Positioning method and system combining mobile relay and backscatter communication

Abstract

The invention discloses a positioning method and system combining mobile relay and backscatter communication, and the method comprises the steps: enabling a mobile relay bidirectional wireless charging source in a mobile high-power radio frequency network to be located on the same straight line with two passive sensor nodes in the high-power radio frequency network, solving a receiving signal of the mobile relay bidirectional wireless charging source; according to the positions of the two passive sensors and the mobile relay two-way wireless charging source, the coordinates of the high-power radio frequency charging source are solved through dimensionality reduction and serve as a positioning point, and the coordinates of a to-be-positioned target are solved based on the positioning point; interference elimination is carried out on a received signal of a mobile relay bidirectional wireless charging source in backscatter communication under the high-power radio frequency network; and a high-power radio frequency charging source is used as a sensing positioning node. According to the invention, the communication quality of backscattering under a high-power radio frequency network can be improved, the positioning of the power supply can be quickly realized, and the sensor coverage range of the mobile relay two-way wireless charging power supply is expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of smart grid and electric power Internet of Things, and more specifically, to a positioning method and system combining mobile relay and backscatter communication. Background Art

[0002] With the development of smart grid and power Internet of Things technology, smart power storage realizes green, low-carbon and efficient management through efficient communication and integration with low-power power Internet of Things. As the scale of power storage and the number of deployed nodes gradually expand, the increase in labor and network maintenance costs caused by the laying of power cables and replacement of batteries for sensor power supply in the station is becoming increasingly prominent. Low-power backscatter communication can effectively solve the above-mentioned challenging problems faced by the power Internet of Things.

[0003] In the Internet of Things, passive terminals use low-energy, short-distance, and low-rate data transmission, and use backscatter communication to reflect received radio frequency signals without actively generating signals to transmit data. In the smart power warehouse scenario where large-scale passive sensors are deployed, data transmission between sensors places high demands on power consumption and channel capacity. At the same time, many passive terminals often need to maintain connections while moving, which requires providing more extensive location tracking and wireless roaming support in a vast warehouse area.

[0004] In the smart power warehouse scenario, current positioning technologies mainly rely on technologies such as the Global Positioning System (GPS), Wi-Fi, and Bluetooth. These traditional technologies have great limitations in complex indoor environments, especially in meeting the needs of efficient positioning when large-scale equipment and passive terminals move rapidly in warehouses. Since signals are easily affected by occlusion and reflection, positioning accuracy is reduced, latency is increased, and real-time performance is difficult to guarantee. Especially for application scenarios that require instant response, the positioning speed of existing technologies is particularly insufficient.

[0005] In addition, the effective transmission distance of inductive wireless charging technology is usually limited to 10-30cm. As the distance increases, the charging efficiency and power decrease significantly, which makes it difficult to effectively charge mobile devices in large-scale scenarios. Moreover, many passive terminals still need to maintain a connection with the network during movement, and cannot rely on traditional positioning methods for fast and accurate tracking.

[0006] Currently, there are a variety of mobile charging methods to solve the problem of charging difficulties. However, there is no feasible solution for wireless RF charging with large-area distributed sensor layout in smart warehousing. Although backscatter communication technology provides an innovative way for passive charging, its charging distance and efficiency are still limited, and there is a problem of insufficient charging flexibility and the need for manual intervention.

[0007] The position of a mobile relay bidirectional wireless power source (Bi-directional Relay-Wireless Power, BRWP) is closely related to the status of wireless power, communication signal-to-noise ratio and positioning accuracy. If its flexibility can be used to change the current position and motion trajectory, it can provide favorable conditions for achieving efficient data transmission.

[0008] In the prior art, backscatter communication technology provides an innovative way for passive charging, but its charging distance and efficiency are subject to certain limitations, and there are also problems such as insufficient charging flexibility and the need for manual intervention. On the other hand, the realization of the bidirectional wireless charging function of the mobile relay power source combines mobile charging with wireless power transmission technology. However, in the prior art, the high-frequency power supply signal emitted by the mobile relay bidirectional wireless charging source causes serious interference to the backscatter communication signal in the system. This interference not only limits the transmission efficiency of the communication signal, but may also cause instability in system performance, and further optimization is needed to balance the requirements of charging efficiency and communication quality. Summary of the invention

[0009] In order to solve the deficiencies in the prior art, the present invention provides a positioning method combining mobile relay and backscatter communication, which can solve the technical problems of the prior art that the signal is susceptible to interference and the transmission efficiency is low in the backscatter communication.

