating base station network is made up of multiple locating base stations, the positioning of the locating base station network
Scope is collectively constituted by the respective orientation range of the plurality of locating base station, and locating base station can be adopted according to actual conditions
The mode such as laser, laser and ultrasonic wave or laser and magnetic field is positioned to positioning terminal, and here is not limited.Certainly, need
Illustrate, need each to adopt corresponding hardware according to the difference of the positioning mode for being adopted, positioning terminal and locating base station
Device, the mode for example with laser are positioned, then need to be respectively provided with Laser emission in positioning terminal and locating base station
Device and laser pickoff, according to laser and the mode of ultrasonic wave, then need to be respectively provided with positioning terminal and locating base station
Generating laser and laser pickoff, ultrasonic transmitter and ultrasonic receiver, etc., here is just repeated no more.
In specific implementation process, the topological structure of locating base station network can be that user is set in advance, will each
Locating base station is placed on the position which pre-sets, it is also possible to do not pre-set the position of locating base station, but fixed placing
Behind the base station of position, locating base station network automatically sets up topological structure.
Fig. 2 is refer to, Fig. 2 is the schematic diagram of locating base station network provided in an embodiment of the present invention, as shown in Fig. 2 this is fixed
Position base station network includes 8 locating base stations, is numbered 0-7 respectively, and each locating base station can include working condition, be positioned shape
State and holding state this 3 kinds of working conditions, working condition refer to that locating base station sends the state of framing signal, and the state of being positioned is
Specific bit base station receives the state of framing signal, holding state refer to locating base station neither send framing signal, nor receive fixed
The state of position signal.
In specific implementation process, the topological structure of the locating base station network can be by for presetting, it is also possible to by
From setting up, here is not limited locating base station network.
The process of the topological structure that by user determine the locating base station network is introduced first：Can be fixed by this 8 by user
Position base station is respectively provided to the particular location for for example pre-setting 0-7 locating base stations on position set in advance, so,
The relative position relation of 0-7 locating base stations is also determined, i.e., can set up the topological structure of locating base station network.
Introduce the process of the topological structure that the locating base station network is automatically determined by locating base station network again, can specifically wrap
Include following steps：Control each locating base station successively to position other locating base stations, obtain each locating base station and by which
Relative position relation between the locating base station of positioning；The corresponding relative position relation of all locating base stations is counted, is set up described
The topological structure of locating base station network.
In specific implementation process, locating base station can adopt multiple positioning modes, for example can adopt laser, laser and
The mode such as ultrasonic wave or laser and magnetic field is carried out positioning to positioning terminal etc., and here will be introduced using showing that laser is positioned
It is intended to, refer to Fig. 3 A- Fig. 3 C, Fig. 3 A is the schematic diagram of locating base station provided in an embodiment of the present invention, and Fig. 3 B are of the invention real
The top view of three laser signals of outgoing in the locating base station of example offer is applied, Fig. 3 C are positioning base provided in an embodiment of the present invention
Stand upper first plane of scanning motion and second plane of scanning motion position relationship front view, as shown in Figure 3A, include in the locating base station
Base 201 and the rotary shaft 202 being arranged on base 201, and 3 laser scanners being arranged in rotary shaft 202, respectively
For first laser scanner 203, second laser scanner 204 and the 3rd laser scanner 205, each laser scanner outgoing
Laser scanning line can all form a plane of scanning motion, that is to say, that in the present embodiment, and framing signal dispensing device is specially should
3 laser scanners, please also refer to Fig. 3 B and Fig. 3 C, and the first scan line of 203 outgoing of first laser scanner forms first
The plane of scanning motion 301, the second scan line of 204 outgoing of second laser scanner form second plane of scanning motion 302, the 3rd laser scanning
The three scan line of 205 outgoing of device forms the 3rd plane of scanning motion 303, in order to ensure locating effect, for first plane of scanning motion
301st, second plane of scanning motion 302 and the 3rd plane of scanning motion 303 have following restriction：The exit direction of the first scan line and rotary shaft
The direction of axle center to primary importance is misaligned, and the exit direction of the second scan line is not weighed with the direction of rotary shaft to the second place
Close, first plane of scanning motion 301 is parallel with the two of same level intersections with second plane of scanning motion 302；First plane of scanning motion
301st, second plane of scanning motion 302 and the 3rd plane of scanning motion 303 are not orthogonal to the axle center with rotary shaft 202, and the first scanning is flat
Face 301, second plane of scanning motion 302 and the 3rd plane of scanning motion 303 at least one plane are not parallel to the axle center of rotary shaft.
Please continue to refer to Fig. 3 A, as shown in Figure 3A, on the base 201 of locating base station, multiple light sensors 206 are provided with,
Multiple light sensors 206 are enclosed around base 201 1, namely the positioning signal reception device in the present embodiment is multiple photosensitive biographies
Sensor 206, so as to guarantee to receive the laser positioning signal that the locating base station of any direction sends, so as to by other positioning
Architecture.Certainly, in other embodiments, the positioning mode difference for being adopted according to locating base station, framing signal send dress
Put with positioning signal reception device also can relative set be structure corresponding with positioning mode, here is just repeated no more.
