Locating method and device, and computer storage medium

Patent metadata

Field	Value
Publication number	US-2021286038-A1
Application number	US-201716326402-A
Country	US
Kind code	A1
Filing date	Jan 9, 2017
Priority date	Nov 18, 2016
Publication date	Sep 16, 2021
Grant date	—

Abstract

A locating method and device, and a computer storage medium are provided for realizing that an anchor node apparatus locates a beacon apparatus in a range of 360 degrees. The method is applied to an anchor node apparatus. The anchor node apparatus comprises at least three first antennas, wherein a set location of at least one first antenna is not collinear with set locations of the remaining first antennas. The method comprises: receiving a signal sent by a second antenna of a beacon apparatus by means of each of the first antennas; according to a phase of each of the first antennas for receiving the signal, obtaining a phase difference between every two first antennas for receiving the signal; extracting at least three phase differences closest to a pointed orientation; and based on the at least three phase differences, determining the orientation of the beacon apparatus.

First claim

1 . A positioning method applied to an anchor device comprising at least three first antennas, a disposing position of at least one of the at least three first antennas being not collinear with a disposing position of each of one or more other first antennas, the method comprising:
receiving, by each of the at least three first antennas, a signal transmitted by a second antenna of a beacon device; acquiring a phase difference between the signals received by each pair of first antennas of the at least three first antennas based on phases of the signals received by the at least three first antennas; extracting at least three phase differences directed to closest orientations; and determining an orientation of the beacon device based on the at least three phase differences.

2 . The method of claim 1 , wherein the determining an orientation of the beacon device based on the at least three phase differences comprises:
determining a suspicious orientation of the beacon device based on the at least three phase differences; determining whether a confidence level of the suspicious orientation reaches a first threshold based on a historical orientation of the beacon device; and determining the suspicious orientation as an orientation of the beacon device responsive to that the confidence level of the suspicious orientation reaches the first threshold; and determining that the suspicious orientation is not the orientation of the beacon device responsive to that the confidence level of the suspicious orientation does not reach the first threshold, and determining the orientation of the beacon device based on the historical orientation of the beacon device.

3 . The method of claim 2 , wherein the determining a suspicious orientation of the beacon device based on the at least three phase differences comprises:
determining whether the at least three phase differences are directed to a same orientation; determining an orientation to which any one of the at least three phase differences is directed as the suspicious orientation responsive to that the at least three phase differences are directed to a same orientation; or determining an average orientation of the orientations to which the at least three phase differences are directed as the suspicious orientation responsive to that the at least three phase differences are directed to different orientations.

4 . The method of claim 2 , wherein the determining whether the confidence level of the suspicious orientation reaches the first threshold based on the historical orientation of the beacon device comprises:
acquiring an estimated orientation based on the historical orientation; calculating a ratio of a difference between the suspicious orientation and the estimated orientation to the estimated orientation, and taking the ratio as the confidence level; determining whether the ratio is greater than or equal to the first threshold; and determining that the confidence level of the suspicious orientation reaches the first threshold responsive to that the ratio is greater than or equal to the first threshold, and determining that the confidence level of the suspicious orientation does not reach the first threshold responsive to that the ratio is less than the first threshold.

5 . The method of claim 1 , wherein the disposing positions of the at least three first antennas are at vertexes of a polygon, and length of a longest side of the polygon is less than a half wavelength of the signal.

6 . The method of claim 5 , wherein the at least three first antennas satisfy a vertical linear polarization condition, and purity of linear polarization is greater than a second threshold.

7 . The method of claim 5 , wherein the second antenna satisfies a circular polarization condition.

8 . A positioning device applied to an anchor device, wherein the anchor device comprises at least three first antennas, a disposing position of at least one of the at least three first antennas is not collinear with a disposing position of each of one or more other first antennas, the positioning device comprises:
a memory storing instructions; and a processor for executing the instructions to: receive a signal transmitted through a second antenna of a beacon device through each of the at least three first antennas; acquire a phase difference between the signals received through each pair of first antennas of the at least three first antennas based on phases of the signals received by the at least three first antennas; extract at least three phase differences directed to closest orientations; and determine an orientation of the beacon device based on the at least three phase differences.

9 . The device of claim 8 , wherein the processor is further configured to execute the instructions to:
determine a suspicious orientation of the beacon device based on the at least three phase differences; determine whether a confidence level of the suspicious orientation reaches a first threshold based on a historical orientation of the beacon device; and determine the suspicious orientation as an orientation of the beacon device responsive to that the confidence level of the suspicious orientation reaches the first threshold; and determining that the suspicious orientation is not the orientation of the beacon device responsive to that the confidence level of the suspicious orientation does not reach the first threshold, and determining the orientation of the beacon device based on the historical orientation of the beacon device.

10 . The device of claim 9 , wherein the processor is further configured to execute the instructions to:
determine whether the at least three phase differences are directed to a same orientation; determine the orientation to which any one of the at least three phase differences is directed as the suspicious orientation responsive to that the at least three phase differences are directed to a same orientation; and determine an average orientation of the orientations to which the at least three phase differences are directed as the suspicious orientation responsive to that the at least three phase differences are directed to different orientations.

11 . The device of claim 8 , wherein the disposing positions of the at least three first antennas are at vertexes of a polygon, and length of a longest side of the polygon is less than a half wavelength of the signal.

12 . The device of claim 11 , wherein the at least three first antennas satisfy a vertical linear polarization condition, and purity of linear polarization is greater than a second threshold.

13 . The device of claim 11 , wherein the second antenna satisfies a circular polarization condition.

14 . A non-transitory computer storage medium having stored thereon computer executable instructions to execute the a positioning method, the position method comprising:
receiving, through each of at least three first antennas of an anchor device, a signal transmitted by a second antenna of a beacon device, a disposing position of at least one of the at least three first antennas being not collinear with a disposing position of each of one or more other first antennas; acquiring a phase difference between the signals received by each pair of first antennas of the at least three first antennas based on phases of the signals received by the at least three first antennas; extracting at least three phase differences directed to closest orientations; and determining an orientation of the beacon device based on the at least three phase differences.

15 . The method of claim 2 , wherein the disposing positions of the at l

Assignees

• Ninebot Beijing Tech Co Ltd

Inventors

• Ren Guanjiao
• Wang Xuhui
• Zhong Yincheng
• Pu Li

Classifications

• G01S13/878

  Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence) · CPC title

• G01S13/767

  Responders; Transponders (teaching or practice apparatus for gun-aiming or gun-laying using reflecting targets or active targets F41G3/26) · CPC title

• G01S13/765

  with exchange of information between interrogator and responder · CPC title

• G01S13/4454

  phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement · CPC title

• G01S5/04

  Position of source determined by a plurality of spaced direction-finders · CPC title