TWI675216B - Positioning device, positioning system including the same and positioning method thereof - Google Patents

Abstract

A positioning system may include a plurality of positioning devices and a control device. Each positioning device can select two or more other nearby positioning devices according to preset conditions, and can generate positioning information. The positioning information can include the signal strength between the positioning device and each selected positioning device and the selections. The signal strength between your positioning devices. The control device can receive the positioning information of each positioning device to calculate the relative positions of the positioning devices.

Description

   Positioning device, positioning system including the same and positioning method thereof   

The invention relates to a positioning device, in particular to a positioning device capable of generating positioning information. The invention also relates to a positioning system including the positioning device and a positioning method thereof.

Due to the advancement of science and technology, a variety of positioning technologies have been developed to meet various needs. Current positioning technologies can be divided into outdoor positioning technologies and indoor positioning technologies.

Most of the outdoor positioning technology is implemented through the Global Satellite System (GPS), which is widely used in navigation systems, which allows users to plan driving routes and provide various traffic information.

The indoor positioning technology includes radio frequency identification (RFID) positioning technology, wireless fidelity (Wi-Fi) positioning technology, Bluetooth positioning technology, ZigBee positioning technology and infrared positioning technology. Advantages and applicable occasions.

However, due to bandwidth and other technical issues, current positioning technologies cannot simultaneously locate a large number of positioning targets in one space. In addition, if the positions of these positioning targets change, current positioning technologies cannot update these positioning in real time. The location of the target.

Therefore, how to propose a positioning technology that can effectively improve the various shortcomings of the positioning technology of the know-how has become an urgent issue.

In view of the problems of the above-mentioned conventional techniques, one of the objects of the present invention is to provide a fixed Positioning device, positioning system including the positioning device, and positioning method thereof, so as to solve various problems of positioning technology of the conventional art.

According to one object of the present invention, a positioning system is provided, which may include a plurality of positioning devices and a control device. Each positioning device can select two or more other nearby positioning devices according to preset conditions, and can generate positioning information. The positioning information can include the signal strength between the positioning device and each selected positioning device and the selections. The signal strength between your positioning devices. The control device can receive the positioning information of each positioning device to calculate the relative positions of the positioning devices.

According to one objective of the present invention, a positioning device is further provided, which may include a wireless receiving module and a processing module. The wireless receiving module can receive wireless signals from other nearby positioning devices. The processing module can select two or more other nearby positioning devices according to preset conditions, and can generate positioning information, and can transmit the positioning information to the control device. The positioning information may include the positioning device and each selected positioning device. And the signal strength between the selected positioning devices.

According to one of the objectives of the present invention, a positioning method is further provided, which may include the following steps: providing a plurality of positioning devices; and selecting more than two from other adjacent positioning devices through each positioning device according to a preset condition, and generating Positioning information, the positioning information may include the signal strength between the positioning device and each selected positioning device and the signal strength between the selected positioning devices: and the control device receives the positioning information of each positioning device to calculate the positioning Relative position of the devices to each other.

As mentioned above, the positioning device, the positioning system including the positioning device, and the positioning method according to the present invention may have one or more of the following advantages:

(1) In one embodiment of the present invention, the positioning system can use a special relative position algorithm to calculate the relative positions of a plurality of positioning devices to each other, and can communicate with these positionings through the Zigbee communication protocol. Device communication, so it can overcome technical problems such as bandwidth, so it can locate a large number of positioning devices.

(2) In one embodiment of the present invention, the positioning system may continuously receive positioning information of each positioning device to update the relative positions of the positioning devices, and may further calculate the absolute positions of the positioning devices through a coordinate grid. Therefore, even if the positioning devices can be moved, the positioning system can still effectively track and control the positioning devices.

(3) In one embodiment of the present invention, the positioning system can effectively track the movable positioning devices, so it is very suitable for the lighting systems of large venues, such as concerts, etc., and can accurately control the positioning devices. The light is emitted at a specific position to form a special pattern, thereby achieving better performance.

(4) In an embodiment of the present invention, the positioning system can perform positioning not only on positioning devices distributed in a two-dimensional space, but also on positioning devices distributed in a three-dimensional space, so it is more flexible in use.