[0010] The present invention adopts the following technical solution.

[0011] A positioning method combining mobile relay and backscatter communication comprises the following steps:

[0012] Step 1: Move the mobile relay bidirectional wireless charging source in the high-power radio frequency network so that the mobile relay bidirectional wireless charging source and two passive sensor nodes in the high-power radio frequency network are located in the same straight line, and solve the receiving signal of the mobile relay bidirectional wireless charging source;

[0013] Step 2, according to the positions of the two passive sensors and the mobile relay bidirectional wireless charging source, the coordinates of the high-power radio frequency charging source are solved by dimensionality reduction;

[0014] Step 3, eliminating interference with the received signal of the mobile relay bidirectional wireless charging source in the backscatter communication under the high-power radio frequency network;

[0015] Step 4: reuse the high-power RF charging source as a sensor positioning node.

[0016] Preferably, in step 1, the mobile high-power radio frequency communication network includes a high-power radio frequency charging source P, a passive sensor A, a passive sensor B, and a mobile relay bidirectional wireless charging source R;

[0017] The mobility of the mobile relay bidirectional wireless charging source is used to make the mobile relay bidirectional wireless charging source R, passive sensors A and passive sensors B on the same straight line, and a two-dimensional coordinate system is established with the coordinates of the passive sensor A as the origin. The coordinates of the passive sensor B are set as (a, 0), the coordinates of the mobile relay bidirectional wireless charging source R are set as (r, 0), and the coordinates of the high-power radio frequency charging source P are set as (x, y); at this time, the passive sensor A, the mobile relay bidirectional wireless charging source R and the high-power radio frequency charging source P determine a two-dimensional plane in the three-dimensional space.

[0018] Preferably, in step 1, the received signal of the mobile relay bidirectional wireless charging source includes a radio frequency signal from a high-power radio frequency charging source, a communication signal sent by a cellular base station, and a backscattered signal of a passive sensor. The received signal y(t) of the mobile relay bidirectional wireless charging source is expressed as:

[0019]

[0020] In the formula, SN is the source node set, BL S represents the set of multipath channels from the source node S, f S is the signal sent by the source node S, h S,l and τ S,l They represent the channel gain and delay of the multipath link from the source node S respectively. The source node S includes a high-power RF charging source, a cellular base station and a passive sensor.

[0021] Preferably, the step 2 specifically includes:

[0022] Step 2.1, the mobile relay bidirectional wireless charging source realizes same-source distinction based on the arrival time difference of the acquired original signal;

[0023] Step 2.2, reduce the dimension to solve the two-dimensional positioning coordinates of the high-power RF charging source P;

[0024] Step 2.3, based on the two-dimensional positioning coordinates of the power RF charging source P, the target is positioned in three-dimensional space.

[0025] Preferably, in step 2, the mobile relay bidirectional wireless charging source distinguishes the same source according to the arrival time difference of the received signal, specifically including:

[0026] According to the relationship between the arrival time differences of the original signal and the extreme value consistency of the generalized autocorrelation function between the original signal and the arrival time difference, it is transformed into finding the extreme value relationship of the function, and it is combined with the zero equality relationship of the arrival time differences of different paths from the same signal source:

[0027]

[0028] In the formula, They represent the source S and channel l respectively. m and channel l n The delay, represents the channel l of the source S m and channel l n signal time difference.

[0029] Preferably, in step 2, according to the differentiation results of each source node, the two-dimensional positioning coordinates of the high-power RF charging source P are solved by dimension reduction, and the target positioning position relationship after dimension reduction is expressed as:

[0030]

[0031] In the formula, Td 1 , Td 2 represent the arrival time difference between the direct signal and the reflected signal from passive sensor A and passive sensor B respectively;

[0032] In the plane jointly established by the passive sensor A, the high-power RF charging source P, and the point R, the above equations are combined and eliminated to obtain the equation:

[0033]

[0034] Substituting x in the above equation back to , we can obtain the two-dimensional positioning coordinates of the high-power RF charging source P(x, y).

