Positioning base station, positioning system and positioning method

A positioning system, comprising a positioning base station, a device to be positioned according to and a calculation device;

• wherein positioning base station comprises:
• a rotating laser plane emitting unit, a distance measuring device and a synchronization device;
• wherein the rotating laser plane emitting unit is configured to rotate around a rotation axle and emit two laser plane signals having a preset angle there between, and the two laser plane signals are configured to scan a space;
• wherein the distance measuring device is configured to emit a distance measuring signal, wherein the distance measuring signal is configured to measure a distance between the positioning base station and a device to be positioned;
• and
• wherein the synchronization device is configured to transmit a synchronization signal, wherein the synchronization signal is configured to synchronize time of the positioning base station and the device to be positioned;
• wherein the device to be positioned is configured to receive the synchronization signal transmitted from the synchronization device in the positioning base station, the two laser plane signals having the preset angle there between emitted from the positioning base station, and a distance measuring signal emitted from a distance measuring device, and record a first reference time at which the synchronization signal is received, a first time and a second time at which the two laser plane signals are respectively received, and a third time at which the distance measuring signal is received, respectively;
• wherein the calculation device is configured to determine, according to the first reference time, the first time, the second time and a rotation speed of the rotating laser plane emitting unit in the positioning base station, a first rotation angle of a target laser plane rotating based on the first reference time to the first time, and a second rotation angle of the target laser plane rotating based on the first reference time to the second time;
• wherein the target laser plane is a plane in which a laser plane signal that firstly scans the device to be positioned in the two laser plane signals is located;
• and
• the calculation device, which is further configured to determine, according to a second reference time at which the distance measuring signal is emitted, the third time at which the device to be positioned receives the distance measuring signal and a travel speed of the distance measuring signal in a space, a distance between the device to be positioned and the positioning base station;
• and determine, according to the first rotation angle, the second rotation angle and the distance between the device to be positioned and the positioning base station, a position of the device to be positioned.

A positioning method, comprising:

• receiving, a synchronization signal transmitted from a synchronization device in a positioning base station, two laser plane signals having a preset angle therebetween emitted from the positioning base station and a distance measuring signal emitted from a distance measuring device, and recording a first reference time at which the synchronization signal is received, a first time and a second time at which the two laser plane signals are respectively received, and a third time at which the distance measuring signal is received, respectively;
• determining, according to the first reference time, the first time, the second time and a rotation speed of a rotating laser plane emitting unit in the positioning base station, a first rotation angle of a target laser plane rotating based on the first reference time to the first time, and a second rotation angle of the target laser plane rotating based on the first reference time to the second time;
• wherein the target laser plane is a plane formed by a laser plane signal that firstly scans the device to be positioned in the two laser plane signals;
• determining, according to a second reference time at which a distance measuring signal is emitted, the third time at which the device to be positioned receives the distance measuring signal, a distance between the device to be positioned and the positioning base station;
• and
• determining, according to the first rotation angle, the second rotation angle and the distance between the device to be positioned and the positioning base station, a position of the device to be positioned.