Collaborative node-based positioning method, to-be-positioned node, and collaborative node

1. A collaborative node-based positioning method, wherein the method is executed by a to-be-positioned node, and the method comprises:

obtaining a collaborative positioning node list corresponding to each collaborative node that is able to directly communicate with the to-be-positioned node, wherein information about one or more nodes that can directly communicate with the collaborative node is recorded in the collaborative positioning node list;

selecting a collaborative node from the collaborative positioning node list having a largest quantity of matching collaborative nodes as that in a target list corresponding to the to-be-positioned node; and

positioning on the to-be-positioned node by using an anchor node and each monitoring node, wherein the anchor node is the selected collaborative node, and each monitoring node is each of same collaborative nodes between the collaborative positioning node list corresponding to the anchor node and the target list.

2. The method according to claim 1 , wherein the obtaining the collaborative positioning node list corresponding to each collaborative node that can directly communicate with the to-be-positioned node comprises:

sending a collaborative positioning request in a broadcast mode, wherein the collaborative positioning request is used to obtain a collaborative positioning node list; and

receiving a collaborative positioning response message sent by each collaborative node that can directly communicate with the to-be-positioned node, wherein the collaborative positioning response message carries at least the collaborative positioning node list or position information of the collaborative node; or

the obtaining the collaborative positioning node list corresponding to each collaborative node that can directly communicate with the to-be-positioned node comprises: receiving a message pushed by each collaborative node, wherein the message carries a collaborative positioning node list corresponding to the collaborative node.

3. The method according to claim 1 , wherein the selecting, according to the collaborative positioning node list corresponding to each collaborative node, the collaborative node corresponding to the collaborative positioning node list in which the quantity of collaborative nodes being the same as that in the target list corresponding to the to-be-positioned node is largest comprises:

sequentially comparing identification information of all the collaborative nodes in the collaborative positioning node lists with identification information of each collaborative node in the target list corresponding to the to-be-positioned node, to obtain a collaborative node whose identification information is the same as that of each collaborative node in the target list;

calculating a quantity of collaborative nodes, in each collaborative positioning node list, whose identification information is the same as that of each collaborative node in the target list; and

selecting a collaborative node corresponding to a collaborative positioning node list in which a quantity of collaborative nodes whose identification information is the same as that of each collaborative node in the target list is largest.

4. The method according to claim 1 , wherein the selecting, according to the collaborative positioning node list corresponding to each collaborative node, the collaborative node corresponding to the collaborative positioning node list in which the quantity of collaborative nodes being the same as that in a target list corresponding to the to-be-positioned node is largest comprises:

obtaining a quantity of collaborative nodes comprised in each collaborative positioning node list;

starting from a collaborative positioning node list comprising a largest quantity of collaborative nodes, comparing identification information of each collaborative node in the collaborative positioning node list with identification information of each collaborative node in the target list corresponding to the to-be-positioned node, to obtain a collaborative node whose identification information is the same as that of each collaborative node in the target list; and

when a quantity of collaborative nodes, in the collaborative positioning node list on which comparison is performed, whose identification information is the same as that of each collaborative node in the target list is greater than or equal to a quantity of collaborative nodes in a remaining collaborative positioning node list on which no comparison is performed, selecting a collaborative node corresponding to the collaborative positioning node list in which the quantity of collaborative nodes whose identification information is the same as that of each collaborative node in the target list is greater than or equal to the quantity of collaborative nodes in the remaining collaborative positioning node list.

5. The method according to claim 1 , wherein the method further comprises: updating information about each collaborative node that can directly communicate with the to-be-positioned node.

6. A to-be-positioned node, wherein the to-be-positioned node comprises:

a receiver to receive a collaborative positioning node list corresponding to each collaborative node that can directly communicate with the to-be-positioned node, wherein information about one or more nodes that can directly communicate with the collaborative node is recorded in the collaborative positioning node list;

a processor to select a collaborative node from the collaborative positioning node list having a largest quantity of matching collaborative nodes as that in a target list corresponding to the to-be-positioned node; and

the processor to perform positioning on the to-be-positioned node by using an anchor node and each monitoring node, wherein the anchor node is the selected collaborative node, and each monitoring node is each of same collaborative nodes between the collaborative positioning node list corresponding to the anchor node and the target list.

7. The to-be-positioned node according to claim 6 , wherein the receiver to receive the collaborative positioning node list corresponding to each collaborative node that can directly communicate with the to-be-positioned node comprises: the receiver including a transmitter to transmit a collaborative positioning request in a broadcast mode, wherein the collaborative positioning request is used to obtain a collaborative positioning node list;

the receiver to receive a collaborative positioning response message sent by each collaborative node that can directly communicate with the to-be-positioned node, wherein the collaborative positioning response message carries at least the collaborative positioning node list or position information of the collaborative node; and

the receiver to receive, from the collaborative positioning response message sent by each collaborative node, the collaborative positioning node list corresponding to each collaborative node; or

that the receiver to receive the collaborative positioning node list corresponding to each collaborative node that can directly communicate with the to-be-positioned node comprises: the receiver to receive a message pushed by each collaborative node, wherein the message carries a collaborative positioning node list corresponding to the collaborative node.

8. The to-be-positioned node according to claim 6 , wherein the processor is further:

to sequentially compare identification information of all the collaborative nodes in the collaborative positioning node lists with identification information of each collaborative node in the target list corresponding to the to-be-positioned node, to obtain a collaborative node whose identification information is the same as that of each collaborative node in the target list;

to calculate a quantity of collaborative nodes, in each collaborative positioning node list, whose identification information is the same as that of each collaborative node in the target list; and

to select a collaborative node corresponding to a collaborative positioning node list in which a quantity of collaborative nodes whose identification information is the same as that of each collaborative node in the target list is largest.

9. The to-be-positioned node according to claim 6 , wherein the processor is further:

to obtain a quantity of collaborative nodes comprised in each collaborative positioning node list, and configured to, starting from a collaborative positioning node list comprising a largest quantity of collaborative nodes, compare identification information of each collaborative node in the collaborative positioning node list with identification information of each collaborative node in the target list corresponding to the to-be-positioned node, to obtain a collaborative node whose identification information is the same as that of each collaborative node in the target list; and

when a quantity of collaborative nodes, in the collaborative positioning node list on which comparison is performed, whose identification information is the same as that of each collaborative node in the target list is greater than or equal to a quantity of collaborative nodes in a remaining collaborative positioning node list on which no comparison is performed, to select a collaborative node corresponding to the collaborative positioning node list in which the quantity of collaborative nodes whose identification information is the same as that of each collaborative node in the target list is greater than or equal to the quantity of collaborative nodes in the remaining collaborative positioning node list.

10. The to-be-positioned node according to claim 6 , wherein the processor is to update information about each collaborative node that can directly communicate with the to-be-positioned node.