Equipment position determination method and device

Abstract

The invention discloses an equipment position determination method and device. Comprising the following steps: acquiring a plurality of initial signal arrival times corresponding to a plurality of base stations receiving target signals along a plurality of propagation paths and the maximum signal receiving intensity in a plurality of signal receiving intensities; determining a minimum value and a maximum value within the arrival time of the plurality of initial signals, and determining a reference base station corresponding to the minimum value; for each base station except the reference base station in the plurality of base stations, when the maximum signal receiving strength corresponding to the current base station when the current base station receives the target signal exceeds a signal strength threshold value, determining the target signal receiving strength corresponding to the current base station and the target signal arrival time corresponding to the target signal receiving strength; and determining position information of the target equipment based on the arrival time of the at least one target signal. According to the method and the device, the technical problem that the error of the positioning result is relatively large because the influence of the multipath effect on the positioning result is not considered when the location information of the target equipment is positioned by adopting the UTDoA positioning technology in the related technology is solved.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology, and in particular to a method and apparatus for determining a device location. Background Art

[0002] With the rapid development and large-scale deployment of 5G technology, 5G networks not only provide higher data transmission rates, lower latency and greater connection density, but also create conditions for the emergence of various new application scenarios, such as indoor scenarios. In indoor scenarios, the uplink time difference of arrival (UTDoA) positioning technology has the following significant advantages: (1) This technology can accurately determine the location of the target device by measuring the time difference between uplink signals received by different base stations; (2) This technology can rely on multiple base stations for positioning, and can provide effective positioning services even in large indoor spaces such as shopping malls and airports; (3) This technology does not require additional hardware to be deployed on the device being positioned, thus reducing costs and equipment complexity, and is suitable for various types of mobile terminals.

[0003] However, UTDoA positioning technology also has some positioning accuracy problems. The accuracy error of its positioning results mainly comes from the multipath effect, and the multipath effect will also have a great impact on UTDoA positioning. This is because in wireless communication, the signal will not only propagate along the line-of-sight path, but also produce reflection, refraction and scattering effects when encountering obstacles and propagate along other non-line-of-sight paths (also known as multipath) to reach the receiver. When the intensity of the reflected wave is large enough, the maximum signal reception intensity of the non-line-of-sight path may exceed the maximum signal reception intensity of the line-of-sight path, which means that when analyzing the UTDoA positioning technology, the maximum signal reception intensity of the non-line-of-sight path may be mistakenly used as the maximum signal reception intensity of the line-of-sight path. In addition, since the signal reception time of the non-line-of-sight path is longer than the signal reception time of the line-of-sight path, the signal arrival time difference calculated based on the signal reception time of the non-line-of-sight path will be greater than the actual signal arrival time difference, which will lead to a large error and low accuracy in the final target positioning result.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present application provide a method and apparatus for determining the location of a device, so as to at least solve the technical problem that when the related technology uses the UTDoA positioning technology to locate the location information of the target device, the influence of the multipath effect on the positioning result is not considered, resulting in a large error in the positioning result.

[0006] According to one aspect of an embodiment of the present application, a method for determining a device location is provided, including: obtaining multiple initial signal arrival times and the maximum signal reception strength among multiple signal reception strengths corresponding to when multiple base stations receive a target signal transmitted by a target device along multiple propagation paths; determining the minimum signal arrival time and the maximum signal arrival time among the multiple initial signal arrival times corresponding to the multiple base stations, and determining a reference base station corresponding to the minimum signal arrival time; for each base station except the reference base station among the multiple base stations, when the maximum signal reception strength among the multiple signal reception strengths corresponding to when the current base station receives the target signal exceeds a preset signal strength threshold, determining the target signal reception strength corresponding to the current base station and the target signal arrival time corresponding to the target signal reception strength, wherein the target signal reception strength is greater than the maximum signal reception strength among the multiple signal reception strengths corresponding to when the reference base station receives the target signal and is less than the signal strength threshold, and the target signal arrival time is greater than the minimum signal arrival time and less than the maximum signal arrival time; determining the location information of the target device based on at least one target signal arrival time.

[0007] Optionally, before obtaining multiple initial signal arrival times and the maximum signal reception strength among multiple signal reception strengths when multiple base stations receive target signals transmitted by a target device along multiple propagation paths, the method further includes: performing signal synchronization on multiple base stations in a preset manner, wherein the preset manner includes at least one of the following: a global positioning system satellite signal, an external probe.

[0008] Optionally, determining the location information of the target device based on at least one target signal arrival time includes: determining the dimension of the location information of the target device, and determining a preset number of signal arrival times based on the dimension, wherein the type of signal arrival time includes at least the target signal arrival time, and the dimensions include: one-dimensional location information, two-dimensional location information, and three-dimensional location information; using a preset uplink arrival time difference positioning algorithm to analyze the preset number of signal arrival times to obtain the location information of the target device.

[0009] Optionally, a preset uplink arrival time difference positioning algorithm is used to analyze the arrival times of a preset number of signals to obtain the location information of the target device, including: when the location information is one-dimensional location information, an uplink arrival time difference positioning algorithm is used to analyze at least one target signal arrival time and at least one initial signal arrival time to obtain the location information of the target device; or, an uplink arrival time difference positioning algorithm is used to analyze the arrival times of at least two target signals to obtain the location information of the target device.

