Terminal positioning method, electronic equipment and computer readable medium

Abstract

The invention provides a terminal positioning method. The method comprises the following steps: acquiring a first multipath parameter of a return signal; determining point location information matched with the first multipath parameter in a preset multipath information base as target point location information, and determining a signal ray corresponding to the target point location information as a target signal ray; wherein the preset multipath information base comprises a plurality of signal rays and point location information corresponding to the signal rays, the signal rays simulate signals emitted from positions corresponding to a real base station in a virtual space model, and the virtual space model is a simulation space model constructed according to a real space; the point location information is used for describing a multipath transmission process when the signal rays are transmitted in the virtual space model; determining a mirror image virtual base station according to the target point location information and the real base station; and determining the position of the terminal according to the real base station and the mirror image virtual base station. The invention further provides electronic equipment and a computer readable medium.

Description

Technical Field

[0001] The present disclosure relates to the field of positioning technology, and in particular to a terminal positioning method, an electronic device and a computer-readable medium. Background Art

[0002] In the scenario where the RTOA (Relative Time of Arrival) measurement value reported by the 5G (5th Generation Mobile Communication Technology) base station is used to locate the target UE (User Equipment), the UTDOA (Uplink Time Difference of Arrival) algorithm is selected. For the 2D positioning scenario, measurement reports from 3 los (line of sight) base stations are required, while in the 3D positioning scenario, measurement reports from 4 los base stations are required to calculate the location information of the target UE.

[0003] However, in a conventional base station deployment environment, considering the cost and communication coverage, there is a certain spacing between base stations, and it is impossible to deploy them very densely. Obstacles in the environment will cause the number of los base stations actually received to be less than 4, which will cause the positioning accuracy of the UTDOA positioning algorithm to drop seriously. Therefore, it is necessary to increase the number of los base stations through existing measurement data. The common solution of expanding the number of base stations has the problem of difficulty in accurately obtaining the mirror plane and mirror reflection point. Usually, only virtual symmetry points are given for the mirror, or virtual base stations are obtained by traversing and searching in the entire space. In this way, the probability of erroneous retrieval of base stations increases, and a traversal search is required for each evaluation. Summary of the invention

[0004] The present disclosure aims to solve at least one of the technical problems existing in the prior art, and proposes a terminal positioning method, an electronic device and a computer-readable medium.

[0005] To achieve the above objectives, in a first aspect, an embodiment of the present disclosure provides a terminal positioning method, including:

[0006] Acquire a first multipath parameter of a return signal, wherein the return signal is a signal generated by a real base station in real space in response to a measurement signal, and the measurement signal is a signal sent by a target terminal in a direct path;

[0007] Determine the point information matching the first multipath parameter in the preset multipath information library as the target point information, and determine the signal ray corresponding to the target point information as the target signal ray; wherein the preset multipath information library includes a plurality of the signal rays and the point information corresponding to the signal rays, the signal ray is a signal emitted from a position corresponding to a real base station simulated in a virtual space model, the virtual space model is a simulated space model constructed according to the real space, and the point information is used to describe the multipath transmission process of the signal ray when it is transmitted in the virtual space model;

[0008] Determine a mirror virtual base station according to the target point information and the real base station;

[0009] The location of the terminal is determined according to the real base station and the mirror virtual base station.

[0010] In a second aspect, an embodiment of the present disclosure further provides an electronic device, including:

[0011] one or more processors;

[0012] A memory having one or more programs stored thereon, when the one or more programs are executed by the one or more processors, the one or more processors implement the terminal positioning method as described in the above embodiment.

[0013] In a third aspect, an embodiment of the present disclosure further provides a computer-readable medium on which a computer program is stored, and when the program is executed by a processor, the terminal positioning method as described in the above embodiment is implemented.

[0014] The present disclosure has the following beneficial effects:

[0015] The embodiments of the present disclosure provide a terminal positioning method, an electronic device and a computer-readable medium, which can construct a virtual space model based on the real space, determine the signal ray reaching each space grid and the point information corresponding to the signal ray in the virtual space model, obtain a preset multipath information library, match the first multipath parameter of the return signal of the real base station with the second multipath parameter of the point information in the preset multipath information library, accurately determine the second multipath parameter corresponding to the return signal, and use geometric relationships to equate the NLOS return signal transmitted by a non-straight path to the LOS return signal transmitted by a straight path to obtain a mirror virtual base station. At the same time, based on the mirror virtual base station, a larger number of other mirror virtual base stations can also be determined to meet the total number of base stations required for terminal positioning. Based on the accurate second multipath parameter, the positioning accuracy of the terminal is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1A schematic diagram of an application scenario of a terminal positioning method provided by an embodiment of the present disclosure;

[0017] Figure 2 A flowchart of a terminal positioning method provided by an embodiment of the present disclosure;

[0018] Figure 3 This is a flow chart of a specific implementation method before step S1 in the embodiment of the present disclosure;

[0019] Figure 4 This is a flowchart of a specific implementation method of step S01 in the embodiment of the present disclosure;

[0020] Figure 5 This is a flow chart of a specific implementation method of step S2 in the embodiment of the present disclosure;