As can be seen that by locating base station as shown in figs. 3 a-3 c, locating base station can send laser signal to which
He is positioned locating base station, it is also possible to is received the laser signal that other locating base stations send and is positioned by other locating base stations,
This just repeats no more.
Please continue to refer to Fig. 1, as shown in figure 1, after 8 locating base stations are placed to a pre-set space, data processing sets
Other locating base stations are positioned for each locating base station can be controlled successively, specifically, fixed as first with No. 0 base station
As a example by the base station of position, first, data processing equipment is first transmitted into the control signal of working condition to No. 0 base station, while to removing No. 0
Other locating base stations outside locating base station are transmitted into the control signal for being positioned state, and so, No. 0 base station can pass through to determine
Position sender unit sends framing signal, such as No. 1 locating base station of other locating base stations to the orientation range of No. 0 locating base station
If receiving the framing signal, confirmation can be sent to data processing equipment, confirmation signal can for example include positioning
The flag information of base station itself, the transmission time of 3 beam laser scanning lines and reception time etc., data processing equipment i.e. being capable of root
According to the confirmation that No. 1 locating base station sends, determine No. 1 locating base station relative to No. 0 locating base station which is positioned
Position；Then, data processing equipment can be transmitted into the control signal of working condition to No. 1 locating base station, at the same to remove 1
Other locating base stations outside number locating base station are transmitted into the control signal for being positioned state, and other locating base stations such as No. 2 are fixed
Position base station can send confirmation, data to data processing equipment after the framing signal that No. 1 locating base station sends is received
The confirmation that processing equipment can be sent according to No. 2 locating base stations, determines No. 2 locating base stations relative to positioning to which
No. 1 locating base station relative position；By that analogy, in locating base station network, all locating base stations are all received and are once entered
The control signal of positioning states simultaneously sends framing signal, and so, data processing equipment can be sent according to each locating base station
Confirmation, determine each base station and the relative position relation between locating base station which is positioned, so, count institute
There is the corresponding relative position relation of locating base station, i.e., can set up the topological structure of locating base station network.
In the present embodiment, Fig. 3 D refer to, and Fig. 3 D are carried out by laser for locating base station provided in an embodiment of the present invention
Schematic diagram during scanning, as shown in Figure 3 D, the rotary shaft 202 of No. 0 locating base station is rotated by direction counterclockwise, and first sweeps
Retouch plane 301 and plane when second plane of scanning motion 302 distinguishes scanned No. 1 locating base station is respectively 301 ' and 302 ', plane
301 ' and i.e. No. 1 locating base station of intersection projection in the horizontal direction of plane 302 ', namely No. 1 locating base station is determined in water
Projection square upwards, meanwhile, according to plane during the 3rd 303 scanned No. 1 locating base station of the plane of scanning motion and plane 301 ' or
The intersecting lens of plane 302 ', it is possible to obtain direction vector of No. 1 locating base station relative to No. 0 locating base station, direction vector knot
The projection in the horizontal direction of No. 1 locating base station is closed, that is, can determine position of No. 1 locating base station relative to No. 0 locating base station,
Certainly, subsequently the position fixing process of other locating base stations is similar to therewith, and here is just repeated no more.In other embodiments, according to
The positioning mode adopted by locating base station is different, and specific position fixing process is also differed, with the positioning using laser and ultrasonic wave
As a example by mode, can be positioned using laser and ultrasonic wave simultaneously, here is just repeated no more.
In specific implementation process, if the framing signal of a locating base station transmission is not received by other locating base stations
Arrive, and the locating base station is also not received by the framing signal of other locating base stations transmissions without sending out to data processing equipment
Confirmation is sent, namely data processing equipment can determine that the locating base station can not be positioned to other locating base stations, with
When can not be positioned by other locating base stations, then data processing equipment can generate corresponding information, to point out
The user locating base station cannot be added in locating base station network, information can for example pass through light, image, sound and/
Or vibration etc. mode user is pointed out, here is just repeated no more.
Of course, in other embodiments, as before, locating base station can also adopt other positioning modes, for example with laser+
As a example by ultrasonic wave, be then that orientation is determined by laser scanning, while distance is determined by ultrasonic wave, so can also realize carrying out
The purpose of positioning, here are just repeated no more.
In specific implementation process, if exist neither other locating base stations can be carried out positioning, can not be by other
The locating base station positioned by locating base station, then show that the locating base station cannot be set up with other locating base stations and contact, therefore may be used
To generate corresponding information, such as acoustic information, light information etc., to point out user, here just to repeat no more.
