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CN109212471B - Positioning base station, system and method - Google Patents

Positioning base station, system and method Download PDF

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Publication number
CN109212471B
CN109212471B CN201810724334.1A CN201810724334A CN109212471B CN 109212471 B CN109212471 B CN 109212471B CN 201810724334 A CN201810724334 A CN 201810724334A CN 109212471 B CN109212471 B CN 109212471B
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China
Prior art keywords
antenna array
plane
antenna
tag
angle theta
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CN201810724334.1A
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CN109212471A (en
Inventor
都延星
李阳
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Beijing Ubitrao Technology Co ltd
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Beijing Ubitrao Technology Co ltd
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Priority to CN201810724334.1A priority Critical patent/CN109212471B/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The application discloses a positioning base station, a positioning system and a positioning method, and relates to the field of communication positioning. The base station includes: first antenna array, second antenna arrayA column, ultra wideband signal phase detector and a controller; the first antenna array comprises two antennas, the second antenna array comprises two antennas, and the first antenna array and the second antenna array are orthogonal; the first antenna array and the second antenna array respectively receive signals sent by a tag to be positioned; the ultra-wideband signal phase discriminator is used for determining a first phase difference of the first antenna array and a second phase difference of the second antenna array; the controller is used for determining a first angle theta of the tag relative to the first antenna array 1 And a second angle θ of the tag relative to the second antenna array 2 The method comprises the steps of carrying out a first treatment on the surface of the According to a first angle theta 1 And a second angle theta 2 And the distance between the base station and the tag locates the three-dimensional coordinate of the tag. The application reduces the cost and complexity of positioning.

Description

Positioning base station, system and method
Technical Field
The present application relates to the field of communications positioning, and in particular, to a positioning base station, system and method.
Background
When the traditional UWB (Ultra wide band) positioning system performs planar positioning in an area, at least 3 base stations are needed to complete positioning, and the deployment is complex and the cost is high.
Disclosure of Invention
The present application aims to provide a positioning base station, system and method to reduce the cost and complexity of positioning.
According to an aspect of the present application, there is provided a positioning base station comprising:
the ultra-wideband signal phase detector comprises a first antenna array, a second antenna array, an ultra-wideband signal phase detector and a controller;
the first antenna array, the second antenna array and the controller are electrically connected with the ultra-wideband signal phase discriminator, the first antenna array comprises two antennas, the second antenna array comprises two antennas, and the first antenna array and the second antenna array are orthogonal;
the first antenna array and the second antenna array respectively receive signals sent by a tag to be positioned;
the ultra-wideband signal phase discriminator is used for determining a first phase difference of the first antenna array and a second phase difference of the second antenna array according to signals received by the first antenna array and the second antenna array;
the controller is used for determining the label relative to the first antenna array according to the first phase difference and the distance between the two antennas in the first antenna arrayFirst angle θ of first antenna array 1 Determining a second angle theta of the tag relative to the second antenna array according to the second phase difference and the distance between the two antennas in the second antenna array 2 ；
The controller is also used for controlling the first angle theta 1 And a second angle theta 2 The distance between the base station and the tag locates the three-dimensional coordinates of the tag; alternatively, the first angle θ 1 And a second angle theta 2 And the distance between the base station and the tag is sent to a server or the tag to locate the three-dimensional coordinates of the tag.
Optionally, the plane in which the base station is located is a first plane, a plane perpendicular to the first plane is a perpendicular plane, and a Distance between the base station and the tag is a Distance; the controller is used for determining that the included angle between the controller and the vertical plane is the first angle theta 1 And an included angle with the vertical plane is the second angle theta 2 And (3) obtaining an intersection line of the second plane and the third plane, and positioning a point with the length of the Distance from the base station on the intersection line to obtain the three-dimensional coordinate of the label.
Optionally, the first antenna array includes an antenna a and an antenna B, and the second antenna array includes the antenna B and an antenna C;
or alternatively, the first and second heat exchangers may be,
the first antenna array comprises an antenna G and an antenna H, and the second antenna array comprises an antenna J and an antenna K.
Alternatively, the process may be carried out in a single-stage,
the first antenna array and the second antenna array respectively receive first signals sent by the tag; the ultra-wideband signal phase discriminator is used for determining the phase difference of the first signal reaching the two antennas in the first antenna array as a first phase difference of the first antenna array, and determining the phase difference of the first signal reaching the two antennas in the second antenna array as a second phase difference of the second antenna array;
or alternatively, the first and second heat exchangers may be,
two antennas in the first antenna array respectively receive second signals sent by the tag, and two antennas in the second antenna array respectively receive third signals sent by the tag; the ultra-wideband signal phase discriminator is used for determining the phase difference of the second signal reaching the two antennas in the first antenna array as a first phase difference of the first antenna array, and determining the phase difference of the third signal reaching the two antennas in the second antenna array as a second phase difference of the second antenna array.
According to another aspect of the present application, there is provided a positioning system comprising: a first base station and a second base station;
the first base station includes:
the antenna comprises a first antenna array, a second antenna array, a first ultra-wideband signal phase detector and a first controller; the first antenna array, the second antenna array and the first controller are all electrically connected with the first ultra-wideband signal phase discriminator, the first antenna array comprises two antennas, the second antenna array comprises two antennas, and the first antenna array and the second antenna array are orthogonal; the first antenna array and the second antenna array respectively receive signals sent by a tag to be positioned; the first ultra-wideband signal phase discriminator is used for determining a first phase difference of the first antenna array and a second phase difference of the second antenna array according to signals received by the first antenna array and the second antenna array; the first controller is used for determining a first angle theta of the tag relative to the first antenna array according to the first phase difference and the distance between the two antennas in the first antenna array 1 Determining a second angle theta of the tag relative to the second antenna array according to the second phase difference and the distance between the two antennas in the second antenna array 2 ；
The second base station includes:
the second ultra-wideband signal phase discriminator comprises a third antenna array, a fourth antenna array, a second ultra-wideband signal phase discriminator and a second controller; the third antenna array, the fourth antenna array and the second controller are all connected with the antenna arrayThe second ultra-wideband signal phase discriminator is electrically connected, the third antenna array comprises two antennas, the fourth antenna array comprises two antennas, and the third antenna array and the fourth antenna array are orthogonal; the third antenna array and the fourth antenna array respectively receive signals sent by the tag; the second ultra-wideband signal phase discriminator is configured to determine a third phase difference of the third antenna array and a fourth phase difference of the fourth antenna array according to signals received by the third antenna array and the fourth antenna array; the second controller is used for determining a third angle theta of the tag relative to the third antenna array according to the third phase difference and the distance between the two antennas in the third antenna array 3 Determining a fourth angle theta of the tag relative to the fourth antenna array according to the fourth phase difference and the distance between the two antennas in the fourth antenna array 4 ；
The system is also used for controlling the angle theta according to the first angle theta 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 Positioning the three-dimensional coordinates of the tag; alternatively, the first angle θ 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 And sending the three-dimensional coordinates to a server or the tag to locate the three-dimensional coordinates of the tag.