[0021] Figure 6 This is a schematic diagram of an example application scenario of step S3 in an embodiment of the present disclosure;

[0022] Figure 7 This is a schematic diagram of another example application scenario of step S3 in an embodiment of the present disclosure;

[0023] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure;

[0024] Fig. 9 A schematic diagram of the structure of a computer-readable medium provided in an embodiment of the present disclosure;

[0025] Fig.10 A schematic diagram of an exemplary terminal positioning process in an embodiment of the present disclosure;

[0026] Fig.11 The present invention is a schematic diagram of an exemplary application scenario of terminal positioning in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the technical solution of the present disclosure, the control method of the control provided by the present disclosure, the electronic device and the computer-readable medium are described in detail below with reference to the accompanying drawings.

[0028] Example embodiments will be described more fully below with reference to the accompanying drawings, but the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. On the contrary, the purpose of providing these embodiments is to make the present disclosure thorough and complete and to enable those skilled in the art to fully understand the scope of the present disclosure.

[0029] In the absence of conflict, the various embodiments of the present disclosure and the various features therein may be combined with each other.

[0030] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0031] The terms used herein are only used to describe specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded.

[0032] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined as such herein.

[0033] Figure 1 A schematic diagram of an application scenario of a terminal positioning method provided by an embodiment of the present disclosure. Figure 1 An exemplary application scenario of a terminal positioning method is described below:

[0034] Reference Figure 1 The terminal positioning method can be applied to indoor terminal positioning, but is not limited thereto, and can be applied in any case where the total number of base stations is less than or equal to the principle number (i.e., the required number). The room is provided with a first obstacle wall and a second obstacle wall, and the first obstacle wall and the second obstacle wall are obstacles that prevent the signal from being transmitted.

[0035] A first user corresponding to the first terminal and a second user corresponding to the second terminal are in the indoor environment, and the terminal is used to send a measurement signal.

[0036] The antennas (including the first antenna, the second antenna, the third antenna, and the fourth antenna) are deployed at their respective corresponding base stations, and the base stations are used to receive the measurement signals, specifically, the measurement signals are received by the antennas in the base stations, and the base stations are also used to calculate parameters such as energy and delay of the received measurement signals. The transmission mode between the terminal and the base station can be a 5G wireless cellular network, but the present disclosure is not limited thereto.

[0037] In an indoor environment, when the antenna cannot transmit a signal to the first terminal through the first obstacle wall in a straight path, the signal will be transmitted to the first terminal after being reflected by the second obstacle wall.

[0038] It is worth noting that the present disclosure does not impose special restrictions on base stations. The base station can be a 5G Pico Station used for indoor positioning. A Pico Station refers to a small and powerful wireless access point. The base station can also be Bluetooth, UWB (Ultra Wide Band), or a 5G macro station positioning system for outdoor use.

[0039] At the same time, the embodiments of the present disclosure do not specifically limit the terminal, and the terminal may be a smart phone, a tablet computer, or other device capable of receiving and processing positioning signals.

[0040] Figure 2 A flowchart of a terminal positioning method provided by an embodiment of the present disclosure. Figure 1 , the present disclosure provides a terminal positioning method, including:

[0041] S1. Acquire a first multipath parameter of a return signal, wherein the return signal is a signal generated by a real base station in real space in response to a measurement signal, and the measurement signal is a signal sent by a target terminal in a direct path;

[0042] S2. Determine the point information matching the first multipath parameter in the preset multipath information library as the target point information, and determine the signal ray corresponding to the target point information as the target signal ray; wherein the preset multipath information library includes a plurality of the signal rays and the point information corresponding to the signal rays, the signal ray is a signal emitted from a position corresponding to a real base station simulated in a virtual space model, the virtual space model is a simulated space model constructed according to the real space, and the point information is used to describe the multipath transmission process of the signal ray when it is transmitted in the virtual space model;

[0043] S3. Determine a mirror virtual base station according to the target point information and the real base station;

[0044] S4. Determine the location of the terminal according to the real base station and the mirror virtual base station.

[0045] Accordingly, in some embodiments, the first multipath parameter includes at least one of multipath delay and angle information. In other embodiments, the first multipath parameter can be obtained from a UL RTOAMeasurement (uplink relative time of arrival) measurement report extracted from a positioning measurement report reported by a real base station.

[0046] In the embodiments of the present disclosure, real space refers to space in a physical environment, and a real base station is a base station set in the real space. A virtual space model is a digital, computer-generated environment that simulates objects, terrain, and other features in the real space.

[0047] The return signal sent by the real base station responds to the measurement signal sent by the terminal in the direct path. The path of the return signal to the terminal is an indirect path. The multipath parameter describes the channel transmission condition when the base station reports the return signal to the terminal.

[0048] In some embodiments, the point information includes a second multipath parameter and transmission information, and the second multipath parameter includes at least one of a second multipath delay and a second angle information; wherein the second multipath parameter is used to describe the signal propagation characteristics during the multipath transmission of each signal ray; and the transmission information is used to describe the physical propagation characteristics during the multipath transmission of each signal ray.