[0010] Optionally, a preset number of signal arrival times are analyzed using a preset uplink arrival time difference positioning algorithm to obtain the location information of the target device, including: when the location information is two-dimensional location information, at least one target signal arrival time and at least two initial signal arrival times are analyzed using the uplink arrival time difference positioning algorithm to obtain the location information of the target device; or, at least two target signal arrival times and at least one initial signal arrival time are analyzed using the uplink arrival time difference positioning algorithm to obtain the location information of the target device; or, at least three target signal arrival times are analyzed using the uplink arrival time difference positioning algorithm to obtain the location information of the target device.

[0011] Optionally, a preset number of signal arrival times are analyzed using a preset uplink arrival time difference positioning algorithm to obtain the location information of the target device, including: when the location information is three-dimensional location information, at least one target signal arrival time and at least three initial signal arrival times are analyzed using the uplink arrival time difference positioning algorithm to obtain the location information of the target device; or, at least two target signal arrival times and at least two initial signal arrival times are analyzed using the uplink arrival time difference positioning algorithm to obtain the location information of the target device; or, at least three target signal arrival times and at least one initial signal arrival time are analyzed using the uplink arrival time difference positioning algorithm to obtain the location information of the target device; or, at least four target signal arrival times are analyzed using the uplink arrival time difference positioning algorithm to obtain the location information of the target device.

[0012] Optionally, a preset number of signal arrival times are analyzed using a preset uplink arrival time difference positioning algorithm to obtain the location information of the target device, including: constructing at least one base station pair using multiple base stations, wherein each base station pair includes two base stations; for each base station pair, determining the time difference of signal arrival times of two base stations in the base station pair; constructing a nonlinear equation group using the time differences of multiple base station pairs, wherein the nonlinear equation group includes at least one equation, and each equation corresponds to a base station pair; solving the nonlinear equation group to obtain the location information of the target device.

[0013] According to another aspect of an embodiment of the present application, a device position determination apparatus is also provided, including: an acquisition module, used to acquire multiple initial signal arrival times and the maximum signal reception strength among multiple signal reception strengths corresponding to when multiple base stations receive target signals transmitted by a target device along multiple propagation paths; a first determination module, used to determine the minimum signal arrival time and the maximum signal arrival time among the multiple initial signal arrival times corresponding to the multiple base stations, and determine the reference base station corresponding to the minimum signal arrival time; a second determination module, used to determine, for each base station among the multiple base stations except the reference base station, the target signal reception strength corresponding to the current base station and the target signal arrival time corresponding to the target signal reception strength when the maximum signal reception strength among the multiple signal reception strengths corresponding to when the current base station receives the target signal exceeds a preset signal strength threshold, wherein the target signal reception strength is greater than the maximum signal reception strength among the multiple signal reception strengths corresponding to when the reference base station receives the target signal and is less than the signal strength threshold, and the target signal arrival time is greater than the minimum signal arrival time and less than the maximum signal arrival time; a third determination module, used to determine the position information of the target device based on at least one target signal arrival time.

[0014] According to another aspect of an embodiment of the present application, a non-volatile storage medium is further provided, the non-volatile storage medium including a stored computer program, wherein the device where the non-volatile storage medium is located executes the above-mentioned device location determination method by running the computer program.

[0015] According to another aspect of an embodiment of the present application, a computer program product is further provided. The computer program product includes a stored computer program, wherein the computer program implements the above-mentioned device location determination method when executed by a processor.

[0016] In an embodiment of the present application, the positioning system receives multiple initial signal arrival times and the maximum signal reception strength within the corresponding multiple signal reception strengths when the target signal transmitted by the target device is received by multiple base stations along multiple propagation paths, and determines the minimum signal arrival time and the maximum signal arrival time within the multiple initial signal arrival times corresponding to the multiple base stations, and determines the reference base station corresponding to the minimum signal arrival time; then, traverses each base station other than the reference base station among the multiple base stations, and when the maximum signal reception strength within the corresponding multiple signal reception strengths when the base station receives the target signal is higher than a preset signal strength threshold, it is determined that the base station receives the target signal through a non-line-of-sight path, and since the non-line-of-sight path is often longer than the line-of-sight path, the initial signal arrival time when the base station receives the target signal is larger. To this end, the positioning system can search within the time range from the minimum signal arrival time to the maximum signal arrival time, find the target signal arrival time corresponding to the target signal reception strength that is greater than the maximum signal reception strength among the multiple signal reception strengths corresponding to the reference base station receiving the target signal and less than the signal strength threshold, and use the target signal arrival time as the result of correcting the initial signal arrival time of the base station; finally, use at least one target signal arrival time to determine the location information of the target device to ensure that the location information of the target device finally located is more accurate than the location information directly determined by the initial signal arrival time of the base station, thereby effectively solving the technical problem that when the related technology uses UTDoA positioning technology to locate the location information of the target device, it does not consider the influence of the multipath effect on the positioning result, resulting in a large error in the positioning result. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 It is a schematic diagram of the principle of a UTDoA positioning technology based on related technologies;

[0019] Figure 2 It is a schematic diagram of a hardware structure block diagram of a computer terminal (or target device) for implementing a device location determination method according to an embodiment of the present application;

[0020] Figure 3 is a flow chart of an optional method for determining a device location according to an embodiment of the present application;

[0021] Figure 4 is a schematic structural diagram of an optional device for determining a device position according to an embodiment of the present application;

[0022] Figure 5It is a schematic diagram of the structure of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] In addition, the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. For example, an interface is set up between this system and the relevant user or organization. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or organization through the interface, and obtain relevant information after receiving the consent information fed back by the aforementioned user or organization.