Optionally, the plane where the first base station is located is P 1 And the plane P 1 The vertical plane is a first vertical plane;
the first controller is used for determining that the included angle between the first controller and the first vertical plane is the first angle theta 1 Plane P of (2) 2 And an included angle with the first vertical plane is the second angle theta 2 Plane P of (2) 3 Obtaining the plane P 2 With the plane P 3 Intersection line l of (1) 1 ；
The second base station is located at the plane P 4 And the plane P 4 The vertical plane is a second vertical plane;
the second controller is used for determining the second vertical directionThe included angle of the plane is the third angle theta 3 Plane P of (2) 5 And an included angle with the second vertical plane is the fourth angle theta 4 Plane P of (2) 6 Obtaining the plane P 5 With the plane P 6 Intersection line l of (1) 2 ；
The first controller and/or the second controller are further configured to:
determining the intersection line l 1 Intersecting the line l 2 Obtaining the three-dimensional coordinates of the tag; alternatively, the intersection line l 1 Intersecting the line l 2 And (3) information sent to a server or the tag to locate the three-dimensional coordinates of the tag.
According to still another aspect of the present application, there is provided a positioning method based on the positioning base station provided in any one of the above aspects, the method comprising:
receiving signals sent by the tag through the first antenna array and the second antenna array respectively;
determining a first phase difference of the first antenna array and a second phase difference of the second antenna array according to the received signals;
determining a first angle theta of the tag relative to the first antenna array according to the first phase difference and the distance between two antennas in the first antenna array 1 ；
Determining a second angle theta of the tag relative to the second antenna array according to the second phase difference and the distance between the two antennas in the second antenna array 2 ；
According to the first angle theta 1 And a second angle theta 2 The distance between the base station and the tag locates the three-dimensional coordinates of the tag; alternatively, the first angle θ 1 And a second angle theta 2 And the distance between the base station and the tag is sent to a server or the tag to locate the three-dimensional coordinates of the tag.
Optionally, the plane in which the base station is located is a first plane, a plane perpendicular to the first plane is a perpendicular plane, and a Distance between the base station and the tag is a Distance;
said first angle θ 1 And a second angle theta 2 The distance between the base station and the tag locates the three-dimensional coordinates of the tag, comprising:
determining the included angle with the vertical plane as the first angle theta 1 And an included angle with the vertical plane is the second angle theta 2 And (3) obtaining an intersection line of the second plane and the third plane, and positioning a point with the length of the Distance from the base station on the intersection line to obtain the three-dimensional coordinate of the label.
According to a further aspect of the present application, there is provided a positioning method based on the positioning system provided in any one of the above aspects, the method comprising:
Receiving signals sent by the tags to be positioned through the first antenna array and the second antenna array respectively; determining a first phase difference of the first antenna array and a second phase difference of the second antenna array according to signals received by the first antenna array and the second antenna array; determining a first angle theta of the tag relative to the first antenna array according to the first phase difference and the distance between two antennas in the first antenna array 1 Determining a second angle theta of the tag relative to the second antenna array according to the second phase difference and the distance between the two antennas in the second antenna array 2 ；
Receiving signals sent by the tag through the third antenna array and the fourth antenna array respectively; determining a third phase difference of the third antenna array and a fourth phase difference of the fourth antenna array according to signals received by the third antenna array and the fourth antenna array; determining a third angle theta of the tag relative to the third antenna array according to the third phase difference and the distance between the two antennas in the third antenna array 3 Determining the distance between two antennas in the fourth antenna array according to the fourth phase difference A fourth angle θ of the tag relative to the fourth antenna array 4 ；
According to the first angle theta 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 Positioning the three-dimensional coordinates of the tag; alternatively, the first angle θ 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 And sending the three-dimensional coordinates to a server or the tag to locate the three-dimensional coordinates of the tag.
Optionally, according to the first angle θ 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 Positioning the three-dimensional coordinates of the tag; alternatively, the first angle θ 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 Transmitting to a server or the tag to locate three-dimensional coordinates of the tag, including:
determining the included angle with the first vertical plane as the first angle theta 1 Plane P of (2) 2 And an included angle with the first vertical plane is the second angle theta 2 Plane P of (2) 3 Obtaining the plane P 2 With the plane P 3 Intersection line l of (1) 1 ；
Determining the included angle with the second vertical plane as the third angle theta 3 Plane P of (2) 5 And an included angle with the second vertical plane is the fourth angle theta 4 Plane P of (2) 6 Obtaining the plane P 5 With the plane P 6 Intersection line l of (1) 2 ；
Determining the intersection line l 1 Intersecting the line l 2 Obtaining the three-dimensional coordinates of the tag; alternatively, the intersection line l 1 Intersecting the line l 2 The information of the label is sent to a server or the label so as to locate the three-dimensional coordinates of the label;
wherein the plane of the first base station is P 1 And the plane P 1 The plane perpendicular to the first base station is the first perpendicular plane, and the plane where the second base station is located is P 4 And the plane P 4 The perpendicular plane is the second perpendicular plane.