[0049] In this embodiment, the preset multipath information library includes signal rays reaching each space grid in the virtual space model and point information corresponding to the signal rays. Among them, the signal ray refers to the signal emitted from the corresponding position of the real base station simulated in the virtual space model. The second multipath parameter corresponding to the signal ray is used to describe the signal propagation characteristics of each signal ray during the multipath transmission process. In some embodiments, the second multipath parameter includes at least one of the multipath delay and angle information. The transmission information corresponding to the signal ray describes the physical propagation characteristics of each signal ray during the multipath transmission process. In some embodiments, the transmission information is a reflection point, a reflection surface, a diffraction point, etc.

[0050] The mirror virtual base station determined based on the transmission information and the real base station is not a base station actually installed in the real space or set in the virtual space model. Since the path for sending the return signal to the terminal is a non-direct path, the mirror virtual base station simulates the return signal when it is sent by a direct path, that is, the return signal under the nlos path is simulated as the actual measurement value of the return signal under the los path, so as to determine the position of the corresponding sending base station as the position of the mirror virtual base station. At the same time, since the preset multipath information library is predetermined based on the virtual space model corresponding to the real space, the transmission information based on the preset multipath information library is more accurate, the obtained mirror virtual base station is also more accurate, and the positioning accuracy of the terminal position is further determined to be higher.

[0051] In some embodiments, the location of the terminal is determined through UTDOA, so the total number of real base stations and mirror virtual base stations corresponding to each terminal to be located should be greater than or equal to 4. Among them, the mirror virtual base station requires at least one real base station to determine. Therefore, when the number of real base stations is 1, the first mirror virtual base station can be determined based on a real base station, and the first mirror virtual base station is used as the real base station to determine the location of the second mirror virtual base station, and so on, until the limit on the total number of base stations is met. When the number of real base stations is 2 or more, the mirror virtual base station can be determined based on these real base stations until the limit on the total number of base stations is met. In other embodiments, the location of the terminal can also be determined by AOA (Angle of Arrival) positioning method.

[0052] Here, the process of obtaining the location of the terminal after determining the mirror virtual base station is described:

[0053] In some embodiments, the position coordinates and delay information of the real base station are prru: [x, y, z], TA = t; the position coordinates and delay information of the first mirror virtual base station are prru1': [x1', y1', z1'], TA1 = t1; the position coordinates and delay information of the second mirror virtual base station are prru2': [x2', y2', z2'], TA2 = t2; and so on, the position coordinates and delay information of the i-th mirror virtual base station are prru i ':[x i ',y i ',z i '],TA i =t i .

[0054] The UTDOA equation is constructed by the relative position relationship between each base station to determine the position of the terminal. Assuming the position coordinates of the terminal are unknown quantities [X, Y, Z], the UTDOA equation between the terminal and each mirror virtual base station is obtained as follows:

[0055] The UTDOA equation between the terminal and the first mirror virtual base station:

[0056]

[0057] The UTDOA equation between the terminal and the second mirror virtual base station:

[0058]

[0059] By analogy, the UTDOA equation between the terminal and the i-th mirror virtual base station is obtained:

[0060]

[0061] When at least three groups of UTDOA equations of terminals and mirror virtual base stations are constructed, the least squares method can be used to solve three unknown quantities [X, Y, Z] (the position coordinates of the terminal), so as to locate the terminal through multiple mirror virtual base stations determined by one real base station.

[0062] Figure 3 This is a flowchart of a specific implementation method before step S1 in the embodiment of the present disclosure. Figure 3 , before S1, also includes:

[0063] S01. constructing the virtual space model according to the real space;

[0064] S02, performing geometric information conversion on all virtual objects in the virtual space model to obtain geometric information of the virtual objects;

[0065] S03, determining virtual space coordinate information corresponding to the position coordinates of the real base station in the virtual space model;

[0066] S04, simulating, based on the geometric information, a plurality of signal rays emitted from the position of the virtual space coordinate information and their multipath transmission process, and determining point information corresponding to each of the signal rays;

[0067] S05. Obtain the preset multipath information library according to the multiple signal rays and the point information corresponding to each of the signal rays.

[0068] In the embodiments of the present disclosure, the virtual objects correspond to real objects in the real space that affect signal transmission, and may be pillars, walls, etc., into which signals are reflected.

[0069] The geometric information of a virtual object refers to face information and line segment information, etc. In some embodiments, the geometric information of a virtual object is converted by importing a virtual space model into a ray tracing model. Face information in the geometric information refers to faces in a virtual object that meet preset rules; line segment information refers to line segments corresponding to the face information. The line segment information is obtained by first determining the face information and then determining the vertex corresponding to the face information. In some embodiments, the face that meets the preset rules is a face that affects signal reflection or transmission.

[0070] In one example, the virtual object is a rectangular column erected vertically on the ground. The signal cannot reach the surface of the column that coincides with the ground, that is, it cannot be reflected or transmitted. The signal can be reflected or transmitted on the other surfaces. After the geometric information of the column is converted, the surface information obtained is 5 surfaces. Furthermore, one of the surfaces of the rectangular column has 4 vertices, and it can be determined that there are 4 line segment information on the surface.