[0035] Preferably, the step 2.3 specifically includes:

[0036] There are infinite two-dimensional planes APR formed by passive sensor A, high-power RF charging source P and mobile relay bidirectional wireless charging source R. Each plane is related to three points: passive sensor A, mobile relay bidirectional wireless charging source R and passive sensor B. These planes form a circle C perpendicular to the ARP plane in space. The mobile relay node classifies the identified multipath signals by performing autocorrelation processing on the received signals:

[0037] If a relevant waveform is found within a certain frequency range, the relative angle between the positioning target and the mobile relay is determined by the frequency offset. According to the frequency offset, an affine body can be formed in three-dimensional space and intersected with circle C to obtain two possible intersection points as potential positioning point coordinates;

[0038] Eliminate the erroneous solutions in the two coordinates according to the landing point range and obtain the unique target positioning solution.

[0039] Preferably, the step 3 specifically includes:

[0040] When the mobile relay bidirectional wireless charging source transmits data or receives task instructions with a cellular base station, or communicates with a passive sensor, all other signals it receives are considered interference signals.

[0041] In the process of backscatter communication between the passive sensor and the base station, the signal received by the mobile relay bidirectional wireless charging source is optimized by continuous interference elimination to obtain the optimized signal.

[0042] Preferably, the step 4 specifically includes:

[0043] Reusing high-power RF charging source P as a positioning anchor point enables the mobile relay node to perform dual-anchor positioning on other objects M in the environment;

[0044] The high-power radio frequency source at the obtained position and the passive sensor device at a known position in the environment are used as dual positioning anchor points, object M is used as the positioning point and returns to step 2. Step 2 is used to achieve rapid positioning of a large-scale wireless charging network in the power storage scenario;

[0045] When a high-power RF charging source is used as a positioning anchor point, the mobile relay bidirectional charging source inherits the feasible range of the high-power RF charging source.

[0046] The present invention also proposes a positioning system for joint mobile relay and backscatter communication, which is used to implement the positioning method for joint mobile relay and backscatter communication, including: a position adjustment module, a coordinate solution module, an interference elimination module and a node multiplexing module;

[0047] The position adjustment module is used to move the position of the relay bidirectional wireless charging source so that the relay bidirectional wireless charging source and the passive sensor node are located in the same straight line;

[0048] The coordinate solution module is used to solve the coordinates of high-power RF charging sources based on homologous positioning and dimensionality reduction;

[0049] The interference elimination module is used to eliminate interference with the received signal of the mobile relay bidirectional wireless charging source in the backscatter communication under the high-power radio frequency network;

[0050] The node multiplexing module is used to reuse high-power radio frequency charging sources as sensor positioning nodes, improve the signal environment and expand the feasible range of mobile relay bidirectional wireless charging sources.

[0051] The present invention also provides a terminal, comprising a processor and a storage medium;

[0052] The storage medium is used to store instructions;

[0053] The processor is configured to operate according to the instructions to execute the steps of the positioning method combining mobile relay and backscatter communication.

[0054] The present invention also proposes a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the positioning method of the combined mobile relay and backscatter communication are implemented.

[0055] The beneficial effect of the present invention is that, compared with the prior art, the present invention combines mobile relay bidirectional wireless charging technology with backscatter communication technology, and realizes the rapid positioning function of a large-scale wireless charging network by utilizing the flexibility of location perception. The system can not only provide stable wireless charging in a wide area, but also greatly shorten the positioning time and improve the positioning response speed by quickly sensing the location of high-power radio frequency devices. The present invention innovatively proposes a positioning method that combines mobile relay and backscatter communication, which realizes the interference elimination of backscatter communication under high-power radio frequency networks, and its beneficial effects include at least:

[0056] 1. By changing the position of the mobile relay bidirectional wireless charging source, the strong interference of high-power signals is actively avoided and the feasible range in the warehousing scenario is expanded to improve the communication quality;

[0057] 2. The present invention proposes a positioning method for quickly realizing position awareness, using only two radio frequency sources to locate a high-power wireless charging source, thereby reducing multi-modal interference caused by the radio frequency source during the positioning process;