In specific implementation process, can be with setting Inertial Measurement Unit in each locating base station in locating base station network
(English：Inertial measurement unit；Referred to as：IMU), Inertial Measurement Unit be measurement object three-axis attitude angle (or
Angular speed) and acceleration device, can be used for the change in location for monitoring each locating base station, for example, can include three lists
The accelerometer of axle, the gyroscope of three single shafts and three axle geomagnetic sensors, of course, it is possible to increased and decreased according to actual conditions,
Here is not limited；So, after the topological structure for setting up locating base station network, data processing equipment can receive inertia inspection
The feedback data of unit, and the displacement data according to feedback data calculating respective base station is surveyed, the position of respective base station is redefined,
Re-establish the topological structure of locating base station network.
By taking the first locating base station in locating base station network as an example, the first positioning is being determined by the first Inertial Measurement Unit
When the position of base station changes, such as determine that the first locating base station is become by inactive state by the first Inertial Measurement Unit and turn to fortune
Dynamic state, then inactive state is turned to by motion state change, namely the change in location got by the first Inertial Measurement Unit is believed
Breath shows the first locating base station to there occurs once to move, then can pass through in locating base station network in addition to the first locating base station
Other locating base stations are scanned successively, so, when detecting some locating base station and can scan the first locating base station, can
The position of the first locating base station is enough redefined, or other locating base stations are scanned by the first locating base station, certain is arrived in scanning
Known to one position during locating base station, i.e., can reversely determine the position of the first locating base station, so as to redefine first
The position of locating base station, so, behind the position for having redefined the first locating base station, finally i.e. can be according to redefining
The position of the first locating base station, re-establishes the topological structure of locating base station network, and here is just repeated no more.
In another embodiment, if according to the information of the first Inertial Measurement Unit being arranged in the first locating base station, such as
First locating base station moves and triggers the first Inertial Measurement Unit and generate corresponding information, it is determined that the position of the first locating base station
Change information, such as specifically to which direction movement, mobile approximate distance is how many etc., further according to the first positioning base
The change in location information that stands, determines the closest locating base station after moving of the first locating base station, and certainly, indication is apart from most herein
Near locating base station refers to the locating base station for having determined that position and adding topological structure, by closest positioning
Base station is positioned to the first locating base station, or is positioned and anti-by the first locating base station nearest locating base station of adjusting the distance
To the determination position of oneself such that it is able to redefine the position of the first locating base station, fixed finally according to first for redefining
The position of position base station, re-establishes the topological structure of locating base station network.
As can be seen that after the topological structure for setting up locating base station network, if the position of wherein locating base station becomes
Dynamic, then the position after confirming locating base station variation is readily able to, then the locating base station is repositioned, according to weight
The position of the new locating base station for determining, re-establishes the topological structure of locating base station network, and fast response time enhances positioning base
Stand the stability of network.
In specific implementation process, pre-determined bit network can by least 4 ZigBee modules, at least 4 magnetic field generators,
At least class composition at least 4 WIFI hot spots or at least 4 UWB base stations, in ensuing part, is situated between respectively
Continue.
ZigBee module is to be integrated with the circuit set of Zigbee protocol, program, radio frequency and chip, and which can either send
ZigBee signals can also receive ZigBee signals, and at least 4 ZigBee modules can make up a ZigBee-network, namely in advance
Positioning network can be made up of at least 4 ZigBee modules, wherein position of each ZigBee module in the ZigBee-network
Can be set by user, for example, multiple ZigBee modules can be numbered according to natural number, setting further according to user
Definite value determines the position of each ZigBee module in whole ZigBee-network, so as to set up ZigBee-network, namely pre-determined bit net
The topological structure of network, finally the coordinate system by the coordinate system of the ZigBee-network with the locating base station network of foregoing description carry out phase
Corresponding, for example, a ZigBee module is set in a locating base station in locating base station network, by determining the positioning base
Coordinate of the ZigBee module on standing in ZigBee-network, that is, be capable of the coordinate system and locating base station network of ZigBee-network
Coordinate system is mapped, and here is just repeated no more.
In actual applications, in order to time-consuming, while the accuracy of the topological structure of the ZigBee-network that sets up is improved,
Can by ZigBee-network from setting up topological structure, for example, by No. 1 ZigBee module receive other 4 non-coplanar
Received signal strength (English during the ZigBee signals that ZigBee module sends：Received Signal Strength；Letter
Claim：RSS), that is, the position of the ZigBee module is can determine, namely ZigBee-network is at least needed from the mode for setting up topological structure
5 ZigBee modules are wanted, by that analogy, until determining the position of each ZigBee module in whole ZigBee-network, that is,
Say, after the corresponding coordinate system of one ZigBee-network of determination, that is, can determine each ZigBee mould in the ZigBee-network
The coordinate of block, so as to set up the topological structure of pre-determined bit network, finally by the coordinate system of the ZigBee-network and foregoing description
The coordinate system of locating base station network carries out corresponding process, has been carried out being discussed in detail in preceding sections, and here is just no longer gone to live in the household of one's in-laws on getting married
State.