The application also provides a computing device comprising a memory, a processor and a computer program stored in the memory and executable by the processor, wherein the processor implements the method provided in any of the above aspects when executing the computer program.
The application also provides a computer readable storage medium, preferably a non-volatile readable storage medium, having stored therein a computer program which, when executed by a processor, implements a method as provided in any of the above aspects.
The application also provides a computer program product comprising computer readable code which, when executed by a computer device, causes the computer device to perform the method provided in any of the above aspects.
The positioning base station, the system and the method can realize the positioning of the labels by using one base station or two base stations, so the cost and the complexity of positioning are greatly reduced, and the positioning of the labels in the area can be better realized.
Further, when the positioning base station, the system and the method are used for realizing positioning based on one base station, the labels are positioned according to the angles and the distances, so that the cost is greatly saved; when positioning is realized based on two base stations, the positioning is realized by determining the intersection point of the two intersection lines through angles, the distance between the tag and the base stations is not required to be calculated, and the complexity of positioning calculation is greatly reduced.
The above, as well as additional objectives, advantages, and features of the present application will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present application when read in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the application will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:
FIG. 1 is a schematic diagram of a positioning base station in one embodiment of the application;
FIG. 2 is a schematic diagram of a positioning base station in one embodiment of the application;
fig. 3 is a schematic diagram of a positioning principle of an antenna array in a base station according to an embodiment of the present application;
FIG. 4 is a schematic diagram of positioning a base station in accordance with an embodiment of the present application;
FIG. 5 is a schematic diagram of a positioning system in one embodiment of the application;
FIG. 6 is a schematic diagram of a positioning system in one embodiment of the application;
FIG. 7 is a schematic diagram of positioning two base stations in accordance with an embodiment of the present application;
FIG. 8 is a flow chart of a base station based positioning method in one embodiment of the application;
FIG. 9 is a flow chart of a system-based positioning method in one embodiment of the application;
FIG. 10 is a schematic diagram of the angle of a measurement tag relative to an antenna array in accordance with the present application;
FIG. 11 is a schematic diagram of a method of measuring a distance of a tag to a base station according to the present application;
FIG. 12 is a block diagram of a computing device provided by one embodiment of the application;
fig. 13 is a block diagram of a computer-readable storage medium according to an embodiment of the present application.
Detailed Description
The positioning base station, the system and the method provided by the application can be applied to positioning of labels in an area, can reduce the positioning cost and complexity without affecting the positioning accuracy and the positioning precision, are convenient and flexible to deploy, have strong applicability and can achieve centimeter-level high-precision indoor positioning. Wherein regional locations include, but are not limited to, locations in a room, such as locations of tags in offices, locations of tags in rooms, and the like. The tag may be any electronic device capable of transmitting signals, particularly UWB signals, including but not limited to: network devices, terminal devices, handheld devices, etc.
Referring to fig. 1, one embodiment of the present application provides a positioning base station 100, including:
the ultra-wideband signal phase detector comprises a first antenna array, a second antenna array, an ultra-wideband signal phase detector and a controller;
the first antenna array, the second antenna array and the controller are electrically connected with the ultra-wideband signal phase discriminator, the first antenna array comprises two antennas, the second antenna array comprises two antennas, and the first antenna array and the second antenna array are orthogonal;
the first antenna array and the second antenna array respectively receive signals sent by a tag to be positioned;
the ultra-wideband signal phase discriminator is used for determining a first phase difference of the first antenna array and a second phase difference of the second antenna array according to signals received by the first antenna array and the second antenna array;
the controller is used for determining a first angle theta of the tag relative to the first antenna array according to the first phase difference and the distance between the two antennas in the first antenna array 1 Determining a second angle theta of the tag relative to the second antenna array according to the second phase difference and the distance between the two antennas in the second antenna array 2 ；
The controller is also used for controlling the first angle theta 1 And a second angle theta 2 The distance between the base station and the tag locates the three-dimensional coordinates of the tag; alternatively, the first angle θ 1 And a second angle theta 2 And the distance between the base station and the tag is sent to a server or the tag to locate the three-dimensional coordinates of the tag.
Optionally, the first antenna array and the second antenna array respectively receive the first signal sent by the tag; the ultra-wideband signal phase discriminator is used for determining the phase difference of the first signal reaching the two antennas in the first antenna array as a first phase difference of the first antenna array, and determining the phase difference of the first signal reaching the two antennas in the second antenna array as a second phase difference of the second antenna array;
or alternatively, the first and second heat exchangers may be,
two antennas in the first antenna array respectively receive second signals sent by the tag, and two antennas in the second antenna array respectively receive third signals sent by the tag; the ultra-wideband signal phase discriminator is used for determining the phase difference of the second signal reaching the two antennas in the first antenna array as a first phase difference of the first antenna array, and determining the phase difference of the third signal reaching the two antennas in the second antenna array as a second phase difference of the second antenna array.
In one embodiment, the first antenna array includes an antenna a and an antenna B, the second antenna array includes an antenna B and an antenna C, and the antenna B is an antenna shared by the two antenna arrays, which can save cost and is simple and convenient to implement.
In another embodiment, the first antenna array comprises antenna G and antenna H, and the second antenna array comprises antenna J and antenna K, in which case the two antenna arrays have no shared antennas.
The first embodiment described above, that is, the case where there is a shared antenna, will be described below as an example.