[0026] In order to better understand the embodiments of the present application, the technical terms involved in the embodiments of the present application are explained as follows:

[0027] UTDoA (Uplink Time Difference of Arrival) positioning technology is a wireless communication technology used for positioning. Its working principle is: multiple base stations simultaneously receive uplink signals from the target terminal. Since the time for the signal to arrive at different base stations varies due to different distances, the location of the target terminal is determined by measuring the time difference between the signal arriving at each base station and using the hyperbolic positioning principle. Specifically, Figure 1 This is the principle diagram of UTDoA positioning technology, such as Figure 1As shown in the figure. The distance difference between the target M and base stations A and B is proportional to the time difference between the signals reaching the two base stations, and the target terminal must be located on the hyperbola with the two base stations as the focus. If three or more base stations are involved in positioning, by measuring the time difference between multiple base stations, it can be determined that the target terminal is located at the intersection of multiple hyperbolas, thereby realizing the positioning of the target terminal.

[0028] Multipath effect: refers to the electromagnetic wave propagating along different paths, and the different components arrive at the receiving end at different times. The components are superimposed on each other according to their respective phases, causing interference, distorting the original signal, or generating errors. For example, if the electromagnetic wave propagates along two different paths, and the lengths of the two paths differ by half a wavelength, then the two signals will cancel each other out when they arrive at the end (the peaks and troughs coincide). This phenomenon is very common in wireless communications, especially in urban environments, where obstacles such as buildings and trees can complicate the signal propagation path. The multipath effect can cause signal delay expansion, phase change, and amplitude change, which in turn affects the quality of signal reception.

[0029] Line-of-Sight (LOS) is a major signal propagation method in wireless communication systems. It means that there is a direct line of sight between the transmitting antenna and the receiving antenna, and the radio waves can propagate directly from the transmitting point to the receiving point without obstruction. This usually requires that there are no objects that block the radio waves within the first Fresnel zone.

[0030] Non-Line-of-Sight (NLOS) is another major signal propagation method in wireless communication systems. Non-Line-of-Sight propagation occurs when the direct path between the transmitting antenna and the receiving antenna is blocked by an obstacle. This causes the radio waves to be reflected and diffracted before reaching the receiving end.

[0031] Example 1

[0032] In wireless communication, signals not only propagate along a straight path (line-of-sight path), but also produce reflection, refraction, and scattering effects when encountering obstacles and reach the receiver along other non-straight paths (also known as multipath). In UTDoA positioning technology, the receiver measures the arrival time difference of the straight signal. When the signal strength of the reflected signal is large enough, the frequency peak of the reflected signal may exceed the frequency peak of the direct signal, which means that when processing the signal, the frequency peak of the reflected signal may be mistakenly grouped as the frequency peak of the direct signal. Since the propagation path of the reflected signal is longer than that of the direct signal, the time difference value of the corresponding signal arrival time determined based on the erroneous frequency peak will be larger than the actual value, which will lead to a large error and low accuracy in the final target positioning result.

[0033] In order to solve this problem, the present application provides a related solution in the embodiment, which is described in detail below. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0034] According to an embodiment of the present application, an embodiment of a method for determining the location of a device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0035] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 2 A hardware structure block diagram of a computer terminal (or target device) for implementing a method for determining a device location is shown. Figure 2 As shown, the computer terminal 20 (or target device 20) may include one or more (202a, 202b, ..., 202n are used to illustrate) processors 202 (the processor 202 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 204 for storing data, and a transmission device 206 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 2 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 2 More or fewer components as shown, or with Figure 2 Different configurations are shown.

[0036] It should be noted that the one or more processors 202 and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be fully or partially integrated into any of the other components in the computer terminal 20 (or target device). As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0037] The memory 204 can be used to store software programs and modules of application software, such as program instructions / data storage devices corresponding to the device location determination method in the embodiment of the present application. The processor 202 executes various functional applications and data processing by running the software programs and modules stored in the memory 204, that is, the device location determination method of the above-mentioned application is realized. The memory 204 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 204 may further include a memory remotely arranged relative to the processor 202, and these remote memories may be connected to the computer terminal 20 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0038] The transmission device 206 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer terminal 20. In one example, the transmission device 206 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 206 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0039] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 20 (or target device).

[0040] In the above operating environment, Figure 3 is a flow chart of an optional method for determining the location of a device according to an embodiment of the present application, such as Figure 3 As shown, the method at least includes steps S302-S308, wherein:

[0041] Step S302, obtaining multiple initial signal arrival times corresponding to multiple base stations receiving target signals transmitted by target devices along multiple propagation paths and the maximum signal receiving strength among multiple signal receiving strengths.

[0042] In the technical solution provided in step S302, when the target device sends a target signal to multiple receiving base stations along multiple propagation paths (including line-of-sight paths and non-line-of-sight paths), the target signal can be propagated to the receiving base station through the line-of-sight path (straight path) and the non-line-of-sight path (non-straight path). Therefore, when each receiving base station receives the target signal, the positioning system can detect multiple initial signal arrival times and corresponding multiple signal reception strengths when the target signal arrives at each receiving base station along different propagation paths (that is, the initial signal arrival time and the signal reception strength are in a one-to-one correspondence), and select the maximum signal reception strength from the multiple signal reception strengths. In addition, the above-mentioned target device can be a communication device in a wireless communication system, which can connect and communicate with a communication network through wireless signals. The target device can be a handheld device, such as a smart phone, a tablet computer, or a vehicle-mounted device, a portable computer, etc.