Of course, be also required to be provided with a ZigBee module in positioning terminal, so, when positioning terminal enters positioning base
Stand network orientation range when, i.e., can by pre-determined bit network, namely ZigBee-network predefine positioning terminal be located at fixed
The first area of position scope, it should be noted that " first " herein is only one and refers to, actually positioning terminal is from positioning
The arbitrary region of the orientation range of base station network is entered, and can be monitored by ZigBee-network, specifically, can be according to fixed
Position terminal receive at least 4 non-coplanar ZigBee modules in pre-determined bit network ZigBee signals when reception signal strong
Degree, by RSS (English：Received Signal Strength；Chinese：Received signal strength) algorithm, determine positioning terminal
First area is located at, here is just repeated no more.
RSS algorithms can specifically include two kinds of calculations, and the first is the empirical model or number that basis signal is propagated
Model is learned, the RSS data for measuring is mapped as distance parameter, so as to according to different position estimation methods, such as three sides positioning,
The method such as three-point fix or arrival time positioning, determines the position of positioning terminal；It is for second the method for fingerprint base, first records
In regional in the orientation range of pre-determined bit network positioning terminal receive from each be used for positioning ZigBee moulds
The RSS data of block, generates offline fingerprint base, and the offline fingerprint base describes RSS letters in the orientation range of pre-determined bit network in detail
Breath and the corresponding relation of locational space, so, when positioning terminal enters the orientation range of pre-determined bit network, receive pre-determined bit net
The RSS data that each ZigBee module is sent in network, namely ZigBee-network, while carry out with aforesaid offline fingerprint base
Match somebody with somebody, so as to determine the position of positioning terminal using probability or certainty matching algorithm.Second algorithm is not due to utilizing
Calculating, positioning precision is higher for uncertainty relation model between RSS data and distance.
Fig. 4 A are refer to, Fig. 4 A are the structural representation of magnetic field generator provided in an embodiment of the present invention, as shown in Figure 4 A,
The structure of the transmitting coil of the magnetic field generator is the coil that three orthogonal manners are fixed, in specific implementation process, three lines
Circle can as known to default sequential launches with same frequency, intensity in turn field signal, it is also possible to while launching different
Field signal known to frequency, intensity, here are not limited.
Pre-determined bit network can include at least 4 magnetic field generators, and arrange at least 4 magnetic field generators manually by user
Between relative position relation, so as to be set up by the pre-determined bit that at least 4 magnetic field generators are constituted according to the relative position relation
The topological structure of network, then the coordinate system of the pre-determined bit network and the coordinate system of locating base station network are carried out corresponding, such as general
One of magnetic field generator is arranged in locating base station network locating base station or locating base station network
On preset, i.e., the coordinate system of pre-determined bit network can be mapped with the coordinate system of locating base station network；In another enforcement
On each magnetic field generator in example, or in pre-determined bit network, a field signal receiver is set, so, with
As a example by being provided with No. 1 magnetic field generator of a field signal receiver, other 4 are received not according to field signal receiver
The received signal strength during field signal that coplanar magnetic field generator sends, determines No. 1 magnetic field generator relative to other
The position of magnetic field generator, namely the pre-determined bit network being made up of magnetic field generator at least needed from the mode for setting up topological structure
5 magnetic field generators for being provided with field signal receiver, by that analogy, until determining that magnetic field occurs in whole pre-determined bit network
The position of device, so as to set up the topological structure of pre-determined bit network, subsequent step is by the coordinate system of pre-determined bit network and locating base station
The coordinate system of network carries out corresponding process and just repeats no more.
Can arrange in positioning terminal and the structure identical field signal receiver shown in Fig. 4 A such that it is able to receive magnetic
The field signal that field generator sends.In specific implementation process, in order to reduce receiving coil volume, increase magnetic conductivity, while
Coil is facilitated to wind, the ferrite of the centrally disposed square of receiving coil that can be in field signal receiver or circle
Magnetic core, refer to Fig. 4 B, and Fig. 4 B are a kind of structural representation of field signal receiver provided in an embodiment of the present invention.Survey in magnetic field
Away from principle：Derived according to Bi-Sa-drawing law and Faraday's electromagnetic induction law, can be derived according to the two laws
The attenuation law that magnetic field is found range in spatial, can more accurately draw the thing between emission of magnetic field source and magnetic field receiving terminal
Reason distance, this conclusion proved repeatedly academicly passing through, and belongs to known technology, so derivation and formula be not herein
In be described in detail.
So, after the positioning terminal for being provided with field signal receiver enters the orientation range of locating base station network, i.e.,
Positioning terminal can be predefined positioned at the first of orientation range by the pre-determined bit network being made up of at least 4 magnetic field generators
Region, specifically, can be the magnetic for receiving at least 4 non-coplanar magnetic field generators in pre-determined bit network according to positioning terminal
Received signal strength during field signal, the RSS algorithms that is introduced by preceding sections, so that it is determined that positioning terminal is located at the firstth area
Domain, here just repeat no more.