Referring to fig. 2, the base station 100 provided in this embodiment may specifically include:
antenna A, antenna B, antenna C, ultra wideband signal phase discriminator and controller;
the antenna A, the antenna B, the antenna C and the controller are electrically connected with the ultra-wideband signal phase discriminator, the antenna A and the antenna B form a first antenna array, the antenna B and the antenna C form a second antenna array, and the first antenna array and the second antenna array are orthogonal;
the antenna A, the antenna B and the antenna C respectively receive signals sent by a tag to be positioned;
the ultra-wideband signal phase discriminator is used for determining a first phase difference of the first antenna array and a second phase difference of the second antenna array according to signals received by the antenna A, the antenna B and the antenna C;
the controller is used for determining a first angle theta of the tag relative to the first antenna array according to the first phase difference and the distance between the antenna A and the antenna B 1 According to the second phase difference, heaven The distance between line B and antenna C determines a second angle θ of the tag relative to the second antenna array 2 ；
The controller is also used for controlling the first angle theta 1 And a second angle theta 2 The distance between the base station and the tag locates the three-dimensional coordinates of the tag; alternatively, the first angle θ 1 And a second angle theta 2 And the distance between the base station and the tag is sent to a server or the tag to locate the three-dimensional coordinates of the tag.
In this embodiment, the number of the optional,
the plane of the base station is a first plane, the plane perpendicular to the first plane is a vertical plane, and the Distance between the base station and the tag is Distance;
the controller is used for determining the included angle with the vertical plane as a first angle theta 1 And a second angle theta with respect to the vertical plane 2 And (3) obtaining an intersection line of the second plane and the third plane, and positioning a point with a Distance from the base station on the intersection line to obtain the three-dimensional coordinate of the label.
Referring to fig. 3, the base station provided in this embodiment has 2 sets of antenna arrays orthogonal to each other. P in the figure 1 、P 2 、P 3 Is 3 different planes. Antenna A and antenna B, antenna B and antenna C are P 1 Two sets of adjacent orthogonal antenna arrays on a plane. The two groups of antenna arrays may share the antenna B or may be independent antennas. The present embodiment takes a shared antenna as an example. If there is a label at P 1 Above the plane, the AB antenna array will detect that the tag is located relative to P 1 The included angle of the vertical plane is theta 1 Plane P of (2) 2 On, i.e. labeled with P in the figure 1 Plane P with plane included angle alpha 2 In which alpha is theta 1 Is included in the above-mentioned range. In addition, the BC antenna array will detect that the tag is located relative to P 1 The included angle of the vertical plane is theta 2 Plane P of (2) 3 On, i.e. labeled with P in the figure 1 Plane P with plane included angle beta 3 In which beta is theta 2 Is included in the above-mentioned range. Thus, the base station can first locate the tag to lie in plane P 2 And plane P 3 Is shown (i.e., a thick black solid line in the figure).
Referring to fig. 4, after determining the intersecting line, the base station provided in this embodiment may further obtain a Distance between the tag and the antenna array by using a UWB ranging method. Because the antenna array AB and the antenna array BC are smaller and closely spaced, the Distance between the tag and the antenna array is the Distance between the tag and the base station. The dashed lines in fig. 4, i.e. the intersecting lines determined in fig. 3, and the base station, in combination with the measured Distance between the tag and the base station, can calculate the three-dimensional coordinates (x, y, z) of the tag, thereby completing the positioning. There are various methods for calculating the three-dimensional coordinates based on the distances, and one may be selected, and this embodiment is not particularly limited.
In this embodiment, when determining the phase difference, two modes may be adopted, and one implementation mode is as follows:
the antenna A, the antenna B and the antenna C respectively receive first signals sent by the tag;
the ultra-wideband signal phase discriminator is used for determining the phase difference of the first signal reaching the antenna A and the antenna B as a first phase difference of the first antenna array, and determining the phase difference of the first signal reaching the antenna B and the antenna C as a second phase difference of the second antenna array.
In another embodiment:
the antenna A and the antenna B respectively receive second signals sent by the tag, and the antenna B and the antenna C respectively receive third signals sent by the tag;
the ultra-wideband signal phase discriminator is used for determining the phase difference of the second signal reaching the antenna A and the antenna B as a first phase difference of the first antenna array, and determining the phase difference of the third signal reaching the antenna B and the antenna C as a second phase difference of the second antenna array.
According to the base station provided by the embodiment, when the labels in the area are positioned, the labels are positioned according to the angle and the distance, and the positioning can be realized only by one base station, so that the cost is greatly saved.
Referring to fig. 5, one embodiment of the present application provides a positioning system 200 comprising: a first base station and a second base station;
The first base station includes:
the antenna comprises a first antenna array, a second antenna array, a first ultra-wideband signal phase detector and a first controller; the first antenna array, the second antenna array and the first controller are all electrically connected with the first ultra-wideband signal phase discriminator, the first antenna array comprises two antennas, the second antenna array comprises two antennas, and the first antenna array and the second antenna array are orthogonal; the first antenna array and the second antenna array respectively receive signals sent by a tag to be positioned; the first ultra-wideband signal phase discriminator is used for determining a first phase difference of the first antenna array and a second phase difference of the second antenna array according to signals received by the first antenna array and the second antenna array; the first controller is used for determining a first angle theta of the tag relative to the first antenna array according to the first phase difference and the distance between the two antennas in the first antenna array 1 Determining a second angle theta of the tag relative to the second antenna array according to the second phase difference and the distance between the two antennas in the second antenna array 2 ；
The second base station includes:
the second ultra-wideband signal phase discriminator comprises a third antenna array, a fourth antenna array, a second ultra-wideband signal phase discriminator and a second controller; the third antenna array, the fourth antenna array and the second controller are all electrically connected with the second ultra-wideband signal phase discriminator, the third antenna array comprises two antennas, the fourth antenna array comprises two antennas, and the third antenna array and the fourth antenna array are orthogonal; the third antenna array and the fourth antenna array respectively receive signals sent by the tag; the second ultra-wideband signal phase discriminator is used for determining a third phase difference of the third antenna array and a fourth phase difference of the fourth antenna array according to signals received by the third antenna array and the fourth antenna array; the second controller is used for determining a third angle theta of the tag relative to the third antenna array according to the third phase difference and the distance between the two antennas in the third antenna array 3 Determining the tag relative to the fourth day according to the fourth phase difference and the distance between the two antennas in the fourth antenna arrayFourth angle θ of line array 4 ；
The system is also used for controlling the first angle theta 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 Positioning the three-dimensional coordinates of the tag; alternatively, the first angle θ 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 And sending the three-dimensional coordinates to a server or a tag to locate the three-dimensional coordinates of the tag.