[0058] 3. The joint positioning and backscattering method proposed in the present invention adopts continuous interference elimination and dual radio frequency point positioning methods, which flexibly improves the sensor coverage of the mobile relay bidirectional wireless charging source from different aspects, eliminates the interference of high-power charging radio frequency source signals during the communication process, and removes the regional restrictions on the endurance requirements of the mobile relay bidirectional wireless charging source;

[0059] 4. The dual-point positioning method reuses the ground charging source as the positioning point, further expanding the feasible domain of the mobile relay bidirectional charging source in the scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a flow chart of a positioning method combining mobile relay and backscatter communication in the present invention;

[0061] Figure 2 It is a structural diagram of a mobile high-power radio frequency communication network assisted by BRWP under smart power storage in the present invention;

[0062] Figure 3 It is a schematic diagram of a high-power radio frequency charging source positioning model in the present invention;

[0063] Figure 4 It is a structural schematic diagram of a positioning system combining mobile relay and backscatter communication in the present invention;

[0064] Figure 5 It is a comparison chart of simulation results of the simulation examples in the present invention. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The embodiments described in this application are only part of the embodiments of the present invention, not all of them. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the scope of protection of the present invention.

[0066] like Figure 1 As shown, the present invention proposes a positioning method combining mobile relay and backscatter communication, the purpose of which is to quickly locate the position of high-power radio frequency charging sources in power storage and expand the feasible range of mobile relay wireless charging devices to achieve continuous coverage of large-scale passive sensor signals. The method includes the following steps:

[0067] Step 1: In a mobile high-power radio frequency communication network, when locating the position of a mobile relay bidirectional wireless charging source, the mobility of the mobile relay bidirectional wireless charging source is used to place it in the same straight line as two passive sensor nodes to obtain a receiving signal of the mobile relay bidirectional wireless charging source.

[0068] like Figure 2 As shown, Figure 2 A schematic diagram of a mobile high-power radio frequency communication network assisted by a mobile relay bidirectional wireless charging source for smart power storage, wherein the mobile high-power radio frequency communication network means that there are at least three passive sensors in the network scenario;

[0069] In this mobile high-power radio frequency communication network, the working state of the mobile relay bidirectional wireless charging source can be divided into charging mode, power supply mode and relay mode. The charging mode refers to the ground charging power supply wirelessly charging the mobile relay power supply. When the mobile power supply is low on power, it finds the ground charging pile to supply it with power, and the ground charging end charges the energy storage battery in the mobile power supply. The power supply mode refers to the mobile relay power supply providing power to the passive sensor. When it needs to be charged, it sends a request signal to the mobile power supply. The mobile relay bidirectional wireless charging source receives the signal and uses its mobility to wirelessly power the load. The relay mode refers to the mobile relay bidirectional wireless charging source equipped with a relay communication module that can connect to the local area network in the storage space to receive remote instructions and decisions.

[0070] like Figure 3 As shown, the mobile high-power radio frequency communication network includes a high-power radio frequency charging source P, a passive sensor A, a passive sensor B, and a mobile relay bidirectional wireless charging source R;

[0071] The mobility of the mobile relay bidirectional wireless charging source is utilized to make the mobile relay bidirectional wireless charging source R and the passive sensors A and B as radiation sources in the same straight line. A two-dimensional coordinate system is established with the coordinates of the passive sensor A as the origin, and the coordinates of each structure in the large-scale radio frequency communication network are obtained. The coordinates of the passive sensor A are (0,0), the coordinates of the passive sensor B are (a,0), the coordinates of the mobile relay bidirectional wireless charging source R are (r,0), and the coordinates of the high-power radio frequency charging source P are (x,y); at this time, the passive sensor A, the mobile relay bidirectional wireless charging source R and the high-power radio frequency charging source P determine a two-dimensional plane in the three-dimensional space, reducing the target positioning from three dimensions to two dimensions.