(5) In one embodiment of the present invention, the positioning system can not only be applied to the lighting systems of large venues, such as concerts, sports meets, election contests, etc., but also can be used in somatosensory control systems, medical rehabilitation systems, and diving safety System or lighting installation art system, etc., so it is extremely widely used.

1‧‧‧ positioning system

11.11.1 ~ 11.25‧‧‧Positioning device

111‧‧‧ wireless receiving module

112‧‧‧Processing Module

12‧‧‧Control device

2‧‧‧ Positioning System

21‧‧‧ fluorescent stick

21a‧‧‧Tracking device

22‧‧‧Computer host

G‧‧‧ coordinate grid

A1 ~ A6, A ~ F‧‧‧ triangle

S31 ~ S35‧‧‧step flow

FIG. 1 is a block diagram of a first embodiment of a positioning system of the present invention.

Fig. 2 is a block diagram of a positioning device according to a first embodiment of the present invention.

FIG. 3 is a flowchart of the first embodiment of the positioning system of the present invention.

FIG. 4 is a schematic diagram of a second embodiment of the positioning system of the present invention.

FIG. 5 is a schematic diagram of a third embodiment of the positioning system of the present invention.

Fig. 6 is a first schematic diagram of a fourth embodiment of the positioning system of the present invention.

FIG. 7 is a second schematic diagram of the fourth embodiment of the positioning system of the present invention.

FIG. 8 is a third schematic diagram of the fourth embodiment of the positioning system of the present invention.

FIG. 9 is a schematic diagram of a fifth embodiment of the positioning system of the present invention.

Hereinafter, embodiments of a positioning device, a positioning system including the positioning device, and a positioning method according to the present invention will be described with reference to related drawings. In order to clarify and facilitate the description of the drawings, the components in the drawings are sized and proportioned. It may be exaggerated or reduced. In the following description and / or patent application, when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present; and when an element is referred to When "directly connected" or "directly coupled" to another element, there are no intervening elements present, and other words used to describe the relationship between elements or layers should be interpreted the same way. In order to facilitate understanding, the same elements in the following embodiments are described with the same symbols.

Please refer to FIG. 1 and FIG. 2, which are block diagrams of the first embodiment of the positioning system of the present invention and block diagrams of the positioning device of the first embodiment of the present invention. As shown in FIG. 1, the positioning system 1 may include a plurality of positioning devices 11 and a control device 12. The control device 12 and the positioning devices 11 may enable the Zigbee wireless communication protocol to perform wireless communication.

Any positioning device 11 may select a plurality of other positioning devices 11 nearby according to a preset condition, and may generate positioning information. The positioning information may include the signal strength between the positioning device 11 and each selected positioning device 11, the signal strength between the selected positioning devices 11, and the identification code of each device. In a preferred embodiment, the preset condition may be a signal strength threshold. As shown in FIG. 2, the positioning device 11 in this embodiment may include a wireless receiving module 111 and a processing module 112. The wireless receiving module 111 can be used for wireless communication with other positioning devices 11, and the processing module 112 can generate the above-mentioned positioning information. In a preferred embodiment, the wireless receiving module 111 can be an antenna and the processing module 112 may be a microcontroller (MCU).

The control device 12 may execute a relative position algorithm based on the positioning information to calculate the The relative positions of the positioning devices 11 to each other; in a preferred embodiment, the control device 12 may be a computer host. The control device 12 can calculate the distance between the positioning device 11 and the selected positioning devices 11 according to the signal strength between the positioning device 11 and the selected positioning devices 11, and can calculate the distance between the positioning device 11 and the selected positioning devices 11. The signal strength between the devices 11 is used to calculate the distance between the selected positioning devices 11, and the positioning device 11 and any two phases can be calculated based on the signal strength between the positioning device 11 and the selected positioning devices 11. An included angle formed between the adjacent selected positioning devices 11. In the above manner, the control device 12 can calculate the relative positions of any positioning device 11 and adjacent positioning devices 11 to each other, and then obtain the relative positions of all the positioning devices 11 to each other, and obtain all the positioning devices. 11 distribution contours.

Next, the control device 12 can be used as a reference point to generate a coordinate grid according to its own position, and can also be based on the distance between the control device 12 and each positioning device 11, the coordinate grid, and the positioning devices 11 between each other. The absolute position of each positioning device 11 is calculated by the relative position of. In the above manner, the control device 12 can send a control signal to control any one of the positioning devices 11 according to the identification codes of the positioning devices 11. Among them, the coordinate grid can be a two-dimensional coordinate grid or a three-dimensional coordinate grid. The positioning devices 11 distributed in a two-dimensional space or a three-dimensional space perform positioning.