[0071] In another example, the virtual object is a wall erected vertically on the ground. After excluding surfaces that cannot reflect or transmit signals, the surface information obtained is three surfaces.

[0072] The virtual space coordinate information refers to the position coordinates of the real base station in the real space, which are equivalent to the position information in the virtual space model. In some embodiments, the virtual space model is divided into a space grid, that is, the virtual space model is set in a space grid coordinate system to facilitate processing and analysis of signal rays in the virtual space model.

[0073] It is worth noting that, in the embodiments of the present disclosure, after the virtual space model is constructed, the space grids divided by the virtual space model can be reused without having to perform the pre-operation each time.

[0074] Figure 4 is a flowchart of a specific implementation method of step S01 in the embodiment of the present disclosure. Figure 4 , S01 includes:

[0075] S011. Scan the real space to generate point cloud data and image data;

[0076] S012. Generate a vector map according to the point cloud data and the image data;

[0077] S013: Modeling the vector map to obtain a virtual space model corresponding to the real space.

[0078] The embodiments of the present disclosure do not impose any special restrictions on the scanning process of the real space, and the scanning may be performed using environmental modeling scanning tools such as lasers and cameras.

[0079] The point cloud data obtained after scanning can be used to represent objects or scenes in real space. It is a data set composed of a large number of points located in space, and each point has coordinate information corresponding to the real space. The image data obtained after scanning can be grayscale image data, or RBG (Red Green Blue) image data, etc., and the present disclosure is not limited to this. Among them, in some embodiments, the points contained in the point cloud data can also have other information, such as color, reflectivity, electrical parameters, etc., and the present disclosure is not limited to this.

[0080] A vector map is a map that uses elements such as points, lines, and surfaces to represent real space. Modeling a vector map is to use the data of the vector map (points, lines, and surfaces, etc.) to create a virtual space model, which can represent various virtual objects and phenomena in the real space. In some embodiments, a three-dimensional modeling tool is used to model the vector map, and the process may include extracting features, defining spatial relationships, adding attribute information, etc.

[0081] Furthermore, in some embodiments, after S013, the method further includes:

[0082] The electrical parameters of the surface material of the virtual object in the virtual space model are calibrated.

[0083] In an embodiment of the present disclosure, the electrical parameters of the surface material of the virtual object are parameters used to describe the behavioral characteristics of the surface of the virtual object in the electromagnetic field. Electrical parameters may include conductivity, dielectric constant, magnetic permeability, etc., and the present disclosure is not limited thereto. Electrical parameters help to more accurately simulate the performance of virtual objects in a virtual space model, which refers to phenomena such as reflection, refraction, and absorption during signal transmission. Therefore, the virtual space model after calibrating the electrical parameters of the surface material, the preset multipath information library obtained is more consistent with the real space, the determination of the mirror virtual base station is more accurate, and the positioning of the terminal is more precise.

[0084] In some embodiments, S04 includes:

[0085] Simulating a plurality of signal rays emitted from a corresponding position of the virtual space coordinate information at various preset angles and various preset signal intensities;

[0086] Simulate the multipath transmission process of each signal ray when it is transmitted along a preset transmission path in the virtual space model, and determine the point information corresponding to each preset transmission path, wherein the preset transmission path is the transmission path of the signal ray to reach each spatial grid, and the spatial grid is obtained by dividing according to the geometric information of the virtual space model.

[0087] In an embodiment of the present disclosure, the principle of signal ray tracing is utilized to emit a signal ray of preset signal strength from the corresponding position of the virtual space coordinate information at a preset angle, i.e., to simulate the process of a real base station emitting a signal ray, wherein the preset signal strength is the intensity of a signal ray simulated when the antenna of the real base station is set, and the preset angle is the angle of the signal ray emitted from the base station simulated when the antenna of the real base station is set.

[0088] According to the propagation principle of signal rays, the multipath transmission process of signal rays in the virtual space model is simulated. In this multipath transmission process, the signal rays follow the physical transmission rules in the real space, for example, reflection will occur when entering the surface of an obstacle, transmission will occur when entering an obstacle with a thickness less than a certain threshold, and diffraction will occur when entering a line surface.

[0089] In the virtual space model, according to the signal ray tracing principle and the signal ray propagation principle, the transmission process of the signal ray is simulated to determine the various transmission paths of the signal ray; the transmission path may include a direct path, a transmission path, a diffraction path, a single reflection path, an n-times reflection path (n is a positive integer greater than 1) and a combined path, etc., but the present disclosure is not limited to this.

[0090] In some related technologies, based on each transmission path in the virtual space model, the integrated power of each grid point is calculated to represent the communication coverage of the base station, but this cannot accurately determine the second multipath parameter of each transmission path. Therefore, the virtual space model uses the space grid as a division to determine the second multipath parameter and transmission information corresponding to each transmission path reaching each space grid, that is, to record the propagation delay, signal angle, signal strength, reflection point, diffraction point, and point position information of the reflection surface of each transmission path.