[0072] In a large-scale RF communication network, the signals received by the mobile relay bidirectional wireless charging source mainly include the RF signal from the high-power RF charging source P, the communication signal sent by the cellular base station, and the backscattered signal of the passive sensor. The received signal y(t) can be expressed as:

[0073]

[0074] Among them, SN is the source node set, BL S represents the set of multipath channels from the source S, f S is the signal sent by the source node S, h S,l and τ S,l They represent the multipath links l∈BL from the information source S respectively. S The channel gain and delay of the signal source include a high-power RF charging source P, a cellular base station and a passive sensor.

[0075] In the present invention, the high-power RF charging source P refers to a RF source that can provide an output voltage of 200-500V when the RF source is in charging mode, so that the power of its wireless charging signal is much greater than that of other communication signals.

[0076] Step 2: According to the positions of passive sensors A and B and mobile relay bidirectional wireless charging source R, the coordinates of high-power RF charging source P are solved by dimensionality reduction based on the homology positioning method.

[0077] Combination Figure 3 As shown in the figure, the coordinates of the high-power RF charging source P are solved based on homologous positioning and dimensionality reduction, that is, two passive sensors are used to locate the high-power ground RF charging source, and the position of the high-power RF charging source P is solved according to the positions of the passive sensors A, B and the mobile relay bidirectional wireless charging source R.

[0078] Specifically, solving the coordinates of the high-power RF charging source P based on homologous positioning and dimensionality reduction includes the following steps:

[0079] Step 2.1: The mobile relay bidirectional wireless charging source realizes homologous identification based on the arrival time difference of the acquired original signals.

[0080] For any device, the signal directly sent to the high-power RF charging source P is taken as the original signal, and the signal reaching the high-power RF charging source P after being reflected by the passive sensor A and the passive sensor B is taken as the reflected signal. According to the relationship between the time difference of arrival (TDoA) between the original signal and the reflected signal, and the extreme value consistency of the generalized autocorrelation function between the original signal and the time difference of arrival, it is transformed into finding the function extreme value relationship, and it is combined with the zero equality relationship satisfied by the TDoA of different paths from the same signal source:

[0081]

[0082] In the formula, They represent the source S and channel l respectively. m and channel l n The delay,

[0083] represents the channel l of the source S m and channel l n signal time difference.

[0084] Step 2.2: Reduce the dimension to solve the two-dimensional positioning coordinates (x, y) of the high-power RF charging source P;

[0085] The target positioning position relationship after dimensionality reduction can be expressed as:

[0086]

[0087] Among them, Td 1 , Td 2 represent the arrival time difference between the original signal and the reflected signal from passive sensor A and passive sensor B respectively.

[0088] In the two-dimensional plane jointly established by the passive sensor A, the high-power RF charging source P, and the mobile relay bidirectional wireless charging source R, the above equations are combined and eliminated to obtain the equation for the two-dimensional coordinates:

[0089]

[0090] Substitute x in the above equation back into the target positioning position relationship equation after dimensionality reduction to obtain the coordinates of the high-power RF charging source P(x, y).

[0091] Step 2.3, based on the positioning coordinates of the power RF charging source P, the target is positioned in three-dimensional space.

[0092] Specifically, the power RF charging source P with solved coordinates is used as one of the positioning points, and the positioning point to be positioned is positioned in combination with the coordinates of another positioning point with known coordinates and the coordinates of the mobile relay bidirectional wireless charging source R. The other positioning point with known coordinates can be the passive sensor A.

[0093] Since there are infinite planes APR formed by positioning points and reflection points in three-dimensional space, each plane is related to the three points of ARB, and these planes form a circle C perpendicular to the ARP plane in space. The mobile relay node classifies the identified multipath signals by performing autocorrelation processing on the received signals.

[0094] If a relevant waveform is found within a certain frequency range, the relative angle between the positioning target and the mobile relay is determined by the frequency offset. According to the frequency offset, an affine body can be formed in three-dimensional space and intersect with the above circle C to obtain two possible intersection points, i.e., potential positioning point coordinates.

[0095] If the coordinates of a certain point are beyond the possible range, such as outside the range of the power storage rack or underground, it can be directly discarded. Otherwise, the trajectory planning of the wireless relay is used to guide the assumed invalid positioning point to some specific areas, thereby further eliminating the wrong solution and obtaining the only target positioning solution.