WIFI hot spot (English：Access Point) refer to and utilize WiFi technology, connection is provided to terminals such as computer, mobile phones
The equipment of network, such as wireless router etc., its can send data to terminal, it is also possible to receive what other WIFI hot spots sent
Data, so, at least 4 WIFI hot spots can make up a pre-determined bit network.
In one embodiment, relative position relation between at least 4 WIFI hot spots can manually be arranged by user, so as to
According to the topological structure that the relative position relation sets up the pre-determined bit network being made up of at least 4 WIFI hot spots, then this is made a reservation for
Position the coordinate system of network carry out with the coordinate system of locating base station network corresponding, i.e., can be by the coordinate system of pre-determined bit network and positioning
The coordinate system of base station network is mapped；In another embodiment, it is also possible to open WIFI hot spot and receive other WIFI hot spots
The function of data, so, each WIFI hot spot can obtain the hotspot name of other WIFI hot spot broadcast, received signal strength
Etc. data, after being numbered according to natural number to all WIFI hot spots, by taking No. 1 WIFI hot spot therein as an example, No. 1 WIFI hot spot
After receiving the hotspot name of other 4 non-coplanar WIFI hot spots broadcast, received signal strength, certainly, in addition it is also necessary to formerly
Know the transmission power of other 4 non-coplanar WIFI hot spots, you can according to signal strength signal intensity and transmission power, to determine apart from each
The distance of WIFI hot spot, so, determines and relative position between other 4 non-coplanar WIFI hot spots in No. 1 WIFI hot spot
After relation, that is, the position of No. 1 WIFI hot spot is can determine, by that analogy, i.e., can set up the pre-determined bit being made up of WIFI hot spot
The topological structure of network, certainly, this pre-determined bit network that can set up certainly topological structure needs at least 5 WIFI hot spots.
Certainly, the reception device that the data that can receive WIFI hot spot broadcast are set is needed in positioning terminal, so, when
When positioning terminal enters into the orientation range of locating base station network, i.e., can be predetermined by be made up of at least 4 WIFI hot spots
Position network determines that positioning terminal is located at the first area of orientation range, specifically, can receive pre-determined bit according to positioning terminal
The received signal strength of the signal of the WIFI hot spot broadcast that at least 4 non-coplanar in network, by RSS algorithms, determines positioning eventually
End is located at first area, and here is just repeated no more.
UWB (English：Ultra-Wide band；Chinese：Ultra broadband) base station includes aerial array and UWB signal receiver,
The UWB signal of the non-sinusoidal waveform burst pulse of nanosecond to picosecond level can be received, so, at least 4 UWB base stations can make up
Pre-determined bit network.
Fig. 5 is refer to, Fig. 5 is the schematic diagram of the pre-determined bit network being made up of UWB base stations provided in an embodiment of the present invention, such as
Shown in Fig. 5, all UWB base stations 501 are connected on a switch 502, and the switch 502 can connect several groups of UWB base stations,
According to the hardware configuration of actual conditions and switch, specific grouping number can determine that here is not limited, meanwhile, each point
In group, UWB base stations are linked together by end to end mode, the synchronizing clock signals that readily available switch sends.
In the present embodiment, can need certainly to include wherein at least 1 by the position of each UWB base station of user setup
Relative position of the UWB base stations relative to the locating base station in locating base station network, i.e., can set up the topology knot of pre-determined bit network
Structure such that it is able to the coordinate system of the coordinate system of pre-determined bit network and locating base station network is carried out corresponding；In another embodiment,
Reference mode known at least 4 positions can be set, and each reference mode can send UWB pulse signals, reference mode example
Can such as be arranged in locating base station, the position of so reference mode is the position of the locating base station, it is also possible to be arranged on
One can be positioned on the equipment positioned by base station network, and the position of so reference mode is to be positioned base station network
The position of positioning, certainly, while need to ensure the UWB that each UWB base station is able to detect that at least 4 non-coplanar reference modes
Pulse signal, so, each the UWB base station in pre-determined bit network can be sent according at least 4 non-coplanar reference base stations
UWB pulse signals, determine the position of itself, so as to set up the topological structure of pre-determined bit network also, pre- due to set up
The topological structure of positioning network is set up according to locating base station network, it is possible to easily by the coordinate of pre-determined bit network
The coordinate system of system and locating base station network carries out corresponding to, and here is just repeated no more.
UWB pulse signal transmitters can be set in positioning terminal, so, locating base station network is entered in positioning terminal
During orientation range, the UWB pulse signals that positioning terminal sends are received by the UWB base stations in pre-determined bit network, is calculated by RSS
Method, direction of arrival degree (English：Angle-of-Arrival；Referred to as：AOA) algorithm, time of arrival (toa) (English：Time of
arrival；Referred to as：TOA) or signal arrival time difference (English：Time difference of arrival；Referred to as：
TDOA) algorithm etc., determines the position of positioning terminal, in the present embodiment, will be introduced by taking TOA algorithms as an example.