[0091] In one example, the second multipath parameters and transmission information corresponding to the i transmission paths arriving in the space grid j are recorded as follows:

[0092] los:{t=t0,aoa=aoa0,rsrp=d0}

[0093]

[0094]

[0095] ...

[0097]

[0098] Wherein, los represents the transmission path of the straight path, and the second multipath parameters included in los:{·} are the propagation delay t, signal angle aoa and signal received power rsrp (used to represent signal strength) of the transmission path;

[0099] nlos represents the multipath transmission path of the non-straight path, {·} is the first reflection transmission path, refpoint is the reflection point, and refface is the reflection surface; {·} is the third diffraction transmission path, difpoint is the diffraction point, and diffuse is the diffraction line; {·} is a combined transmission path of a reflection transmission path and a diffraction transmission path.

[0100] Furthermore, the second multipath parameters corresponding to each transmission path reaching each spatial grid are sorted, and the set of propagation delays obtained is t = [t0, t1, t2...t i ], the set of signal angles is aoa=[aoa0,aoa1,aoa2......aoa i ].

[0101] Similarly, the multipath parameters of the return signal sent by the real base station in the real space can also be sorted out, and the set of propagation delays in the obtained multipath parameters is Ta = [Ta0, Ta1, Ta2...Ta j ], the set of signal angles in the multipath parameter is AoA = [AoA0, AoA1, AoA2......AoA j ].

[0102] Figure 5 is a flowchart of a specific implementation method of step S2 in the embodiment of the present disclosure. Figure 5 , S2 includes:

[0103] S21, matching the first multipath parameter with the second multipath parameter corresponding to the signal ray reaching each spatial grid, determining the second multipath parameter with the smallest deviation value from the first multipath parameter as the target multipath parameter, and determining the point information corresponding to the target multipath parameter as the target point information, wherein the spatial grid is obtained by dividing the virtual space model;

[0104] S22. Determine a target signal ray according to a target multipath parameter corresponding to each of the space grids in the virtual space model.

[0105] In the embodiments of the present disclosure, the multi-radial quantity formed by each point in the spatial grid is different, so by matching the first multipath parameter with the second multipath parameter of each signal ray in the preset multipath information library, according to the multi-radial quantity corresponding to the matched signal ray (i.e., the target signal ray), the transmission information corresponding to the signal ray is determined. In some embodiments, the transmission information includes information such as reflection points, reflection surfaces, diffraction points, and diffraction lines, and the complete multipath transmission process of the target signal ray can be determined by the transmission information and the second multipath parameter.

[0106] The target multipath parameter is obtained by sequentially matching the first multipath parameter with the second multipath parameter of each transmission path in the spatial grid. The matching can be measured by the deviation value between the first multipath parameter and the second multipath parameter, and the second multipath parameter with the smallest deviation value is used to determine the target multipath parameter.

[0107] In addition, it is worth noting that, in the process of matching the first multipath parameter with the second multipath parameter in the preset multipath information library, the multipath delay in the first multipath parameter can be used for matching, or the angle information in the first multipath parameter can be used for matching, or both can be used for matching, and the present disclosure is not limited to this.

[0108] In some embodiments, S21 includes:

[0109] Determine a difference between the first multipath parameter and a second multipath parameter within a preset sliding window range in the preset multipath information base; wherein the preset sliding window range covers all deviations of the target multipath parameter;

[0110] According to the difference, the second multipath parameter having the smallest deviation from the first multipath parameter within the preset sliding window is determined as the target multipath parameter.

[0111] In an embodiment of the present disclosure, in the process of matching the first multipath parameter with the second multipath parameter in the preset multipath information library, the setting of the space grid is obtained by discretizing the virtual space model, but the actual position movement process of the signal ray is a continuous process. Therefore, there is a situation where the first multipath parameter of the actually received return signal cannot be completely matched with the second multipath parameter in the preset multipath information library. Therefore, a preset sliding window is set to match the first multipath parameter of the actually received return signal with the second multipath parameter in the preset multipath information library.

[0112] In some embodiments, the preset sliding window range is the sum of the difference between two first multipath parameters with the largest difference among all first multipath parameters corresponding to the return signal and a redundant multipath parameter.

[0113] In an embodiment of the present disclosure, a preset sliding window range is provided with two sliding windows for matching the first multipath parameter of all received return signals and the second multipath parameter in the preset multipath information base. In some embodiments, the preset sliding window range is the first multipath parameter of the latest arriving signal among all the return signals actually received minus the first multipath parameter of the earliest arriving signal, and then the redundant multipath parameter is added to ensure that enough second multipath parameters can be matched, that is, the preset sliding window range can cover all deviations of the target multipath parameter. Among them, the redundant multipath parameter can be adjusted according to the actual situation. In some embodiments, for scenes with complex channel environments and rich multipaths, the values ​​that can be set for the redundant multipath parameters are relatively large; for scenes with simple channel environments and clear multipaths, the values ​​that can be set for the redundant multipath parameters are relatively small.