[0043] As an optional implementation, in the technical solution provided in the above step S302, since the UTDoA algorithm has high requirements for base station synchronization, and if the time synchronization between base stations is abnormal, the positioning accuracy of the final target device will be greatly reduced. Therefore, before obtaining the above measurement data, the positioning system can use a preset method to synchronize signals of multiple base stations. Among them, the above-mentioned preset methods include but are not limited to the following methods:

[0044] (1) Global Positioning System (GPS) synchronization method: GPS receivers can receive high-precision time signals from satellites and use them as references for local clocks, thereby achieving synchronization between base stations.

[0045] (2) External probe method: External probe devices are deployed as needed in the 5G synchronization network. The probe devices obtain the absolute time reference through GNSS, monitor the synchronization output signal of the network terminal equipment, and then send the monitoring results to the central network management to realize real-time monitoring of the synchronization performance of the entire network.

[0046] (3) IEEE 1588 (Precision Time Protocol, PTP): Base stations can synchronize their clocks through the PTP protocol to ensure consistency in data transmission.

[0047] In addition, the embodiments of the present application can also improve the positioning accuracy of the final target device by increasing the density of base stations and optimizing the layout of base stations. This is because more base stations can provide more signal measurement data, and the location of the target device can be determined more accurately through methods such as triangulation or multilateral measurement. At the same time, reasonable planning of the layout of base stations to make signal coverage more uniform and reduce signal blind spots can also help improve positioning accuracy.

[0048] Step S304: Determine the minimum signal arrival time and the maximum signal arrival time within the multiple initial signal arrival times corresponding to multiple base stations, and determine the reference base station corresponding to the minimum signal arrival time.

[0049] In the technical solution provided in step S304, arrange the multiple initial signal arrival times corresponding to the multiple base stations receiving the target signal in ascending (or descending) order, and determine the minimum signal arrival time ToA from the obtained arrangement result. Min and the maximum signal arrival time ToA Max , and the base station corresponding to the minimum signal arrival time ToA Min is called the reference base station.

[0050] Step S306: For each base station other than the reference base station among the multiple base stations, when the maximum signal reception strength within the multiple signal reception strengths corresponding to the current base station receiving the target signal exceeds a preset signal strength threshold, determine the target signal reception strength corresponding to the current base station and the target signal arrival time corresponding to the target signal reception strength.

[0051] In the technical solution provided in step S306, the positioning system traverses each base station other than the reference base station among the multiple base stations (i.e., for i ∈ (1,...n], where i represents the serial number of the base station). When the maximum signal reception strength corresponding to the reception of the target signal by this base station is higher than the preset signal strength threshold (i.e., if (R i,max > R0), where R0 represents the signal strength threshold and R i,max represents the maximum signal strength corresponding to base station i), it is determined that the maximum signal reception strength when this base station receives the target signal is obtained through a non-line-of-sight path. And since the non-line-of-sight path is often longer than the line-of-sight path, the initial signal arrival time corresponding to the maximum signal reception strength when this base station receives the target signal is larger. Therefore, if the positioning system directly calculates the signal arrival time difference between base stations through the initial signal arrival time corresponding to this maximum signal reception strength, it will result in a large error in the signal arrival time difference compared to the actual time difference, and further lead to a large error in the position information of the target device located using this error-prone signal arrival time difference. For this reason, the positioning system can search within the time range from the minimum signal arrival time (denoted as ToA) to the maximum signal arrival time (denoted as ToA n ) to find the target signal arrival time corresponding to the target signal reception strength that satisfies being greater than the maximum signal reception strength within the multiple signal reception strengths corresponding to the reference base station receiving the target signal and less than the signal strength threshold (i.e., if (R i > R 1,max && R i < R0, let Ri,max =R i , where R 1,max Indicates the maximum signal receiving strength corresponding to the target signal received by the reference base station, R i represents the target signal receiving strength), and the target signal arrival time (i.e. R i Corresponding ToA′ i ) as the initial signal arrival time (i.e., ToA i ) is the corrected result, wherein each base station that meets the correction conditions has only one corrected target signal arrival time.

[0052] It should be noted that when setting the signal strength threshold value as mentioned above, it is necessary to refer to the actual positioning process, when the receiver measures multiple base stations along multiple propagation paths to receive target signals transmitted by the target device corresponding to the multiple signal reception strengths, so as to ensure that the signal strength threshold value can accurately screen out the signal reception strength when the signal is transmitted through a non-line-of-sight path.

[0053] The correction principle mentioned in the above step S306 will be briefly described below through the following reasoning process.

[0054] Assuming that the baseband signal sent by the target device to the receiving base station is u(t), the signal finally sent by the target device is obtained by multiplying the transmitted signal with the high-frequency carrier and taking the real part of the result. Therefore, the signal finally sent by the target device can be expressed by the following formula:

[0055]

[0056] Among them, α n (t) represents the attenuation function of the signal amplitude of different paths, which is mainly determined by path loss and shadow fading. n (t) represents the uplink arrival time difference of the signal transmission path. Represents the Doppler phase shift under different paths.