[0096] Step 3: Continuously eliminate interference of the received signal of the mobile relay bidirectional wireless charging source in the backscatter communication under the high-power radio frequency network to obtain the optimized signal quality after the interference elimination;

[0097] When the mobile relay bidirectional wireless charging source transmits data or receives task instructions with a cellular base station, or communicates with a passive sensor, all other signals it receives are considered interference signals.

[0098] In the process of backscatter communication between the passive sensor and the base station, the signal received by the mobile relay bidirectional wireless charging source is optimized by continuous interference elimination to obtain the optimized signal.

[0099] In order to verify the effect of interference elimination on signal quality improvement, the signal-to-noise ratio is used to represent the communication quality. The signal-to-noise ratio in base station communication and backscatter communication can be calculated:

[0100]

[0101]

[0102] Among them, P N is the additive noise power, the high-power RF charging source S p and base station S c , passive sensor S a The signals sent are incompatible with each other;

[0103] γ c , γ a They represent the signal-to-interference-to-noise ratio of the mobile relay bidirectional wireless charging source in base station communication and backscatter communication respectively;

[0104] Indicates the base station communication signal power, Represents the total power of the backscatter communication signal, which is a passive sensor signal. It represents the sum of the received signal powers of the mobile relay bidirectional wireless charging source.

[0105] In the process of passive sensor backscatter communication and base station communication, the strongest interference elimination of high-power RF charging source signal is calculated and optimized by continuous interference elimination. The signal quality is as follows:

[0106]

[0107] In the formula, γ' c Indicates the signal quality when communicating with the base station after eliminating interference.

[0108] It can be seen that the signal quality after optimization is significantly improved compared with that before optimization.

[0109] Step 4: Reuse the high-power RF charging source P as a sensor positioning node to improve the signal environment and expand the feasible range of the mobile relay bidirectional wireless charging source.

[0110] Step 4 specifically includes:

[0111] The high-power RF charging source P is reused as a positioning anchor point, so that the mobile relay node can perform dual-anchor positioning of other objects M in the environment.

[0112] The high-power RF source at the calculated position and the passive sensor device at a known position in the environment are used as dual positioning anchor points, object M is used as one of the positioning points, and the coordinates of object M are brought back to step 2 to achieve rapid positioning of large-scale wireless charging networks in power storage scenarios.

[0113] When a high-power RF charging source is used as a positioning anchor point, the mobile relay bidirectional charging source inherits the feasible range of the high-power RF charging source and further improves its own signal environment:

[0114] Reusing high-power RF charging sources as the sensor anchor points of backscatter nodes enables the mobile relay to perform dual-anchor positioning of its own position or other objects. Therefore, when the high-power RF charging source is used as the positioning anchor point, the mobile relay bidirectional charging source inherits the feasible range of the high-power RF charging source, further improving its own signal environment:

[0115]

[0116] Among them, γ p The positioning signal-to-noise ratio after multiplexing the high-power RF charging source, Indicates the signal power when a high-power RF charging source is used as a positioning point. Its power is much greater than the passive sensor signal

[0117] Reuse the ground charging source as a positioning node. Since the signal of the ground charging source is stronger, the mobile relay using it as an anchor point can achieve a wider range of activities.

[0118] like Figure 4 As shown, the present invention also proposes a positioning system for joint mobile relay and backscatter communication, which is used to implement the above-mentioned positioning method for joint mobile relay and backscatter communication. The system specifically includes: a position adjustment module, a coordinate solution module, an interference elimination module and a node multiplexing module;

[0119] The position adjustment module is used to move the position of the relay bidirectional wireless charging source so that the relay bidirectional wireless charging source and the passive sensor node are located in the same straight line;

[0120] The coordinate solution module is used to solve the coordinates of high-power RF charging sources based on homologous positioning and dimensionality reduction;

[0121] The interference elimination module is used to eliminate interference with the received signal of the mobile relay bidirectional wireless charging source in the backscatter communication under the high-power radio frequency network;

[0122] The node multiplexing module is used to reuse high-power radio frequency charging sources as sensor positioning nodes, improve the signal environment and expand the feasible range of mobile relay bidirectional wireless charging sources.