In addition, the control device 12 can continuously receive the positioning information of each positioning device 11 to update the relative positions of the positioning devices 11 to each other, and then track the absolute positions of the positioning devices 11, so even if the positioning devices 11 are available When moving, the control device 12 can still accurately position the positioning devices 11.

It can be known from the above that, in this embodiment, the positioning system 1 can calculate the relative positions of the plurality of positioning devices 11 with each other using a special relative position algorithm, and can communicate with the positioning devices 11 through the Zigbee communication protocol. It can overcome technical problems such as bandwidth, so it can locate a large number of positioning devices. In addition, in this embodiment, the positioning system 1 may continuously receive the positioning information of each positioning device 11 to update the relative positions of the positioning devices 11 to each other, and may further transmit The coordinate grid is used to calculate the absolute positions of the positioning devices 11. Therefore, even if the positioning devices 11 are mobile, the positioning system can still effectively track and control these positioning devices 11, so it is very suitable for the occasion where many people gather. Such as concerts, and the positioning devices 11 can be precisely controlled to emit light at specific locations to form special patterns, so better performance can be achieved. In addition, the positioning system 1 can generate positioning not only for positioning devices distributed in a two-dimensional space, but also for positioning devices distributed in a three-dimensional space, so it is more flexible in use.

Please refer to FIG. 3, which is a flowchart of the first embodiment of the positioning system of the present invention. This embodiment may include the following steps:

In step S31, a plurality of positioning devices are provided.

In step S32, two or more positioning devices are selected from other neighboring positioning devices according to preset conditions through each positioning device, and positioning information is generated. The positioning information includes the signal strength between the positioning device and each selected positioning device and the Signal strength between selected positioning devices.

In step S33, the control device receives the positioning information of each positioning device to calculate the relative positions of the positioning devices to each other.

In step S34, a coordinate grid is generated by the control device according to the position of the control device.

In step S35, the absolute position of each positioning device is calculated by the control device according to the distance between the control device and each positioning device, the coordinate grid, and the relative positions of the positioning devices to each other.

Of course, the above is only an example, and each element of the positioning system 1 and its operation mode can be changed according to actual conditions, and the present invention is not limited thereto.

Please refer to FIG. 4, which is a schematic diagram of the second embodiment of the positioning system of the present invention. FIG. 4 illustrates an example of a ZigBee positioning algorithm used by the positioning system.

As shown in the figure, the positioning system 1 may include a plurality of positioning devices 11.1 to 11.25 and a control device. 12. The control device 12 and the positioning devices 11.1 to 11.25 enable the Zigbee wireless communication protocol to perform wireless communication.

Step 1: Each positioning device can receive signals and identification codes of other positioning devices at the same time; for example, positioning device 11.1 can receive signals and identification codes of those positioning devices 11.2 to 11.25, and positioning device 11.2 can receive these positioning devices 11.1 and 11.3 ~ 11.25 signal and identification code.

Step 2: Next, the control device 12 can be used as a reference point according to its own position and can position a reference point. In this embodiment, the control device 12 can define the positioning device 11.1 as a reference point; in addition, the control device 12 can define The straight line connecting the positioning devices 11.1 and 11.2 is the X axis, and the straight line perpendicular to the X axis and passing through the positioning device 11.1 is the Y axis, thereby establishing a target grid.

Step 3: According to the signal strength between the positioning device 11.1 and other positioning devices 11.2 to 11.25, the control device 12 can select the plurality of positioning devices 11.2 to 11.4, 11.9, 11.11, and 11.22 with the strongest signal strength around the surroundings, and make the positioning device 11.1 and the surroundings any The three points formed by two adjacent selected positioning devices form a triangle; for example, the control device 12 may calculate the signal strength between the three based on the signal strength between the positioning device 11.1 and the selected positioning devices 11.2 and 11.3. Distance, the side length of the triangle A1 formed by the positioning device 11.1 and the selected positioning devices 11.2 and 11.3 can be known, and the three included angles of the triangle A1 can be further calculated; through the above-mentioned method, the control device 12 can calculate the positioning The device 11.1 is a plurality of triangles A1 to A6 formed at the center, as shown in the figure.