[0057] It can be seen from the above formula that compared with the original baseband signal u(t), the phase change of the i-th multipath signal can be expressed as:

[0058]

[0059] Further, Substituting into the expression of r(t), we get the expression of the received signal, as follows:

[0060]

[0061] Then convert the above formula into the form of convolution of input signal and channel response, and get the following expression:

[0062]

[0063]

[0064] The received signal in the convolution form above can be understood as follows: any transmission time (t-τ) may contribute to the received signal at time t. And c(τ, t) determines the impact of the transmission signal at a specific time on the received signal at time t. By convolving with c(τ, t), the corresponding time signal when the time difference between the transmission time and the reception time is equal to the uplink arrival time difference is determined, and the amplitude attenuation and phase change are given. c(τ, t) represents the channel coefficient corresponding to the signal sent at time (t-τ) and received at time t. c(τ, t) reflects the two influencing factors of the time-varying channel:

[0065] (1) Different communication times (different t) correspond to different channel states

[0066] (2) Different propagation delays (different t) correspond to different channel states.

[0067] In the most simplified case, the channel response c(τ,t) does not change with time, so the channel response is only related to the multipath delay, that is:

[0068]

[0069] In the most simplified case above, the attenuation function α of the signal amplitude of different paths n (t) degenerates into a constant coefficient α n , Doppler phase shift function under different paths Degenerates to constant coefficients τ n (t) represents the uplink arrival time difference of the signal propagation path. In other words, in this case, by simply optimizing the arrival time difference of the signal path, the influence of the multipath effect can be weakened, so that the error of the UTDoA positioning result is reduced and the accuracy is improved.

[0070] Step S308: determining location information of the target device based on at least one target signal arrival time.

[0071] In the technical solution provided in step S308, since the target signal arrival time corresponding to the target signal reception strength after correction of the maximum signal reception strength corresponding to the base station that exceeds the preset signal strength threshold is closer to the signal arrival time when the target signal propagates along the line-of-sight path to the receiving base station, the error of the uplink arrival time difference calculated by at least one target arrival time is also smaller, and the location information of the final positioned target device is more accurate.

[0072] This is because, assuming that the signal transmitted by the target device arrives at the receiving reference base station 1 and base station n, the signal arrival time difference can be written as:

[0073]

[0074] Among them, x BS,n represents the location information of base station n, x represents the location information of the target device, n represents the serial number of the receiving base station, Indicates the distance difference between the target device and the nth receiving base station and the first receiving base station, e TDE,n′ =e TDE,n -e TDE,1 Represents the difference between the delay estimation error of the nth base station and the delay estimation error of the first base station.

[0075] It is not difficult to see from the above formula that due to The error is reduced, so that the deviation of the positioning target in the Euclidean distance space ‖x BS,n The error of -x‖ is reduced accordingly, ultimately achieving the goal of improving the positioning accuracy of the target.

[0076] Furthermore, when determining the location information of the target device, since the location information of the target device can be divided into the following three categories according to the dimension: one-dimensional location information, two-dimensional location information, and three-dimensional location information, and the amount of data used in the calculation process of the location information of each dimension is different, the positioning system can determine the location information of the target device according to the following method, including:

[0077] Step S3081, determining the dimension of the location information of the target device, and determining a preset number of signal arrival times according to the dimension, wherein the types of signal arrival times include: initial signal arrival time, target signal arrival time, and the dimensions include: one-dimensional location information, two-dimensional location information, and three-dimensional location information;

[0078] Step S3082: Analyze the arrival times of a preset number of signals using a preset uplink arrival time difference positioning algorithm to obtain the location information of the target device.

[0079] Optionally, when the location information is one-dimensional location information, the positioning system may determine the location information of the target device by the following method:

[0080] Method 1: Use the uplink arrival time difference positioning algorithm to analyze the arrival time of at least one target signal and the initial signal arrival time of at least one base station to obtain the location information of the target device.

[0081] Method 2: Use the uplink arrival time difference positioning algorithm to analyze the arrival times of at least two target signals to obtain the location information of the target device.

[0082] It should be noted that, generally, when determining one-dimensional position information, only two base stations are usually required to participate in the positioning calculation. Of course, if there are three or more base stations, these base stations can also be used to jointly participate in the positioning calculation.

[0083] Optionally, when the location information is two-dimensional location information, the positioning system may determine the location information of the target device by the following method:

[0084] Method 1: Use the uplink arrival time difference positioning algorithm to analyze the arrival time of at least one target signal and at least two initial signal arrival times to obtain the location information of the target device.

[0085] Method 2: Use the uplink arrival time difference positioning algorithm to analyze the arrival times of at least two target signals and the initial signal arrival time of at least one base station to obtain the location information of the target device.

[0086] Method 3: Use the uplink arrival time difference positioning algorithm to analyze the arrival times of at least three target signals to obtain the location information of the target device.

[0087] It should be noted that, generally, when determining two-dimensional position information, only three base stations are usually required to participate in the positioning calculation. Of course, if there are four or more base stations, these base stations can also be used to jointly participate in the positioning calculation.

[0088] Optionally, when the location information is three-dimensional location information, the positioning system may determine the location information of the target device by the following method:

[0089] Method 1: Use the uplink arrival time difference positioning algorithm to analyze the arrival time of at least one target signal and at least three initial signal arrival times to obtain the location information of the target device.

[0090] Method 2: Use the uplink arrival time difference positioning algorithm to analyze the arrival times of at least two target signals and at least two initial signal arrival times to obtain the location information of the target device.

[0091] Method 3: Use the uplink arrival time difference positioning algorithm to analyze at least three target signal arrival times and at least one initial signal arrival time to obtain the location information of the target device.

[0092] Method 4: Use the uplink arrival time difference positioning algorithm to analyze the arrival times of at least four target signals to obtain the location information of the target device.

[0093] It should be noted that, generally, when determining three-dimensional position information, only four base stations are usually required to participate in the positioning calculation. Of course, if there are five or more base stations, these base stations can also be used to jointly participate in the positioning calculation.