[0123] In order to measure the location of high-power wireless charging signal sources, a passive positioning method for rapid location awareness is proposed. In order to reduce multimodal interference and reduce the number of RF sources, only two RF sources are used to locate high-power wireless charging sources. In order to further verify the technical effect of the method proposed in the present invention, the mobile relay bidirectional wireless charging source and the RF point positions are randomly distributed and the coverage probabilities of the two positioning methods are compared. The simulation results are as follows: Figure 5 As shown in the figure, the target coverage probability of the dual-RF point positioning method is significantly increased by 3 times compared with the three-RF point positioning method; the activity range of the mobile relay bidirectional wireless charging source is further expanded based on the multimodal signal compatibility and interference elimination method. Based on the multiplexing positioning point method mentioned in the article, the RF positioning points are reduced from three to two, which improves the communication coverage while reducing interference. Since the coverage number and radius of the positioning points are limited by the strong signal of high-power wireless charging, the method proposed in the present invention uses fewer RF positioning points, which helps to better cover and locate the signal source.

[0124] The beneficial effect of the present invention is that, compared with the prior art, the high-power radio frequency signal source joint positioning and backscattering communication method based on mobile relay bidirectional wireless charging proposed in the present invention can quickly locate the position of the high-power charging source in the power storage and expand the feasible range of the mobile relay wireless charging device to achieve continuous coverage of large-scale passive sensor signals.

[0125] The present disclosure may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0126] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0127] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0128] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A positioning method combining mobile relay and backscatter communication, characterized in that: The steps include: Step 1: Move the mobile relay bidirectional wireless charging source in the high-power radio frequency network so that the mobile relay bidirectional wireless charging source and two passive sensor nodes in the high-power radio frequency network are located in the same straight line, and solve the receiving signal of the mobile relay bidirectional wireless charging source; Step 2: According to the positions of the two passive sensors and the mobile relay bidirectional wireless charging source, the coordinates of the high-power radio frequency charging source are solved by dimensionality reduction and used as the positioning point, and the coordinates of the target to be located are solved based on the positioning point; Step 3, eliminating interference with the received signal of the mobile relay bidirectional wireless charging source in the backscatter communication under the high-power radio frequency network; Step 4: reuse the high-power RF charging source as a sensor positioning node.

2. The positioning method of joint mobile relay and backscatter communication according to claim 1, characterized in that: In step 1, the mobile high-power radio frequency communication network includes a high-power radio frequency charging source P, a passive sensor A, a passive sensor B, and a mobile relay bidirectional wireless charging source R; The mobility of the mobile relay bidirectional wireless charging source is used to make the mobile relay bidirectional wireless charging source R, passive sensors A and passive sensors B on the same straight line, and a two-dimensional coordinate system is established with the coordinates of the passive sensor A as the origin. The coordinates of the passive sensor B are set as (a, 0), the coordinates of the mobile relay bidirectional wireless charging source R are set as (r, 0), and the coordinates of the high-power radio frequency charging source P are set as (x, y); at this time, the passive sensor A, the mobile relay bidirectional wireless charging source R and the high-power radio frequency charging source P determine a two-dimensional plane in the three-dimensional space.

3. The positioning method of joint mobile relay and backscatter communication according to claim 2, characterized in that: In step 1, the received signal of the mobile relay bidirectional wireless charging source includes the radio frequency signal from the high-power radio frequency charging source, the communication signal sent by the cellular base station and the backscattered signal of the passive sensor. The received signal y(t) of the mobile relay bidirectional wireless charging source is expressed as: In the formula, SN is the source node set, BL S represents the set of multipath channels from the source node S, f S is the signal sent by the source node S, h S,l and τ S,l They represent the channel gain and delay of the multipath link from the source node S respectively. The source node S includes a high-power RF charging source, a cellular base station and a passive sensor.

4. The positioning method of joint mobile relay and backscatter communication according to claim 3, characterized in that: The step 2 specifically includes: Step 2.1, the mobile relay bidirectional wireless charging source realizes same-source differentiation according to the arrival time difference of the acquired original signal; Step 2.2, reduce the dimension to solve the two-dimensional positioning coordinates of the high-power RF charging source P; Step 2.3, based on the two-dimensional positioning coordinates of the power RF charging source P, the positioning target is located in the three-dimensional space.