TOA algorithms specifically include many class computational methods, for example, can include based on the location algorithm of numerical value process, geometry
Location algorithm, the location algorithm based on pattern match, the location algorithm differentiated based on channel status etc., here will introduce geometry
Location algorithm.In the present embodiment, after locating base station enters the orientation range of locating base station network, data in locating base station network
Processing equipment sends the signal that a certain moment is synchronization point to switch, and the signal is transmitted to pre-determined bit network by switch again
In each UWB base station, while data processing equipment also to positioning terminal send one the synchronization point send UWB pulses letter
Number control signal so that positioning terminal sends UWB pulse signals in synchronization point, so, i.e., can be according to receiving the UWB
Time difference between the time point and synchronization point of the UWB base stations of pulse signal, determine the UWB bases for receiving UWB pulse signals
The distance between stand with positioning terminal, so, according to the distance between 4 non-coplanar UWB base stations and positioning terminal, i.e., can
Determine position of the positioning terminal in pre-determined bit network, also, the coordinate system due to pre-determined bit network and locating base station network
Coordinate system is corresponding, so can determine the first area that positioning terminal is located in orientation range.
Invention describes four kinds of positioning modes of pre-determined bit network and its specific position fixing process, by the present embodiment
Introduce, the technical staff belonging to this area can be combined to which according to actual conditions, it is, of course, also possible to combine this area institute
Other positioning modes that the technical staff of category can use；So that pre-determined bit network includes two kinds of positioning modes as an example, can be by two
The positioning result for planting positioning mode acquisition is averaging processing, if pre-determined bit network includes the positioning side of three kinds or more than three kinds
Formula, then directly can be averaging processing to positioning result, it is also possible to first remove the larger positioning result of its large deviations, then to surplus
Remaining positioning result is averaging processing, etc., so it is combined by multiple positioning modes, is improve by pre-determined bit net
For subsequent step, the accuracy positioned to positioning terminal by network, determines that the locating base station in locating base station network provides base
Plinth.
Of course, need orientation range of the orientation range more than or equal to locating base station network for ensureing pre-determined bit network,
Purpose of the pre-determined bit network to positioning that positioning terminal is carried out can be realized first passing through.
Positioning after the first area that positioning terminal is located in orientation range is determined by S1, in the embodiment of the present invention
Method enters S2, i.e.,：In control locating base station network, first kind locating base station is positioned to positioning terminal, and the first kind positions base
Stand for positioning to first area.
Please continue to refer to Fig. 2, set positioning terminal and be located at first area 21, and set and be made up of 0-7 locating base stations
Locating base station network in, 0,1 and No. 2 locating base station is the first kind locating base station positioned by its first area 21, then
First kind locating base station can now be controlled namely 0,1 and No. 2 locating base station is in running order, fixed to carry out to positioning terminal
Position, while other locating base stations controlled in locating base station network in addition to first kind locating base station are in off working state, can
To find out, due to positioning being scanned without the need for 3-7 locating base stations, positioning is scanned by 0,1 and No. 2 locating base station only,
Reduce 3-7 locating base stations and be scanned the time spent during positioning, hence it is evident that reduce delay, on the other hand, it is also possible to subtract
Few unnecessary energy consumption, so that reduce the energy consumption of whole locating base station network.
The speed when positioning mode adopted by pre-determined bit network is positioned to positioning terminal, as long as positioning terminal
Can rapidly be positioned during the orientation range for entering pre-determined bit network, but its positioning precision is relatively low, for example
The positioning precision of ZigBee positioning modes typically in meter level, the positioning precision of field signal positioning mode typically in inferior centimeter order,
Namely within 1 centimetre, typically in meter level, the positioning precision of UWB positioning modes is general for the positioning precision of WIFI hot spot positioning mode
At more than ten centimetres to tens centimetres, and the positioning precision for employing the locating base station network of laser scanning methodses is of a relatively high, and one
As in grade, but positioned because controlling locating base station by the way of timesharing, locating speed is relatively slow, and with fixed
The expansion of position scope, locating speed can be increasingly slower, and both combine that scheme afterwards avoids that pre-determined bit network adopted determines
The relatively low defect of positioning precision of position mode, at the same avoid the locating speed of the positioning mode adopted by locating base station network compared with
Slow defect, it is achieved that the purpose that comparatively fast, relatively accurately positioning terminal can be positioned, here are just repeated no more.
In specific implementation process, please continue to refer to Fig. 2, during positioning to positioning terminal, however, it is determined that fixed
Position terminal is moved from first area 21 to second area 22, for example, determine the movement locus of positioning terminal by locating base station network
It is to be moved to second area 22 from first area 21, or determines that the movement locus of positioning terminal is served as reasons by pre-determined bit network
Move to second area 22 first area 21, it is determined that the Equations of The Second Kind locating base station near second area, such as Equations of The Second Kind are positioned
Base station can be 0,2, No. 4 locating base stations, and Equations of The Second Kind locating base station is used for positioning second area, and controls Equations of The Second Kind
Locating base station is adjusted to working condition by off working state, so, i.e., can according to the judgement of the shift position to positioning terminal,
The locating base station for being controlled near the position which will be moved in advance is in running order, it is ensured that locating base station network can pass through
In running order locating base station is positioned to positioning terminal always, it is to avoid because positioning terminal moves out nothing after current region
Method is positioned base station in time and is positioned.