Step 4: The control device 12 may repeat the above steps, and respectively calculate multiple triangles formed with the positioning devices 11.2 to 11.25 as the center, thereby establishing and obtaining complete topological graphic information of all the positioning devices 11.1 to 11.25.

Step 5: Finally, the control device 12 can calculate the coordinates of each positioning device 11.1 to 11.25 according to the complete topological information of all the positioning devices 11.1 to 11.25 and the above-mentioned coordinate grid to obtain its absolute position.

Please refer to FIG. 5, which is a schematic diagram of a third embodiment of the positioning system of the present invention; The figure illustrates another preferred example of the ZigBee positioning algorithm used by the positioning system.

As shown in the figure, the positioning system 1 may include a plurality of positioning devices 11.1 to 11.25 and a control device 12. The control device 12 and the positioning devices 11.1 to 11.25 may enable the Zigbee wireless communication protocol to perform wireless communication.

Since it is impossible to determine the exact directions of the triangles based on the strength of the signal alone, this embodiment adopts the following algorithm, which can calculate the exact relationship between the triangles and the coordinate axis, and sets the positioning device 11.2 as the Define points.

Step 1: The control device 12 may set the triangle of the positioning device 11.1 which has been located at the center to the outwardly extending triangle as A (11.1; 11.4; 11.9), F (11.1; 11.9; 11.11), E (11.1; 11.11; 11.22), C (11.1; 11.22; 11.2), B (11.1; 11.2; 11.3), and D (11.1; 11.3; 11.4).

Because A (11.1; 11.4; 11.9) has the same points with F (11.1; 11.9; 11.11) and D (11.1; 11.3; 11.4), namely the positioning device 11.9 and the positioning device 11.4, the control device 12 can judge F (11.1; 11.9; 11.11) and D (11.1; 11.3; 11.4) are located on the left and right sides of A (11.1; 11.4; 11.9).

Because F (11.1; 11.9; 11.11) and A (11.1; 11.4; 11.9) and E (11.1; 11.11; 11.22) have common points, that is, the positioning device 11.9 and the positioning device 11.11, the control device 12 can judge A (11.1 11.4; 11.9) and E (11.1; 11.11; 11.22) are located on the left and right sides of F (11.1; 11.9; 11.11); and so on, the control device 12 can finally obtain the following information: A, F and D are adjacent; F, E and A are adjacent; E, C and F are adjacent; C, B and E are adjacent; B, D and C are adjacent; D, A and B are adjacent.

Based on the above, it can be judged that the triangle order is AFECBDA. Finally, the defined point, that is, the positioning device 11.2 (compared with the triangle C), determines the exact direction of the complete triangle relative to the coordinate axis. Repeat the above steps to extend outward. Full and correct positioning of all triangles.

Of course, the above is only an example, and the positioning algorithms used by the positioning system 1 can be changed according to actual conditions, and the present invention is not limited thereto.

It is worth mentioning that due to bandwidth and other technical issues, the positioning technology of the conventional art cannot locate a large number of positioning targets in one space at the same time. On the contrary, according to the embodiment of the present invention, the positioning system can use a special relative position algorithm to calculate the relative positions of the plurality of positioning devices with each other, and can communicate with the positioning devices through the Zigbee communication protocol, so the frequency can be overcome. Wide technical issues, so a large number of positioning devices can be positioned.

In addition, the positioning technology of the conventional technique cannot effectively track the movable positioning target. On the contrary, according to the embodiment of the present invention, the positioning system can continuously receive the positioning information of each positioning device to update the relative positions of the positioning devices, and then calculate the absolute positions of the positioning devices through the coordinate grid. Therefore, even if the positioning devices are mobile, the positioning system can still effectively track and control the positioning devices.

In addition, according to the embodiment of the present invention, the positioning system can perform positioning not only on positioning devices distributed in a two-dimensional space, but also on positioning devices distributed in a three-dimensional space, so it is more flexible in use.