[0094] Furthermore, when the positioning system uses the preset uplink arrival time difference positioning algorithm to analyze the arrival time of the preset number of signals, the specific steps are as follows:

[0095] The first step: constructing at least one base station pair using a plurality of base stations, wherein each base station pair includes two base stations;

[0096] Step 2: For each base station pair, determine the time difference of the signal arrival times of the two base stations in the base station pair;

[0097] Step 3: Use the time differences of multiple base station pairs to construct a nonlinear equation system;

[0098] Step 4: Solve the nonlinear equations to obtain the location information of the target device.

[0099] In the above embodiment, the positioning system needs to calculate the difference in signal arrival time (TDoA) of each pair of base stations in multiple base stations, and then use mathematical methods such as Gauss-Newton algorithm and CHAN algorithm to solve the location information of the target device, wherein these algorithms usually involve constructing a nonlinear system of equations, and solving the nonlinear system of equations to solve the location information of the target device, wherein the constructed nonlinear system of equations includes at least one equation, and each equation is used to reflect the distance difference between the two base stations in the base station pair and the target device. It should be noted that the above-mentioned uplink arrival time difference positioning algorithm is an existing algorithm, and the specific process of this algorithm will not be described in detail in the embodiment of the present application.

[0100] Based on the scheme defined by the above steps S302 to S308, it can be known that in an embodiment, the positioning system receives the target signal transmitted by the target device through multiple base stations along multiple propagation paths, and receives the corresponding multiple initial signal arrival times and the maximum signal reception strength within the corresponding multiple signal reception strengths, and determines the minimum signal arrival time and the maximum signal arrival time within the multiple initial signal arrival times corresponding to the multiple base stations, and determines the reference base station corresponding to the minimum signal arrival time; then, traverse each base station other than the reference base station among the multiple base stations, and when the maximum signal reception strength within the corresponding multiple signal reception strengths when the base station receives the target signal is higher than the preset signal strength threshold, it is determined that the base station receives the target signal through a non-line-of-sight path, and because the non-line-of-sight path is often longer than the line-of-sight path, the initial signal arrival time when the base station receives the target signal is larger. To this end, the positioning system can search within the time range from the minimum signal arrival time to the maximum signal arrival time, find the target signal arrival time corresponding to the target signal reception strength that is greater than the maximum signal reception strength among the multiple signal reception strengths corresponding to the reference base station receiving the target signal and less than the signal strength threshold, and use the target signal arrival time as the result of correcting the initial signal arrival time of the base station; finally, use at least one target signal arrival time to determine the location information of the target device to ensure that the location information of the target device finally located is more accurate than the location information directly determined by the initial signal arrival time of the base station, thereby effectively solving the technical problem that when the related technology uses UTDoA positioning technology to locate the location information of the target device, it does not consider the influence of the multipath effect on the positioning result, resulting in a large error in the positioning result.

[0101] Example 2

[0102] Based on Embodiment 1 of the present application, an embodiment of a device for determining a device location is also provided, and the device location determination method of the above embodiment is executed when the device is running. Figure 4 is a schematic diagram of the structure of an optional device for determining the location of a device according to an embodiment of the present application, such as Figure 4 As shown, the device position determination apparatus at least includes an acquisition module 42, a first determination module 44, a second determination module 46 and a third determination module 48, wherein:

[0103] An acquisition module 42 is used to acquire a plurality of initial signal arrival times corresponding to a target signal transmitted by a target device when a plurality of base stations receive the target signal along a plurality of propagation paths and a maximum signal receiving strength among a plurality of signal receiving strengths;

[0104] A first determination module 44 is used to determine a minimum signal arrival time and a maximum signal arrival time among a plurality of initial signal arrival times corresponding to a plurality of base stations, and to determine a reference base station corresponding to the minimum signal arrival time;

[0105] A second determination module 46 is used to determine, for each base station other than the reference base station among the multiple base stations, a target signal reception strength corresponding to the current base station and a target signal arrival time corresponding to the target signal reception strength when the maximum signal reception strength among the multiple signal reception strengths corresponding to when the current base station receives the target signal exceeds a preset signal strength threshold, wherein the target signal reception strength is greater than the maximum signal reception strength among the multiple signal reception strengths corresponding to when the reference base station receives the target signal and is less than the signal strength threshold, and the target signal arrival time is greater than the minimum signal arrival time and less than the maximum signal arrival time;

[0106] The third determination module 48 is configured to determine the location information of the target device based on at least one target signal arrival time.

[0107] It should be noted that the various modules in the above-mentioned device location determination device can be program modules (for example, a set of program instructions that implement a certain specific function) or hardware modules. For the latter, it can be expressed in the following forms, but is not limited to this: the expression form of each of the above-mentioned modules is a processor, or the functions of each of the above-mentioned modules are implemented by a processor.

[0108] Example 3

[0109] According to an embodiment of the present application, a non-volatile storage medium is further provided, in which a program is stored, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute the device location determination method in Example 1.