By above-mentioned part can be seen that as a result of first pass through pre-determined bit network determine positioning terminal be located at positioning model
First area in enclosing, then the first kind locating base station controlled for being positioned to first area positioned to positioning terminal
Technical scheme, it is to avoid the relatively low defect of the positioning precision of the positioning mode adopted by pre-determined bit network, at the same avoid fixed
The slower defect of the locating speed of positioning mode that position base station network is adopted, only by first kind locating base station to positioning terminal
Positioned, be scanned without the need for other locating base stations outside first kind locating base station, so reducing first kind positioning base
Other locating base stations outside standing are scanned the time spent during positioning, hence it is evident that reduce delay, so as to solve existing skill
Because multiple locating base stations are positioned to virtual reality device by the way of timesharing present in art, cause positioning result delay
Larger technical problem, it is achieved that the purpose that comparatively fast, relatively accurately positioning terminal can be positioned.
Same inventive concept is based on, embodiment of the present invention second aspect also provides a kind of positioning network, the positioning network bag
Include：
Locating base station network, including multiple locating base stations, be provided with each locating base station framing signal dispensing device and
Positioning signal reception device；
Pre-determined bit network, including multiple pre-determined bit base stations；
Data processing equipment, is connected with multiple locating base stations and multiple pre-determined bit base stations, respectively for entering in positioning terminal
Enter locating base station network orientation range when, by pre-determined bit network determine positioning terminal be located at orientation range in the firstth area
Domain, and control first kind locating base station in locating base station network positioning terminal is positioned, it is right that first kind locating base station is used for
First area is positioned.
In specific implementation process, data processing equipment is specifically additionally operable to from multiple locating base stations of locating base station network
The tab order of first order base station and all locating base stations is determined, and from the beginning of first order base station, according to tab order, according to
Position of the secondary locating base station for determining next stage relative to the locating base station of upper level, until determining the locating base station of afterbody
Relative to the position of the locating base station of penultimate stage, and the position according to the locating base station that determines, set up locating base station net
The topological structure of network.
In specific implementation process, data processing equipment be specifically additionally operable to set up locating base station network topological structure it
Afterwards, the topological structure of pre-determined bit network set up, and the coordinate system phase by the coordinate system of pre-determined bit network and locating base station network
Corresponding.
In specific implementation process, pre-determined bit network is by least 4 ZigBee modules, at least 4 magnetic field generators, at least
At least class composition in 4 WIFI hot spots or at least 4 UWB base stations.
In specific implementation process, data processing equipment is specifically for determining the first kind positioning base near first area
Stand, and it be in running order to control first kind locating base station, and in control locating base station network except first kind locating base station it
Other outer locating base stations are in off working state.
In specific implementation process, data processing equipment is specifically additionally operable to during positioning to positioning terminal,
In determination positioning terminal when first area is moved to second area, the Equations of The Second Kind locating base station near second area is determined, and
Control Equations of The Second Kind locating base station is adjusted to working condition by off working state.
The embodiment of the present invention also provides a kind of alignment system, and the alignment system includes：
At least one positioning terminal；
Such as the positioning network that second aspect is introduced.
The positioning network of embodiment of the present invention introduction and alignment system have been carried out detailed Jie in the aforementioned embodiment
Continue, introduction of the technical staff belonging to this area by previous embodiment is well understood to the group of positioning network and alignment system
Into and running, here just repeats no more.
One or more technical scheme in the embodiment of the present invention, at least has the following technical effect that or advantage：
First area of the positioning terminal in orientation range is determined as a result of pre-determined bit network is first passed through, then control
For the technical scheme positioned to positioning terminal by the first kind locating base station positioned by first area, it is to avoid predetermined
The relatively low defect of the positioning precision of positioning mode that position network is adopted, while avoid the positioning adopted by locating base station network
The slower defect of the locating speed of mode, is only positioned to positioning terminal by first kind locating base station, fixed without the need for the first kind
Other locating base stations outside the base station of position are scanned, so other locating base stations outside reducing first kind locating base station are entered
The time spent during row Scan orientation, hence it is evident that reduce delay, so as to solve present in prior art because of multiple positioning bases
Stand, cause the technical problem that positioning result delay is larger, it is achieved that
The purpose that comparatively fast, relatively accurately positioning terminal can be positioned.
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically is chatted
State, can equivalent by other or with similar purpose alternative features replaced.I.e., unless specifically stated otherwise, each feature
It is an example in a series of equivalent or similar characteristics.
The invention is not limited in aforesaid specific embodiment.The present invention is expanded to and any is disclosed in this manual
New feature or any new combination, and the arbitrary new method that discloses or the step of process or any new combination.