Please refer to FIGS. 6, 7 and 8, which are a first schematic diagram, a second schematic diagram, and a third schematic diagram of the fourth embodiment of the positioning system of the present invention. As shown in FIG. 6, the positioning system 2 can be installed in a concert venue, and the concert venue gathers a large number of audiences to watch the performance. The positioning system 2 may include a plurality of positioning devices and control devices; in this embodiment, the positioning device may be a fluorescent stick 21 (or fluorescent hand touches other similar devices), and each audience at the concert venue may hold a fluorescent device The light stick 21 watches the performance, and the control device may be the computer host 22, and the fluorescent sticks 21 may perform wireless communication with the computer host 22 through the Zigbee wireless communication protocol.

Any one of the fluorescent rods 21 may select a plurality of fluorescent rods 21 with a signal intensity exceeding a preset signal intensity threshold value from other adjacent fluorescent rods 21 and may generate positioning information. Positioning The information may include the signal strength between the fluorescent stick 21 and each selected fluorescent stick 21, the signal strength between the selected fluorescent sticks 21, and the identification code of each of the devices.

Similarly, the computer host 22 may execute a relative position algorithm based on the positioning information to calculate the relative positions of the fluorescent rods 21 to each other. The host computer 22 can calculate the distance between the fluorescent stick 21 and the selected fluorescent sticks 21 according to the signal strength between the fluorescent stick 21 and the selected fluorescent sticks 21, and can calculate the distance between the fluorescent sticks 21 and the selected fluorescent sticks 21. The signal strength between the selected fluorescent sticks 21 is used to calculate the distance between the selected fluorescent sticks 21, and the signal strength between the selected fluorescent sticks 21 and the selected fluorescent sticks 21 can be used to calculate the An included angle formed between the fluorescent rod 21 and any two adjacent selected fluorescent rods 21.

In the above manner, the host computer 22 can calculate the relative positions of any one of the fluorescent rods 21 and the adjacent fluorescent rods 21 to obtain the relative positions of all the fluorescent rods 21; at this time, Although the host computer 22 has not been able to know the exact locations of the audiences, it can already obtain the distribution of the audiences in the concert venues.

As shown in FIG. 7, the computer host 22 can generate a coordinate grid G according to its own position as a reference point, and can also calculate the coordinate grid G and the distance between the computer host 22 and each fluorescent rod 21, The relative positions of these fluorescent rods 21 to each other are used to calculate the absolute position of each fluorescent rod 21. Next, the host computer 22 can send a control signal to control any one of the fluorescent sticks 21 according to the identification codes of the fluorescent sticks 21. In this embodiment, since the audience is only distributed in a two-dimensional space, the coordinate grid G may be a two-dimensional coordinate grid to locate the audience distributed in a two-dimensional space; of course, if the audience is distributed in a three-dimensional space, Grid G is a three-dimensional coordinate grid to locate viewers distributed in three-dimensional space.

In addition, the host computer 22 can continuously receive the positioning information of each fluorescent stick 21 to update the relative positions of the fluorescent sticks 21 and track the absolute positions of the fluorescent sticks 21, so even if the fluorescent sticks 21 are held in hand, The audience of the light stick 21 is constantly moving in the concert venue, and the computer host 22 The fluorescent rods 21 can still be accurately positioned.

As shown in FIG. 8, the computer host 22 can send a control signal to control the light emitted by the fluorescent sticks 21 to form a special pattern according to the status of the concert, such as the songs sung by the singer and the guests who are present. In this way, it can provide special visual effects and increase the vitality of the concert. Among them, the computer host 22 can send a control signal to the designated fluorescent stick 21 according to the identification code through broadcasting, and can use other fluorescent sticks 21 as The data bridging path transmits the control signal to the specified fluorescent stick 21.

In addition, since the host computer 22 can continuously update the absolute positions of the fluorescent sticks 21, if the position of the audience holding the fluorescent sticks 21 is changed, the computer host 22 can control the other fluorescent sticks 21 to emit light, so that The pattern can remain unchanged.

From the above, it can be known that the positioning system 2 can effectively track the movable fluorescent sticks 21, so it is very suitable for the lighting systems of large venues, such as concerts, etc., and can accurately control the fluorescent sticks 21 so that Light is emitted at a specific position to form a special pattern, thus achieving better performance.

Of course, the above is only an example, and each element of the positioning system 2 and its operation mode can be changed according to actual conditions, and the present invention is not limited thereto.