In the system of this embodiment, the two antenna arrays in any one base station may adopt a shared antenna system or a shared antenna system, which is not particularly limited. The antenna sharing mode is that the first antenna array comprises an antenna A and an antenna B, the second antenna array comprises an antenna B and an antenna C, and the antenna B is an antenna shared by the two antenna arrays, so that cost can be saved, and the implementation is simple and convenient. A shared-nothing antenna mode is such as a first antenna array comprising antenna G and antenna H and a second antenna array comprising antenna J and antenna K, in which case the two antenna arrays have no shared antennas.
The following description describes a system in which two base stations in the system each use a shared antenna.
Referring to fig. 6, the above system may specifically include a first base station and a second base station;
the first base station includes:
antenna A 1 Antenna B 1 Antenna C 1 The device comprises a first ultra-wideband signal phase detector and a first controller; antenna A 1 Antenna B 1 Antenna C 1 And the first controller is electrically connected with the first ultra-wideband signal phase discriminator, and the antenna A 1 And antenna B 1 Form a first antenna array, antenna B 1 And antenna C 1 Forming a second antenna array, wherein the first antenna array and the second antenna array are orthogonal; antenna A 1 Antenna B 1 And antenna C 1 Respectively receiving signals sent by the tags to be positioned; the first ultra-wideband signal phase discriminator is used for receiving the signal from the antenna A 1 Antenna B 1 And antenna C 1 The received signal determining a first phase of a first antenna arrayThe difference and a second phase difference of the second antenna array; the first controller is used for controlling the antenna A according to the first phase difference 1 And antenna B 1 Distance between, determining a first angle θ of the tag relative to the first antenna array 1 According to the second phase difference, antenna B 1 And antenna C 1 Distance between, determining a second angle θ of the tag relative to the second antenna array 2 ；
The second base station includes:
antenna A 2 Antenna B 2 Antenna C 2 The second ultra-wideband signal phase detector and the second controller; antenna A 2 Antenna B 2 Antenna C 2 And the second controller is electrically connected with the second ultra-wideband signal phase discriminator, and the antenna A 2 And antenna B 2 Form a third antenna array, antenna B 2 And antenna C 2 Forming a fourth antenna array, wherein the third antenna array and the fourth antenna array are orthogonal; antenna A 2 Antenna B 2 And antenna C 2 Respectively receiving signals sent by the tags; the second ultra-wideband signal phase discriminator is used for receiving the signal from the antenna A 2 Antenna B 2 And antenna C 2 The received signals determine a third phase difference of the third antenna array and a fourth phase difference of the fourth antenna array; the second controller is used for antenna A according to the third phase difference 2 And antenna B 2 Distance between, determining a third angle θ of the tag relative to the third antenna array 3 According to the fourth phase difference, antenna B 2 And antenna C 2 Distance between, determining a fourth angle θ of the tag relative to the fourth antenna array 4 ；
The system is also used for controlling the first angle theta 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 Positioning the three-dimensional coordinates of the tag; alternatively, the first angle θ 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 And sending the three-dimensional coordinates to a server or a tag to locate the three-dimensional coordinates of the tag.
In this embodiment, the number of the optional,
First oneThe plane of the base station is P 1 And plane P 1 The vertical plane is a first vertical plane;
the first controller is used for determining the included angle with the first vertical plane as a first angle theta 1 Plane P of (2) 2 And a second angle theta with the first vertical plane 2 Plane P of (2) 3 Obtaining plane P 2 And plane P 3 Intersection line l of (1) 1 ；
The plane of the second base station is P 4 And plane P 4 The vertical plane is a second vertical plane;
the second controller is used for determining the included angle with the second vertical plane as a third angle theta 3 Plane P of (2) 5 And a fourth angle theta with the second vertical plane 4 Plane P of (2) 6 Obtaining plane P 5 And plane P 6 Intersection line l of (1) 2 ；
The first controller and/or the second controller are further configured to:
determining intersection line l 1 And intersecting line l 2 Obtaining the three-dimensional coordinates of the label; alternatively, the intersection line l 1 And intersecting line l 2 And sends the information to a server or a tag to locate the three-dimensional coordinates of the tag.
Referring to fig. 3 and 7, the antenna arrays in the first base station and the second base station are positioned as in the principle shown in fig. 3, respectively. As shown in fig. 7, the first base station locates to obtain an intersection line l 1 The second base station is positioned to obtain an intersecting line l 2 The method comprises the steps of carrying out a first treatment on the surface of the The intersection point of the two intersecting lines is the label position obtained by positioning, so that the three-dimensional coordinate of the label can be calculated according to the two intersecting lines, a specific algorithm can be arbitrarily selected, and the embodiment is not particularly limited. Moreover, the three-dimensional coordinates of the tag calculated from the two intersecting lines may be calculated by the first base station, or calculated by the second base station, or calculated by the first base station and the second base station, respectively; the information of the two intersecting lines can be sent to a background server to calculate the three-dimensional coordinates of the tag, or the three-dimensional coordinates of the tag can be calculated by the tag, so that the implementation mode is various, and the embodiment does not need the three-dimensional coordinates The specific limitation is made.
According to the system provided by the embodiment, when the labels in the area are positioned, the labels can be positioned by determining the intersection point of the two intersection lines according to the angle, and the distance from the labels to the base station is not required to be measured, so that the complexity of positioning calculation is greatly reduced.
Referring to fig. 8, an embodiment of the present application provides a positioning method, based on the positioning base station provided in any one of the foregoing embodiments, the method includes:
801: receiving signals sent by the tag through the first antenna array and the second antenna array respectively;
the present embodiment will be described taking a shared antenna system as an example. The first antenna array comprises an antenna A and an antenna B, and the second antenna array comprises an antenna B and an antenna C.