Claims (13)
1. a kind of localization method, it is characterised in that include：
When positioning terminal enters the orientation range of locating base station network, determine that the positioning terminal is located at by pre-determined bit network
First area in the orientation range；
Control first kind locating base station in the locating base station network to position the positioning terminal, the first kind positioning
Base station is used for positioning the first area.
2. localization method as claimed in claim 1, it is characterised in that the locating base station in the locating base station network pass through with
Lower step sets up topological structure certainly：
Control each locating base station successively to position other locating base stations, each locating base station is obtained with determining for being positioned by which
Relative position relation between the base station of position；
The corresponding relative position relation of all locating base stations is counted, the topological structure of the locating base station network is set up.
3. localization method as claimed in claim 2, it is characterised in that set up the locating base station network topological structure it
Afterwards, methods described also includes：Set up the topological structure of the pre-determined bit network；And by the coordinate system of the pre-determined bit network with
The coordinate system of the locating base station network carries out corresponding.
4. localization method as claimed in claim 3, it is characterised in that the pre-determined bit network by least 4 ZigBee modules,
At least class composition at least 4 magnetic field generators, at least 4 WIFI hot spots or at least 4 UWB base stations, described by pre-
Positioning network determines that the positioning terminal is located at the first area of the orientation range, specifically includes：
When receiving the ZigBee signals of at least 4 non-coplanar ZigBee modules in locating base station network according to the positioning terminal
Received signal strength, determine and described be located at the first area to the positioning terminal；And/or
According to the magnetic field letter that the positioning terminal receives at least 4 non-coplanar magnetic field generators in the locating base station network
Number when received signal strength, determine the positioning terminal be located at the first area；And/or
When receiving in the locating base station network at least signal of 4 non-coplanar WIFI hot spots according to the positioning terminal
Received signal strength, determines that the positioning terminal is located at the first area；And/or
The UWB pulse data signals that the positioning terminal sends are received by least 4 non-coplanar UWB base stations, is determined described
Positioning terminal is located at the first area.
5. the localization method as described in arbitrary claim in claim 1-4, it is characterised in that the control locating base station net
It is located at the locating base station near the first area to position the positioning terminal in network, specifically includes：
Determine the first kind locating base station near the first area；
Control the first kind locating base station in running order, and control in the locating base station network, to remove the first kind
Other locating base stations outside locating base station are in off working state.
6. localization method as claimed in claim 5, it is characterised in that during positioning to the positioning terminal,
The positioning terminal is being determined when the first area is moved to second area, methods described also includes：
Determine that the Equations of The Second Kind locating base station near the second area, the Equations of The Second Kind locating base station are used for the second area
Positioned；
Control the Equations of The Second Kind locating base station and the working condition is adjusted to by the off working state.
7. one kind positions network, it is characterised in that include：
Locating base station network, including multiple locating base stations, is provided with framing signal dispensing device and positioning in each locating base station
Signal receiving device；
Pre-determined bit network, including multiple pre-determined bit base stations；
Data processing equipment, is connected with the plurality of locating base station and the plurality of pre-determined bit base station respectively, for whole in positioning
When end enters the orientation range of locating base station network, determine that the positioning terminal is located at the orientation range by pre-determined bit network
In first area, and control first kind locating base station in the locating base station network positioning terminal positioned, institute
Stating first kind locating base station is used for positioning the first area.
8. positioning network as claimed in claim 7, it is characterised in that the data processing equipment is specifically additionally operable to control successively
Each locating base station is positioned to other locating base stations, obtains each locating base station and the locating base station that positioned by which between
Relative position relation, and the corresponding relative position relation of all locating base stations is counted, set up the topology of the locating base station network
Structure.
9. positioning network as claimed in claim 8, it is characterised in that the data processing equipment is specifically additionally operable to setting up
After stating the topological structure of locating base station network, the topological structure of the pre-determined bit network set up, and by the pre-determined bit net
The coordinate system of network is corresponding with the coordinate system of the locating base station network.
10. positioning network as claimed in claim 7, it is characterised in that the pre-determined bit network is by least 4 ZigBee moulds
At least class composition in block, at least 4 magnetic field generators, at least 4 WIFI hot spots or at least 4 UWB base stations.
The 11. positioning networks as described in arbitrary claim in claim 7-10, it is characterised in that the data processing equipment is concrete
For determining the first kind locating base station near the first area, and the first kind locating base station is controlled in work shape
Other locating base stations in state, and the control locating base station network in addition to the first kind locating base station are in inoperative
State.
12. positioning networks as claimed in claim 11, it is characterised in that the data processing equipment is specifically additionally operable to institute
State during positioning terminal positioned, determining the positioning terminal when first area is moved to second area,
Determine the Equations of The Second Kind locating base station near the second area, and the Equations of The Second Kind locating base station is controlled by the off working state
It is adjusted to the working condition.
13. a kind of alignment systems, it is characterised in that include：
At least one positioning terminal；
Positioning network as described in arbitrary claim in claim 5-12.
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