[0110] Optionally, the device where the non-volatile storage medium is located implements the following steps by running the program:

[0111] Step S1, obtaining multiple initial signal arrival times corresponding to target signals transmitted by a target device when multiple base stations receive target signals transmitted by a target device along multiple propagation paths and a maximum signal receiving strength among multiple signal receiving strengths;

[0112] Step S2, determining a minimum signal arrival time and a maximum signal arrival time among a plurality of initial signal arrival times corresponding to a plurality of base stations, and determining a reference base station corresponding to the minimum signal arrival time;

[0113] Step S3, for each base station among the multiple base stations except the reference base station, when the maximum signal reception strength among the multiple signal reception strengths corresponding to when the current base station receives the target signal exceeds a preset signal strength threshold, determine the target signal reception strength corresponding to the current base station and the target signal arrival time corresponding to the target signal reception strength, wherein the target signal reception strength is greater than the maximum signal reception strength among the multiple signal reception strengths corresponding to when the reference base station receives the target signal and is less than the signal strength threshold, and the target signal arrival time is greater than the minimum signal arrival time and less than the maximum signal arrival time;

[0114] Step S4: determining the location information of the target device based on at least one target signal arrival time.

[0115] According to an embodiment of the present application, a computer program product is also provided, which includes a stored computer program, wherein when the computer program is executed by a processor, the device location determination method in Example 1 is implemented.

[0116] Optionally, the computer program executes the following steps:

[0117] Step S1, obtaining multiple initial signal arrival times corresponding to target signals transmitted by a target device when multiple base stations receive target signals transmitted by a target device along multiple propagation paths and a maximum signal receiving strength among multiple signal receiving strengths;

[0118] Step S2, determining a minimum signal arrival time and a maximum signal arrival time among a plurality of initial signal arrival times corresponding to a plurality of base stations, and determining a reference base station corresponding to the minimum signal arrival time;

[0119] Step S3, for each base station among the multiple base stations except the reference base station, when the maximum signal reception strength among the multiple signal reception strengths corresponding to when the current base station receives the target signal exceeds a preset signal strength threshold, determine the target signal reception strength corresponding to the current base station and the target signal arrival time corresponding to the target signal reception strength, wherein the target signal reception strength is greater than the maximum signal reception strength among the multiple signal reception strengths corresponding to when the reference base station receives the target signal and is less than the signal strength threshold, and the target signal arrival time is greater than the minimum signal arrival time and less than the maximum signal arrival time;

[0120] Step S4: determining the location information of the target device based on at least one target signal arrival time.

[0121] According to an embodiment of the present application, a processor is also provided, which is used to run a program, wherein the device location determination method in Example 1 is executed when the program is running.

[0122] Optionally, the following steps are performed when the program is running:

[0123] Step S1, obtaining multiple initial signal arrival times corresponding to target signals transmitted by a target device when multiple base stations receive target signals transmitted by a target device along multiple propagation paths and a maximum signal receiving strength among multiple signal receiving strengths;

[0124] Step S2, determining a minimum signal arrival time and a maximum signal arrival time among a plurality of initial signal arrival times corresponding to a plurality of base stations, and determining a reference base station corresponding to the minimum signal arrival time;

[0125] Step S3, for each base station among the multiple base stations except the reference base station, when the maximum signal reception strength among the multiple signal reception strengths corresponding to when the current base station receives the target signal exceeds a preset signal strength threshold, determine the target signal reception strength corresponding to the current base station and the target signal arrival time corresponding to the target signal reception strength, wherein the target signal reception strength is greater than the maximum signal reception strength among the multiple signal reception strengths corresponding to when the reference base station receives the target signal and is less than the signal strength threshold, and the target signal arrival time is greater than the minimum signal arrival time and less than the maximum signal arrival time;

[0126] Step S4: determining the location information of the target device based on at least one target signal arrival time.

[0127] According to an embodiment of the present application, an electronic device is also provided, wherein: Figure 5 is a schematic diagram of the structure of an optional electronic device according to an embodiment of the present application, such as Figure 5 As shown, the electronic device includes one or more processors; a memory for storing one or more programs, which, when the one or more programs are executed by the one or more processors, enables the one or more processors to run the programs, wherein the programs are configured to execute the device location determination method in the above-mentioned embodiment 1 when running.

[0128] Optionally, the processor is configured to implement the following steps by executing a computer program:

[0129] Step S1, obtaining multiple initial signal arrival times corresponding to target signals transmitted by a target device when multiple base stations receive target signals transmitted by a target device along multiple propagation paths and a maximum signal receiving strength among multiple signal receiving strengths;

[0130] Step S2, determining a minimum signal arrival time and a maximum signal arrival time among a plurality of initial signal arrival times corresponding to a plurality of base stations, and determining a reference base station corresponding to the minimum signal arrival time;

[0131] Step S3, for each base station among the multiple base stations except the reference base station, when the maximum signal reception strength among the multiple signal reception strengths corresponding to when the current base station receives the target signal exceeds a preset signal strength threshold, determine the target signal reception strength corresponding to the current base station and the target signal arrival time corresponding to the target signal reception strength, wherein the target signal reception strength is greater than the maximum signal reception strength among the multiple signal reception strengths corresponding to when the reference base station receives the target signal and is less than the signal strength threshold, and the target signal arrival time is greater than the minimum signal arrival time and less than the maximum signal arrival time;

[0132] Step S4: determining the location information of the target device based on at least one target signal arrival time.