[0114] In one example, when both the first multipath parameter and the second multipath parameter are multipath delay, the preset sliding window range is the delay of the latest signal of all actually received return signals minus the delay of the earliest signal, plus the redundancy of some delay windows, and the preset sliding window range is: T window =Ta j -Ta0+t thre Among them, Ta j is the delay of the latest signal among the actually received return signals, Ta0 is the delay of the earliest signal among the actually received return signals, t thre is the delay tolerance threshold of the delay window, T window The preset sliding window range.

[0115] Since there is a certain overall offset capacity between the first multipath parameter of the real return signal and the second multipath parameter in the preset multipath information library obtained theoretically, the adjustment is made through the parameter m (i.e., step) until a most suitable deviation value is matched in the second multipath parameter corresponding to all transmission paths of a spatial grid. The most suitable deviation value here refers to the value with the smallest deviation value. That is, each spatial grid in the virtual space model corresponds to a most suitable deviation value, and the most suitable deviation value corresponds to the transmission path of a signal ray. The target multipath parameter refers to the second multipath parameter in the preset multipath information library corresponding to the smallest deviation value.

[0116] The deviation value is the overall offset capacity. In some embodiments, the deviation value is determined by summing the square of the difference between the first multipath parameter and the second multipath parameter within the preset sliding window range in steps of m, and then comparing to obtain the minimum deviation value.

[0117] In one example, when the first multipath parameter and the second multipath parameter are both multipath delays, the delay difference is: Wherein, Ta(p) is the first multipath parameter of the real return signal, ta(pm) is the second multipath parameter in the preset multipath information library, T window is the preset sliding window range, △tall(m) is the difference.

[0118] The minimum deviation between the multipath delay of the first multipath parameter and the multipath delay of the second multipath parameter at the i-th spatial grid under the m offset is min(△tall(m)) i At this point, after the i-th spatial grid matches the most appropriate deviation value, the next grid point is polled in turn and the same preset sliding window range translation operation is applied. Similarly, the most appropriate deviation corresponding to the j-th spatial grid after the i-th is calculated as min(△tall(m)) j, where i < j, and both i and j are positive integers.

[0119] In some embodiments, S22 includes:

[0120] Compare the target multipath parameters of all spatial grids in the virtual space model, and determine that the signal ray corresponding to the smallest target multipath parameter is the target signal ray.

[0121] In the embodiments of the present disclosure, traverse all spatial grids in the virtual space model, and use the signal ray corresponding to the smallest target multipath parameter as the target signal ray, where the smallest target multipath parameter represents the second multipath parameter of the signal ray that best matches in the virtual space model.

[0122] In some embodiments, when the first multipath parameter is the multipath delay, determining the smallest target multipath parameter (optimal delay deviation information) among all spatial grids as:

[0123] p△tall(m) = min{min(△tall(m))1, min(△tall(m))2,..., min(△tall(m)) k};

[0124] where p△tall(m) is the optimal matching delay vector of the current measurement value, and min(△tall(m))1, min(△tall(m))2,..., min(△tall(m)) k are the target multipath parameters corresponding to the 1st to kth spatial grids.

[0125] Based on the target multipath parameter, determine the signal ray pre-stored in the preset multipath information library corresponding thereto as the target signal ray:

[0126]

[0127] where t is the propagation delay of the transmission path, aoa is the signal angle, rsrp is the signal reception power, refpoint is the reflection point, refface is the reflection surface, difpoint is the diffraction point, and diffline is the diffraction line; {·} is the combined transmission path of the target signal ray.

[0128] In some embodiments, when the transmission information includes the reflection point and the reflection surface, S3 includes:

[0129] According to the transmission information corresponding to the target signal ray and the position coordinates of the real base station, determine the first distance between the terminal and the reflection point, the second distance between the terminal and the real base station, and the third distance between the reflection point and the real base station;

[0130] According to the first distance, the second distance, the third distance and the reflecting surface, it is determined that the target position of the real base station obtained by mirroring the reflecting surface is the position of the mirrored virtual base station.

[0131] In an embodiment of the present disclosure, when the transmission information includes a reflection point and a reflection surface, that is, when the return signal encounters a surface, reflection occurs, the first distance, the second distance, and the third distance describe the distance relationship between the real base station, the reflection point, and the terminal. When the reflection surface is determined, the position coordinates of the mirror virtual base station that is mirror-symmetric about the reflection surface can be determined through spatial geometric relationships.

[0132] It is worth noting that the transmission of the return signal in the real space may be subject to multiple reflections, diffractions, etc., and the present disclosure is not limited to this. In some embodiments, due to the serious attenuation of the signal strength after multiple reflections, diffractions, etc., the reliability of the return signal may be insufficient. The number of reflections, diffractions, etc. of the return signal may be limited to ensure that the return signal is sufficient for the positioning of the terminal.

[0133] Figure 6 This is a schematic diagram of an example application scenario of step S3 in the embodiment of the present disclosure. Figure 6 , the return signal is reflected once, and the spatial geometric relationship is used to explain the process of generating a mirror virtual base station:

[0134] The third terminal corresponds to the third user, and determines the coordinates of the reflection point in the matching transmission information through the preset multipath information database as [x fi ,y fi ,z fi ], and the reflection surface in the determined transmission information is Figure 6 The first modeled obstacle in .