Please refer to FIG. 9, which is a schematic diagram of a fifth embodiment of the positioning system of the present invention. As shown, the positioning system 2 may be a diving safety system. The positioning system 2 may include a plurality of positioning devices and a control device. In this embodiment, the positioning device may be a tracking device 21a, and each diver may be equipped with a tracking device 21a, and the control device may be a computer host 22.

Similarly, the positioning system 2 can perform a relative position algorithm based on the positioning information provided by the tracking devices 21a to calculate the relative positions of the tracking devices 21a to each other, and then calculate the absolute positions of the tracking devices 21a. Therefore, if any of the divers is in danger, the positioning system 2 can accurately provide the correct information of the rescuers and timely rescue the divers who are in danger.

As can be seen from the above, according to the embodiments of the present invention, the positioning system can be applied not only to the lighting systems of large venues, such as concerts, sports meets, electoral contests, etc., but also to somatosensory control systems, medical rehabilitation systems, and diving safety System or lighting installation art system, etc., so it is extremely widely used.

To sum up, according to the embodiment of the present invention, the positioning system can calculate the relative positions of a plurality of positioning devices with each other using a special relative position algorithm, and can communicate with the positioning devices through the Zigbee communication protocol, so it can overcome the frequency Wide technical issues, so a large number of positioning devices can be positioned.

According to the embodiment of the present invention, the positioning system may continuously receive the positioning information of each positioning device to update the relative positions of the positioning devices to each other, and may further calculate the absolute positions of the positioning devices through the coordinate grid. These positioning devices can be mobile, and the positioning system can still effectively track and control these positioning devices.

In addition, according to the embodiment of the present invention, the positioning system can effectively track the movable positioning devices, so it is very suitable for the lighting systems of large venues, such as concerts, etc., and can accurately control the positioning devices so that Light is emitted at a specific position to form a special pattern, thus achieving better performance.

In addition, according to the embodiment of the present invention, the positioning system can perform positioning not only on positioning devices distributed in a two-dimensional space, but also on positioning devices distributed in a three-dimensional space, so it is more flexible in use.

Furthermore, according to the embodiment of the present invention, the positioning system can be applied not only to the lighting systems of large venues, such as concerts, sports meets, election building conventions, etc., but also to somatosensory control systems, medical reconstruction systems, and diving safety systems Or lighting installation art systems, etc., so it is widely used.

It can be seen that the present invention has indeed achieved the desired effect under the breakthrough of the previous technology, and also Those who are not familiar with this skill are easy to think about. Its advancement and practicability obviously meet the requirements for patent application. It has filed a patent application according to law, and asks your office to approve this invention patent application to encourage creation. Feeling virtuous.

The above description is exemplary only, and not restrictive. Any other equivalent modifications or changes made without departing from the spirit and scope of the present invention should be included in the scope of the attached patent application.

Claims (25)