[0133] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0134] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0135] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0136] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0137] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0138] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0139] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for determining a device location, characterized in that: include: Acquire multiple initial signal arrival times corresponding to target signals transmitted by a target device and a maximum signal receiving strength among multiple signal receiving strengths when multiple base stations receive target signals transmitted by a target device along multiple propagation paths; Determine a minimum signal arrival time and a maximum signal arrival time among a plurality of initial signal arrival times corresponding to the plurality of base stations, and determine a reference base station corresponding to the minimum signal arrival time; For each base station among the multiple base stations except the reference base station, when the maximum signal reception strength among the multiple signal reception strengths corresponding to when the current base station receives the target signal exceeds a preset signal strength threshold, determine the target signal reception strength corresponding to the current base station and the target signal arrival time corresponding to the target signal reception strength, wherein the target signal reception strength is greater than the maximum signal reception strength among the multiple signal reception strengths corresponding to when the reference base station receives the target signal and is less than the signal strength threshold, and the target signal arrival time is greater than the minimum signal arrival time and less than the maximum signal arrival time; The location information of the target device is determined based on at least one of the target signal arrival times.

2. The method according to claim 1, characterized in that Before acquiring multiple initial signal arrival times and the maximum signal reception strength among multiple signal reception strengths when multiple base stations receive target signals transmitted by the target device along multiple propagation paths, the method further includes: The signals of the multiple base stations are synchronized by using a preset method, wherein the preset method includes at least one of the following: a global positioning system satellite signal, an external probe.

3. The method according to claim 1, characterized in that: Determining the location information of the target device based on at least one of the target signal arrival times includes: Determine the dimension of the location information of the target device, and determine a preset number of signal arrival times according to the dimension, wherein the type of the signal arrival time includes at least the target signal arrival time, and the dimension includes: one-dimensional location information, two-dimensional location information, and three-dimensional location information; The preset uplink arrival time difference positioning algorithm is used to analyze the arrival time of the preset number of signals to obtain the location information of the target device.

4. The method according to claim 3, characterized in that Analyzing the arrival time of the preset number of signals using a preset uplink arrival time difference positioning algorithm to obtain the location information of the target device includes: When the location information is one-dimensional location information, the uplink arrival time difference positioning algorithm is used to analyze at least one of the target signal arrival time and at least one of the initial signal arrival time to obtain the location information of the target device; Alternatively, the uplink arrival time difference positioning algorithm is used to analyze the arrival times of at least two target signals to obtain the location information of the target device.

5. The method according to claim 3, characterized in that: Analyzing the arrival time of the preset number of signals using a preset uplink arrival time difference positioning algorithm to obtain the location information of the target device includes: When the location information is two-dimensional location information, the uplink arrival time difference positioning algorithm is used to analyze at least one of the target signal arrival times and at least two of the initial signal arrival times to obtain the location information of the target device; Alternatively, the uplink arrival time difference positioning algorithm is used to analyze at least two target signal arrival times and at least one initial signal arrival time to obtain the location information of the target device; Alternatively, the uplink arrival time difference positioning algorithm is used to analyze the arrival times of at least three target signals to obtain the location information of the target device.

6. The method according to claim 3, characterized in that Analyzing the arrival time of the preset number of signals using a preset uplink arrival time difference positioning algorithm to obtain the location information of the target device includes: When the location information is three-dimensional location information, the uplink arrival time difference positioning algorithm is used to analyze at least one of the target signal arrival times and at least three of the initial signal arrival times to obtain the location information of the target device; Alternatively, the uplink arrival time difference positioning algorithm is used to analyze at least two target signal arrival times and at least two initial signal arrival times to obtain the location information of the target device; Alternatively, the uplink arrival time difference positioning algorithm is used to analyze at least three target signal arrival times and at least one initial signal arrival time to obtain the location information of the target device; Alternatively, the uplink arrival time difference positioning algorithm is used to analyze the arrival times of at least four target signals to obtain the location information of the target device.

7. The method according to claim 3, characterized in that Analyzing the arrival time of the preset number of signals using a preset uplink arrival time difference positioning algorithm to obtain the location information of the target device includes: Constructing at least one base station pair using the multiple base stations, wherein each base station pair includes two base stations; For each of the base station pairs, determining a time difference between signal arrival times of two base stations in the base station pair; Constructing a nonlinear equation group using the time differences of the plurality of base station pairs, wherein the nonlinear equation group includes at least one equation, and each equation corresponds to the base station pair; Solve the nonlinear equation group to obtain the location information of the target device.

8. A device for determining a device position, characterized in that: include: An acquisition module, used to acquire multiple initial signal arrival times corresponding to target signals transmitted by a target device when multiple base stations receive target signals transmitted by a target device along multiple propagation paths and a maximum signal receiving strength among multiple signal receiving strengths; A first determination module is used to determine a minimum signal arrival time and a maximum signal arrival time among a plurality of initial signal arrival times corresponding to the plurality of base stations, and determine a reference base station corresponding to the minimum signal arrival time; A second determination module is used to determine, for each base station among the multiple base stations except the reference base station, a target signal reception strength corresponding to the current base station and a target signal arrival time corresponding to the target signal reception strength when the maximum signal reception strength among the multiple signal reception strengths corresponding to when the current base station receives the target signal exceeds a preset signal strength threshold, wherein the target signal reception strength is greater than the maximum signal reception strength among the multiple signal reception strengths corresponding to when the reference base station receives the target signal and is less than the signal strength threshold, and the target signal arrival time is greater than the minimum signal arrival time and less than the maximum signal arrival time; The third determination module is used to determine the location information of the target device based on at least one arrival time of the target signal.

9. A non-volatile storage medium, characterized in that: The non-volatile storage medium stores a computer program, wherein the device where the non-volatile storage medium is located executes the device location determination method according to any one of claims 1 to 7 by running the computer program.

10. A computer program product, characterized in that include: A computer program, wherein when the computer program is executed by a processor, the device position determination method according to any one of claims 1 to 7 is implemented.

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