802: determining a first phase difference of the first antenna array and a second phase difference of the second antenna array according to the received signals;
803: determining a first angle θ of the tag relative to the first antenna array based on the first phase difference, the distance between antenna A and antenna B 1 ；
804: determining a second angle θ of the tag relative to the second antenna array based on the second phase difference, the distance between antenna B and antenna C 2 ；
Steps 803 and 804 may be performed sequentially or simultaneously, which is not limited in particular.
805: according to a first angle theta 1 And a second angle theta 2 The distance between the base station and the tag locates the three-dimensional coordinates of the tag; alternatively, the first angle θ 1 And a second angle theta 2 And the distance between the base station and the tag is sent to a server or the tag to locate the three-dimensional coordinates of the tag.
In this embodiment, the number of the optional,
the plane of the base station is a first plane, the plane perpendicular to the first plane is a vertical plane, and the Distance between the base station and the tag is Distance;
according to the first angle theta 1 And a second angle theta 2 The distance between the base station and the tag locates the three-dimensional coordinates of the tag, comprising:
determining the included angle with the vertical plane as a first angle theta 1 And a second angle theta with respect to the vertical plane 2 And (3) obtaining an intersection line of the second plane and the third plane, and positioning a point with a Distance from the base station on the intersection line to obtain the three-dimensional coordinate of the label.
According to the method, when the labels in the area are positioned, the labels are positioned according to the angles and the distances, and the positioning can be realized only by one base station, so that the cost is greatly saved.
Referring to fig. 9, an embodiment of the present application provides a positioning method, based on the positioning system provided in any one of the foregoing embodiments, taking an antenna sharing manner as an example for two base stations for illustration, where the method includes:
901: through antenna A 1 Antenna B 1 And antenna C 1 Respectively receiving signals sent by the tags to be positioned; according to antenna A 1 Antenna B 1 And antenna C 1 Determining a first phase difference of the first antenna array and a second phase difference of the second antenna array from the received signals; according to the first phase difference, antenna A 1 And antenna B 1 Distance between, determining a first angle θ of the tag relative to the first antenna array 1 According to the second phase difference, antenna B 1 And antenna C 1 Distance between, determining a second angle θ of the tag relative to the second antenna array 2 ；
This step is performed by a first base station within the system.
902: through antenna A 2 Antenna B 2 And antenna C 2 Respectively receiving signals sent by the tags; according to antenna A 2 Antenna B 2 And antenna C 2 The received signals determine a third phase difference of the third antenna array and a fourth phase difference of the fourth antenna array; according to the third phase difference, antenna A 2 And antenna B 2 Distance between, determining a third angle θ of the tag relative to the third antenna array 3 According to the fourth phase difference, antenna B 2 And antenna C 2 Distance between, determining a fourth angle θ of the tag relative to the fourth antenna array 4 ；
This step is performed by a second base station within the system.
903: according to a first angle theta 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 Positioning the three-dimensional coordinates of the tag; alternatively, the first angle θ 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 And sending the three-dimensional coordinates to a server or a tag to locate the three-dimensional coordinates of the tag.
The present step may be performed by the first base station, the second base station, or both the first base station and the second base station in the system, which is not limited in detail in this embodiment.
In this embodiment, the number of the optional,
according to the first angle theta 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 Positioning the three-dimensional coordinates of the tag; alternatively, the first angle θ 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 Transmitting to a server or tag to locate three-dimensional coordinates of the tag, comprising:
determining an included angle with the first vertical plane as a first angle theta 1 Plane P of (2) 2 And a second angle theta with the first vertical plane 2 Plane P of (2) 3 Obtaining plane P 2 And plane P 3 Intersection line l of (1) 1 ；
Determining an included angle with the second vertical plane as a third angle theta 3 Plane P of (2) 5 And a fourth angle theta with the second vertical plane 4 Plane P of (2) 6 Obtaining plane P 5 And plane P 6 Intersection line l of (1) 2 ；
Determining intersection line l 1 And intersecting line l 2 Obtaining the three-dimensional coordinates of the label; alternatively, the intersection line l 1 And intersecting line l 2 Information of (2)Transmitting to a server or a tag to locate the three-dimensional coordinates of the tag;
wherein the plane of the first base station is P 1 And plane P 1 The plane vertical to the base station is a first vertical plane, and the plane where the second base station is positioned is P 4 And plane P 4 The plane perpendicular to the first vertical plane is the second vertical plane.
According to the method provided by the embodiment, when the labels in the area are positioned, the labels can be positioned based on the fact that the two base stations determine the intersection points of the two intersection lines according to the angles, the distance from the labels to the base stations is not required to be measured, and the complexity of positioning calculation is greatly reduced.
Referring to fig. 10, when the antenna array in the base station according to any of the above embodiments of the present application measures the angle of the tag with respect to the antenna array, the specific principle is as follows:
the orthogonal antenna array on the base station can receive UWB signals sent by the tag to be positioned, and the angle theta of the tag to be positioned relative to the antenna array can be measured according to AOA (Angle of Arrival) measurement principle. Among them, there are various methods for measuring AOA angle by antenna array, including but not limited to: time difference measurement, phase difference measurement, etc. Here, a phase difference measurement method will be described as an example.
Fig. 10 shows any of the base stations in any of the above embodiments, wherein one antenna array is composed of an antenna a and an antenna B. By measuring the phase difference of the same UWB signal received by 2 antennas in the antenna array, the angle θ of the tag relative to the antenna array can be calculated.
The derivation formula is as follows:
as shown, the difference in distance from the same UWB signal to the antenna a and the antenna B, respectively, from the tag to be located is:
p=dsin θ (d is the distance between two antennas a and B)
P in the figure is parallel to the signal from the tag and indicates the direction in which the tag transmits the signal, so that a right triangle can be formed with d.
The signal wavelength is:
(c is the speed of light, f is the carrier frequency)/(c is the carrier frequency)>
If α is the phase difference between the arrival of the UWB signal at the antenna array as determined by the UWB signal phase detector in the figure, then:
namely:
so that:
namely:
because the frequency of UWB signals is relatively high (typically 3GHz to 7 GHz), i.e., the wavelength λ is on the scale of a few centimeters, a smaller distance difference p will also result in a more pronounced phase difference α.