A positioning system includes: a plurality of positioning devices, each of which is selected from two or more other nearby positioning devices according to a preset condition, and generates positioning information, the positioning information includes the positioning device and The signal strength between the selected positioning devices and the signal strength between the selected positioning devices: and a control device that receives the positioning information of each of the positioning devices; wherein the control device is based on the positioning device Calculate the distance between the positioning device and the selected positioning devices and calculate the distance between the positioning device and the selected positioning devices, and calculate the selected positioning devices based on the signal strength between the selected positioning devices The distance between them is based on the signal strength between the positioning device and the selected positioning devices, and the angle between the triangle formed by the positioning device and any two adjacent selected positioning devices is calculated to calculate The relative positions of the positioning devices to each other. The positioning system according to item 1 of the scope of patent application, wherein the preset condition is a signal strength threshold, and the signal strength between the positioning device and the selected positioning devices is greater than the strength threshold. The positioning system according to item 1 of the scope of patent application, wherein the positioning information further includes an identification code of the positioning device and each of the selected positioning devices. The positioning system according to item 1 of the scope of patent application, wherein the control device calculates a distance between the control device and each of the positioning devices according to a signal strength between the control device and each of the positioning devices. The positioning system according to item 1 of the scope of patent application, wherein the control device is a computer host. The positioning system according to item 1 of the scope of patent application, wherein the control device and the positioning The device is a Zigbee wireless communication protocol. The positioning system according to item 1 of the scope of the patent application, wherein the positioning system is an integrated sense control system, a medical reconstruction system, a hall lighting system, a diving safety system or a lighting installation art system. The positioning system according to item 1 of the scope of patent application, wherein the control device generates a target grid according to the position of the control device. The positioning system according to item 8 of the scope of patent application, wherein the control device calculates each of the positioning devices based on the distance between the control device and each of the positioning devices, the coordinate grid, and the relative positions of the positioning devices with each other. The absolute position of the positioning device, whereby the control device can control the positioning devices according to the absolute position of each positioning device. The positioning system according to item 8 of the scope of patent application, wherein the control device continuously receives the positioning information of each positioning device to update the relative positions of the positioning devices to each other. The positioning system according to item 8 of the scope of patent application, wherein the coordinate grid is a two-dimensional coordinate grid or a three-dimensional coordinate grid. A positioning device includes: a wireless receiving module for receiving wireless signals of other nearby positioning devices; and a processing module for selecting two of the other nearby positioning devices according to a preset condition Above, a positioning information is generated, and the positioning information is transmitted to a control device, and the positioning information includes a signal strength between the positioning device and each of the selected positioning devices and a signal strength between the selected positioning devices; Wherein, the control device calculates the distance between the control device and each of the positioning devices according to the signal strength between the control device and each of the positioning devices, and according to the selections The signal strength between the positioning devices is calculated, and the distance between the selected positioning devices is calculated. Furthermore, the signal strength between the positioning device and the selected positioning devices is used to calculate the positioning device and any two adjacent ones. The angle between the triangles formed between the selected positioning devices is used to calculate the relative positions of the positioning devices to each other. The positioning device according to item 12 of the scope of patent application, wherein the preset condition is a signal strength threshold, and the signal strength between the positioning device and the selected positioning devices is greater than the strength threshold. The positioning device according to item 12 of the scope of patent application, wherein the positioning information further includes an identification code of the positioning device and each of the selected positioning devices. The positioning device according to item 12 of the scope of patent application, wherein the wireless receiving module receives a control signal transmitted by the control device, and transmits the control signal to the processing module, and the processing module performs the control Signal. The positioning device according to item 12 of the scope of patent application, wherein the processing module continuously updates the positioning information and sends the updated positioning information to the control device. The positioning device according to item 12 of the scope of patent application, wherein the wireless receiving module is an antenna, and the processing module is a microcontroller. The locating device according to item 12 of the scope of patent application, wherein the wireless receiving module uses the Zigbee wireless communication protocol. A positioning method includes the following steps: providing a plurality of positioning devices; using each of the positioning devices to select more than two from other nearby positioning devices according to a preset condition, and generating positioning information, the positioning information including the positioning information The signal strength between the positioning device and each of the selected positioning devices and the signal strength between the selected positioning devices: A control device receives the positioning information of each positioning device; and the control device calculates the distance between the positioning device and the selected positioning devices according to the signal strength between the positioning device and the selected positioning devices , And calculates the distance between the selected positioning devices according to the signal strength between the selected positioning devices; and calculates, based on the signal strength between the positioning device and the selected positioning devices, via the control device An angle formed between the positioning device and any two adjacent selected positioning devices is used to calculate the relative positions of the positioning devices to each other. According to the positioning method described in item 19 of the scope of patent application, the preset condition is a signal strength threshold, and the signal strength between the positioning device and the selected positioning devices is greater than the strength threshold. The positioning method according to item 19 of the scope of patent application, wherein the positioning information further includes an identification code of the positioning device and each of the selected positioning devices. According to the positioning method described in item 19 of the scope of patent application, the method further includes the following steps: the control device calculates the distance between the control device and each of the positioning devices according to the signal strength between the control device and each of the positioning devices. According to the positioning method described in item 19 of the scope of patent application, the method further includes the following steps: generating a target grid through the control device according to the position of the control device. The positioning method described in item 19 of the scope of patent application, further includes the following steps: the control device according to the distance between the control device and each of the positioning devices, the coordinate grid and the relative positions of the positioning devices to each other The absolute position of each positioning device is calculated by the position, whereby the control device can control the positioning devices according to the absolute position of each positioning device. The positioning method described in item 24 of the scope of patent application, further includes the following steps: The control device continuously receives the positioning information of each positioning device to update the relative positions of the positioning devices to each other.