5. The positioning method of joint mobile relay and backscatter communication according to claim 4, characterized in that: In step 2, the mobile relay bidirectional wireless charging source distinguishes the same source according to the arrival time difference of the received signal, which specifically includes: According to the relationship between the arrival time differences of the original signal and the extreme value consistency of the generalized autocorrelation function between the original signal and the arrival time difference, it is transformed into finding the extreme value relationship of the function, and it is combined with the zero equality relationship of the arrival time differences of different paths from the same signal source: In the formula, They represent the source S and channel l respectively. m and channel l n The delay, represents the channel l of the source S m and channel l n signal time difference.

6. The positioning method of joint mobile relay and backscatter communication according to claim 5, characterized in that: In step 2, according to the differentiation results of each source node, the two-dimensional positioning coordinates (x, y) of the high-power RF charging source P are solved by dimensionality reduction. The target positioning position relationship after dimensionality reduction is expressed as: Where Td1 and Td2 represent the arrival time difference between the direct signal and the reflected signal from passive sensor A and passive sensor B, respectively; In the plane jointly established by the passive sensor A, the high-power RF charging source P, and the mobile relay bidirectional wireless charging source R, the above equations are combined and eliminated to obtain the equation: Substituting x in the above equation back to , we can obtain the two-dimensional positioning coordinates of the high-power RF charging source P(x, y).

7. The positioning method of joint mobile relay and backscatter communication according to claim 4, characterized in that: The step 2.3 specifically includes: There are infinite two-dimensional planes APR formed by passive sensor A, high-power RF charging source P and mobile relay bidirectional wireless charging source R. Each plane is related to three points: passive sensor A, mobile relay bidirectional wireless charging source R and passive sensor B. These planes form a circle C perpendicular to the ARP plane in space. The mobile relay node classifies the identified multipath signals by performing autocorrelation processing on the received signals: If a relevant waveform is found within a certain frequency range, the relative angle between the positioning target and the mobile relay is determined by the frequency offset. According to the frequency offset, an affine body can be formed in three-dimensional space and intersected with circle C to obtain two possible intersection points as potential positioning point coordinates; Eliminate the erroneous solutions in the two coordinates according to the landing point range and obtain the unique target positioning solution.

8. The positioning method of joint mobile relay and backscatter communication according to claim 1, characterized in that: The step 3 specifically includes: When the mobile relay bidirectional wireless charging source transmits data or receives task instructions with a cellular base station, or communicates with a passive sensor, all other signals it receives are considered interference signals. In the process of backscatter communication between the passive sensor and the base station, the signal received by the mobile relay bidirectional wireless charging source is optimized by continuous interference elimination to obtain the optimized signal.

9. The positioning method of joint mobile relay and backscatter communication according to claim 1, characterized in that: The step 4 specifically includes: Reusing high-power RF charging source P as a positioning anchor point enables the mobile relay node to perform dual-anchor positioning on other objects M in the environment; The high-power radio frequency source at the obtained position and the passive sensor device at a known position in the environment are used as dual positioning anchor points, object M is used as the positioning point and returns to step 2. Step 2 is used to achieve rapid positioning of a large-scale wireless charging network in the power storage scenario; When a high-power RF charging source is used as a positioning anchor point, the mobile relay bidirectional charging source inherits the feasible range of the high-power RF charging source.

10. A positioning system combining mobile relay and backscatter communication, used to implement the positioning method combining mobile relay and backscatter communication as claimed in any one of claims 1 to 9, characterized in that: include: Position adjustment module, coordinate solution module, interference elimination module and node multiplexing module; The position adjustment module is used to move the position of the relay bidirectional wireless charging source so that the relay bidirectional wireless charging source and the passive sensor node are located in the same straight line; The coordinate solution module is used to solve the coordinates of the high-power RF charging source based on homologous positioning and dimension reduction, and to locate the target to be located according to the coordinates; The interference elimination module is used to eliminate interference with the received signal of the mobile relay bidirectional wireless charging source in the backscatter communication under the high-power radio frequency network; The node multiplexing module is used to reuse high-power RF charging sources as sensor positioning nodes.

11. A terminal comprising a processor and a storage medium; characterized in that: The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1-8.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

Images