Since the distance d between the two antennas is larger thanThere may be multiple solutions. Therefore, preferably, the distance d between the two antennas is equal to or slightly smaller than +.>
Referring to fig. 11, the principle of the method for measuring the distance from a tag to a base station according to any of the above embodiments of the present application is as follows:
The antenna array of the base station and the tag to be positioned can be subjected to real-time ranging through UWB signals, and the accuracy can reach 10cm. Because the clocks of the base station and the tag are not synchronized, they are actually performed by the TWR (Two-Way Ranging) algorithm.
The TWR algorithm is based on the following principle:
base station at t 1 The UWB pulse signal is sent out at the moment to start ranging, and is received by the tag to be positioned after the time of flight ToF (Time of Flight) passes by t reply After a delay (processing time of CPU, etc.), the tag sends out UWB response signal, and after ToF time, at t 2 The response signal is received by the base station at the moment.
The transmission speed of UWB pulse signals is known to be equal to the speed of light c, t reply Is a fixed time and can be obtained by measurement and calculation. The Distance between the base station and the tag is:
the above, as well as additional objectives, advantages, and features of the present application will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present application when read in conjunction with the accompanying drawings.
Embodiments of the present application also provide a computing device, referring to fig. 12, comprising a memory 1120, a processor 1110 and a computer program stored in said memory 1120 and executable by said processor 1110, the computer program being stored in a space 1130 for program code in the memory 1120, which computer program, when being executed by the processor 1110, is adapted to carry out any of the method steps 1131 according to the present application.
The embodiment of the application also provides a computer readable storage medium. Referring to fig. 13, the computer-readable storage medium includes a storage unit for program code provided with a program 1131' for executing the steps of the method according to the present application, the program being executed by a processor.
Embodiments of the present application also provide a computer program product comprising instructions. The computer program product, when run on a computer, causes the computer to perform the method steps according to the application.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed by a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wired (e.g., network cable, optical fiber, digital Subscriber Line (DSL), etc.) or wireless (e.g., WIFI, 3G/4G/5G, infrared, microwave, etc.) means. The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of function in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
Those of ordinary skill in the art will appreciate that all or part of the steps in implementing the methods of the above embodiments may be implemented by a program to instruct a processor, where the program may be stored in a computer readable storage medium, where the storage medium is a non-volatile (english) medium, such as a random access memory, a read only memory, a flash memory, a hard disk, a solid state disk, a magnetic tape, a floppy disk, an optical disk, and any combination thereof.
The present application is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims (5)

1. A positioning base station, comprising:
the antenna comprises a first antenna array, a second antenna array, an ultra-wideband signal phase discriminator and a controller, wherein the first antenna array comprises an antenna A and an antenna B, and the second antenna array comprises an antenna B and an antenna C; or, the first antenna array includes an antenna G and an antenna H, and the second antenna array includes an antenna J and an antenna K;
the first antenna array, the second antenna array and the controller are electrically connected with the ultra-wideband signal phase discriminator, the first antenna array comprises two antennas, the second antenna array comprises two antennas, and the first antenna array and the second antenna array are orthogonal;
the first antenna array and the second antenna array respectively receive signals sent by a tag to be positioned;
the ultra-wideband signal phase discriminator is used for determining a first phase difference of the first antenna array and a second phase difference of the second antenna array according to signals received by the first antenna array and the second antenna array;
the controller is used for determining a first angle theta of the tag relative to the first antenna array according to the first phase difference and the distance between the two antennas in the first antenna array 1 Two antennas in the second antenna array according to the second phase differenceDistance between the first antenna array and the second antenna array, determining a second angle theta of the tag relative to the second antenna array 2 ；
The controller is also used for controlling the first angle theta 1 And a second angle theta 2 The method comprises the steps that the Distance between a base station and a tag is used for positioning the three-dimensional coordinate of the tag, wherein the plane where the base station is located is a first plane, the plane perpendicular to the first plane is a perpendicular plane, and the Distance between the base station and the tag is Distance; the controller is used for determining that the included angle between the controller and the vertical plane is the first angle theta 1 And an included angle with the vertical plane is the second angle theta 2 And (3) obtaining an intersection line of the second plane and the third plane, and positioning a point with the length of the Distance from the base station on the intersection line to obtain the three-dimensional coordinate of the label.
2. The base station of claim 1, wherein,
the first antenna array and the second antenna array respectively receive first signals sent by the tag; the ultra-wideband signal phase discriminator is used for determining the phase difference of the first signal reaching the two antennas in the first antenna array as a first phase difference of the first antenna array, and determining the phase difference of the first signal reaching the two antennas in the second antenna array as a second phase difference of the second antenna array;
Or alternatively, the first and second heat exchangers may be,
two antennas in the first antenna array respectively receive second signals sent by the tag, and two antennas in the second antenna array respectively receive third signals sent by the tag; the ultra-wideband signal phase discriminator is used for determining the phase difference of the second signal reaching the two antennas in the first antenna array as a first phase difference of the first antenna array, and determining the phase difference of the third signal reaching the two antennas in the second antenna array as a second phase difference of the second antenna array.