[0135] Through spatial geometric relationships, according to the position coordinates [x1, y1, z1] of the first real base station prru, the position coordinates of the symmetrical point prru' (the first virtual base station) with the first modeled obstacle as the mirror are [x1', y1', z1']; at this time, prru' and the reflection point coordinates are connected, and the extended length after the connection is the multipath propagation length (i.e., the length of the nlos path). Here, the multipath length can be calculated based on the multipath delay reported by the multipath to obtain d i =c*t i , where d i is the multipath propagation length (i.e., the distance from the third user to the first virtual base station), c is the speed of light, t i is the multipath delay.

[0136] At this time, the position coordinates of the first virtual base station and the distance (multipath propagation length) from the third user to the first virtual base station are determined, and the first virtual base station can be equivalent to the effect of measuring a real base station. The information of the first virtual base station includes:

[0137] Coordinates of the first virtual base station: [x', y', z'];

[0138] The distance between the first virtual base station and the terminal: d i =c*t i ;

[0139] Vector direction: Wherein, [x1', y1', z1'] is the position coordinate of the first virtual base station, [x fi ,y fi ,z fi ] are the coordinates of the reflection point.

[0140] Figure 7 FIG. 1 is a schematic diagram of another example application scenario of step S3 in the embodiment of the present disclosure. Figure 7 , the return signal is reflected twice in total. Using the spatial geometric relationship, the process of generating a mirror virtual base station is explained as follows:

[0141] The fourth terminal corresponds to the fourth user, and the return signal passes through the second modeled obstacle and the third modeled obstacle in turn to reach the fourth terminal, that is, the return signal emitted by the second virtual base station reaches the fourth terminal after being reflected by the third modeled obstacle, and the two reflections through the second modeled obstacle and the third modeled obstacle are equivalent to one reflection process.

[0142] Through the position coordinates [x1, y1, z1] of the second real base station and the reflection point on the second modeled obstacle, by mirroring the second real base station about the second modeled obstacle, the position coordinates of the second virtual base station can be calculated as [x1', y1', z1'].

[0143] Similarly, taking the third modeled obstacle as the reflection surface, the position coordinates of the second virtual base station as [x1', y1', z1'] and the reflection point on the third modeled obstacle, by mirroring the second virtual base station about the third modeled obstacle, the position coordinates of the third virtual base station can be calculated as [x1", y1", z1"], where the reflection point on the third modeled obstacle is [x fi2 ,y fi2 ,z fi2 ]. Connect the third virtual base station and the reflection point coordinates on the third modeled obstacle. The extended length after the connection is the multipath propagation length (i.e., the length of the nlos path). Here, the multipath length can be calculated based on the multipath delay reported by the multipath. i2 =c*ti2 , where d i2 is the multipath propagation length (i.e., the distance from the fourth user to the third virtual base station), c is the speed of light, t i2 is the multipath delay after two reflections.

[0144] At this time, the position coordinates of the third virtual base station and the distance (multipath propagation length) from the fourth user to the third virtual base station are determined, and the third virtual base station can be equivalent to the effect of measuring a real base station. The information of the third virtual base station includes:

[0145] Coordinates of the third virtual base station: [x”, y”, z”];

[0146] The distance between the third virtual base station and the terminal: d i2 =c*t i2 ;

[0147] Vector direction: Wherein, [x”, y”, z”] is the location coordinate of the third virtual base station, [x fi2 ,y fi2 ,z fi2 ] are the coordinates of the reflection point on the third modeled obstacle.

[0148] The above-mentioned embodiment of the present disclosure utilizes the virtual space model constructed in advance, utilizes the time delay, angle and energy information (i.e., transmission information) of the nlos (non-line-of-sight) path of the signal ray at each point in the space grid in the virtual space model, and utilizes the first multipath parameter of the return signal acquired in real time to generate multiple mirror virtual base stations. That is, according to the multipath return signal of the real base station received by a single terminal, the second multipath parameter matching the first multipath parameter of the return signal is accurately calculated, and according to the transmission information corresponding to the second multipath parameter (such as the reflection surface and reflection point of the mirror), the geometric space relationship (such as the mirror symmetry principle) is used to generate a mirror virtual base station according to the return signal of each multipath delay measurement or the return signal of the multipath AOA measurement, so as to realize the conversion of the nlos (non-line-of-sight) return signal into the real measurement value of los, wherein the mirror virtual base station is a base station that is not actually installed, and the measurement values ​​of multiple mirror virtual base stations are combined, and the location information of the terminal can be calculated when the total number of base stations is met, thereby solving the problem of accurately expanding a single real base station into multiple mirror virtual base stations, and reducing the limitation of the number of base stations on the terminal positioning.

[0149] Second, refer to Figure 8 , an embodiment of the present disclosure provides an electronic device, comprising:

[0150] One or more processors 801;

[0151] A memory 802, on which one or more programs are stored. When the one or more programs are executed by one or more processors, the one or more processors implement any one of the above terminal positioning methods;

[0152] One or more I / O interfaces 803 are connected between the processor and the memory and are configured to implement information exchange between the processor and the memory.