3. A positioning system, comprising: a first base station and a second base station;
the first base station includes:
the antenna comprises a first antenna array, a second antenna array, a first ultra-wideband signal phase detector and a first controller, wherein the first antenna array comprises an antenna A and an antenna B, and the second antenna array comprises an antenna B and an antenna C; or, the first antenna array includes an antenna G and an antenna H, and the second antenna array includes an antenna J and an antenna K; the first antenna array, the second antenna array and the first controller are all electrically connected with the first ultra-wideband signal phase discriminator, the first antenna array comprises two antennas, the second antenna array comprises two antennas, and the first antenna array and the second antenna array are orthogonal; the first antenna array and the second antenna array respectively receive signals sent by a tag to be positioned; the first ultra-wideband signal phase discriminator is used for determining a first phase difference of the first antenna array and a second phase difference of the second antenna array according to signals received by the first antenna array and the second antenna array; the first controller is used for determining a first angle theta of the tag relative to the first antenna array according to the first phase difference and the distance between the two antennas in the first antenna array 1 Determining a second angle theta of the tag relative to the second antenna array according to the second phase difference and the distance between the two antennas in the second antenna array 2 ；
The second base station includes:
the second ultra-wideband signal phase discriminator comprises a third antenna array, a fourth antenna array, a second ultra-wideband signal phase discriminator and a second controller; the third antenna array, the fourth antenna array and the second controller are all electrically connected with the second ultra-wideband signal phase discriminator, the third antenna array comprises two antennas, the fourth antenna array comprises two antennas, and the third antenna array and the fourth antenna array are orthogonal; the third antenna array and the fourth antenna array respectively receive signals sent by the tag; the second ultra-wideband signal phase discriminator is used for receiving according to the third antenna array and the fourth antenna arrayDetermining a third phase difference of the third antenna array and a fourth phase difference of the fourth antenna array; the second controller is used for determining a third angle theta of the tag relative to the third antenna array according to the third phase difference and the distance between the two antennas in the third antenna array 3 Determining a fourth angle theta of the tag relative to the fourth antenna array according to the fourth phase difference and the distance between the two antennas in the fourth antenna array 4 ；
The system is also used for controlling the angle theta according to the first angle theta 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 Positioning the three-dimensional coordinate of the tag, wherein the plane of the first base station is P 1 The plane perpendicular to the plane P1 is a first perpendicular plane; the first controller is used for determining that the included angle between the first controller and the first vertical plane is the first angle theta 1 Plane P of (2) 2 And an included angle with the first vertical plane is the second angle theta 2 Plane P of (2) 3 Obtaining the plane P 2 With the plane P 3 Intersection line l of (1) 1 The method comprises the steps of carrying out a first treatment on the surface of the The second base station is located at the plane P 4 And the plane P 4 The vertical plane is a second vertical plane; the second controller is used for determining that the included angle between the second controller and the second vertical plane is the third angle theta 3 Plane P of (2) 5 And an included angle with the second vertical plane is the fourth angle theta 4 Plane P of (2) 6 Obtaining the plane P 5 With the plane P 6 Intersection line l of (1) 2 The method comprises the steps of carrying out a first treatment on the surface of the The first controller and/or the second controller are further configured to: determining the intersection line l 1 Intersecting the line l 2 And obtaining the three-dimensional coordinates of the tag.
4. A positioning method based on positioning a base station according to any of claims 1-2, the method comprising:
receiving signals sent by the tag through the first antenna array and the second antenna array respectively;
determining a first phase difference of the first antenna array and a second phase difference of the second antenna array according to the received signals;
determining a first angle theta of the tag relative to the first antenna array according to the first phase difference and the distance between two antennas in the first antenna array 1 ；
Determining a second angle theta of the tag relative to the second antenna array according to the second phase difference and the distance between the two antennas in the second antenna array 2 ；
According to the first angle theta 1 And a second angle theta 2 The method comprises the steps that the Distance between a base station and a tag is used for positioning the three-dimensional coordinate of the tag, wherein the plane where the base station is located is a first plane, the plane perpendicular to the first plane is a perpendicular plane, and the Distance between the base station and the tag is Distance; according to the first angle theta 1 And a second angle theta 2 The distance between the base station and the tag locates the three-dimensional coordinates of the tag, comprising: determining the included angle with the vertical plane as the first angle theta 1 And an included angle with the vertical plane is the second angle theta 2 And (3) obtaining an intersection line of the second plane and the third plane, and positioning a point with the length of the Distance from the base station on the intersection line to obtain the three-dimensional coordinate of the label.
5. A positioning method based on the positioning system of claim 3, the method comprising:
receiving signals sent by the tags to be positioned through the first antenna array and the second antenna array respectively; determining a first phase difference of the first antenna array and a second phase difference of the second antenna array according to signals received by the first antenna array and the second antenna array; determining a first angle theta of the tag relative to the first antenna array according to the first phase difference and the distance between two antennas in the first antenna array 1 Determining a second angle theta of the tag relative to the second antenna array according to the second phase difference and the distance between the two antennas in the second antenna array 2 ；
Receiving signals sent by the tag through the third antenna array and the fourth antenna array respectively; determining a third phase difference of the third antenna array and a fourth phase difference of the fourth antenna array according to signals received by the third antenna array and the fourth antenna array; determining a third angle theta of the tag relative to the third antenna array according to the third phase difference and the distance between the two antennas in the third antenna array 3 Determining a fourth angle theta of the tag relative to the fourth antenna array according to the fourth phase difference and the distance between the two antennas in the fourth antenna array 4 ；
According to the first angle theta 1 Second angle theta 2 Third angle theta 3 And a fourth angle theta 4 Locating the three-dimensional coordinates of the tag, comprising: determining the included angle with the first vertical plane as the first angle theta 1 Plane P of (2) 2 And an included angle with the first vertical plane is the second angle theta 2 Plane P of (2) 3 Obtaining the plane P 2 With the plane P 3 Intersection line l of (1) 1 The method comprises the steps of carrying out a first treatment on the surface of the Determining the included angle with the second vertical plane as the third angle theta 3 Plane P of (2) 5 And an included angle with the second vertical plane is the fourth angle theta 4 Plane P of (2) 6 Obtaining the plane P 5 With the plane P 6 Intersection line l of (1) 2 The method comprises the steps of carrying out a first treatment on the surface of the Determining the intersection line l 1 Intersecting the line l 2 Obtaining the three-dimensional coordinates of the tag, wherein the plane of the first base station is P 1 And the plane P 1 The plane perpendicular to the first base station is the first perpendicular plane, and the plane where the second base station is located is P 4 And the plane P 4 The perpendicular plane is the second perpendicular plane.
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CN114156640A (en) * 2021-12-16 2022-03-08 歌尔科技有限公司 Antenna assembly, unmanned aerial vehicle and unmanned aerial vehicle positioning method
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