[0153] Among them, the processor 801 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 802 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH); the I / O interface 803 (read-write interface) is connected between the processor 801 and the memory 802, and can realize information interaction between the processor 801 and the memory 802, including but not limited to a data bus (Bus), etc.

[0154] Thirdly, refer to Fig. 9 The embodiment of the present disclosure provides a computer-readable medium on which a computer program is stored. When the program is executed by a processor, any one of the above-mentioned terminal positioning methods is implemented.

[0155] In order to enable those skilled in the art to more clearly understand the technical solutions provided by the embodiments of the present disclosure, the technical solutions provided by the embodiments of the present disclosure are described in detail below through specific embodiments:

[0156] Embodiment 1, Fig.10 FIG. 1 is a flow chart of an exemplary terminal positioning process in an embodiment of the present disclosure. Fig.10 The positioning process of the terminal includes offline construction of a preset multipath information library and online determination of a mirror virtual base station. Further, the positioning process of the terminal is as follows:

[0157] Step 1001, use infrared and camera to scan the real space, and build a virtual space model corresponding to the environment of the real space offline.

[0158] Step 1002, set the location of the real base station and the antenna parameter information of the real base station (such as preset angle, preset signal strength) in the virtual space model, simulate and calculate the second multipath parameters and transmission information of the signal rays at each point in each spatial grid in the virtual space model, and obtain a preset multipath information library.

[0159] Step 1003, the first multipath parameter of the returned data is matched with the second multipath parameter in the preset multipath information library to determine the matched target signal ray and the transmission information corresponding to the target signal ray (including the reflection point and reflection surface of the reflection path, etc.).

[0160] Step 1004, a mirror virtual base station is generated according to the transmission information of the target signal ray and the position of the real base station. The mirror virtual base station has no entity, but has the base station position and measurement report required for positioning. The mirror virtual base station can be equivalent to adding a new los base station, thereby increasing the number of los base stations, realizing the function of improving positioning accuracy, and reducing positioning coverage blind spots.

[0161] Step 1005: Position the terminal using the real base station and the mirror virtual base station through UTDOA.

[0162] Step 1006, outputting the determined location coordinates of the terminal.

[0163] Embodiment 2: In the process of matching the first multipath parameter with the second multipath parameter in the preset multipath information library, the present invention may use the multipath delay in the first multipath parameter for matching, or use the angle information in the first multipath parameter for matching, or use both for matching. The following examples illustrate the process of matching and positioning using the multipath delay in the first multipath parameter and the process of matching and positioning using the angle information in the first multipath parameter.

[0164] in, Fig.11 This is a schematic diagram of an exemplary application scenario of terminal positioning in an embodiment of the present disclosure, referring to Fig.11 , taking the room model as an example to illustrate the process of multipath delay matching and positioning using the first multipath parameter:

[0165] First, the real space is scanned by using devices such as laser rangefinders and cameras to obtain the virtual space model in the room. After obtaining the virtual space model, the virtual space coordinate information of the real base station in the virtual space model (i.e., the room model) and the antenna parameter information of the real base station (such as preset angle, preset signal strength) are set and imported into the ray tracing model to obtain the multipath delay of the received signal ray at each grid point in the space grid in the virtual space model.

[0166] Among them, the three-dimensional length, width and height information of the room model is [l, w, h] = [48m, 30m, 6m]; the position coordinates of the real base station (i.e., the third real base station) are prru: [16m, 12m, 5m]; the measured multipath delay in the preset multipath information library (i.e., the second multipath parameter calculated in advance) is Ta = [117.6Tc, 157.56Tc, 171.15Tc, 255.67Tc];

[0167] Get the multipath delay prru of the third real base station actually collected: [16m, 12m, 5m], TA = 117.60Tc;

[0168] The multipath delay is matched with the multipath delay in the preset multipath information library to determine the matching target signal ray and the transmission information corresponding to the signal ray, and then according to the transmission information of the target signal ray and the position coordinates of the third real base station, a fourth virtual base station prru1': [-16m, 12m, 5m], TA1 = 157.56Tc, a fifth virtual base station prru2': [16m, 48m, 5m], TA2 = 171.15, and a sixth virtual base station prru3': [16m, -12m, 5m], TA3 = 255.67Tc, which is mirror-symmetrical about the first obstacle surface, are generated.

[0169] Substitute the position coordinates of the third real base station, the fourth virtual base station, the fifth virtual base station and the sixth virtual base station into the UTDOA positioning equation:

[0170]

[0171]

[0172]

[0173] Through the UTDOA positioning equation, the coordinate values ​​X, Y and Z of the terminal can be iteratively solved by the least square method to obtain the terminal's position [X, Y, Z]. This solves the problem that the terminal cannot be positioned due to the small number of real base stations. The construction of the virtual space model and the calculation of the preset multipath information library can be done in advance, and the multiplexing is strong, which reduces the complexity of terminal positioning in the same real space. At the same time, it also reduces the cost of establishing real base stations, improves the accuracy of terminal positioning, and is highly practical.

[0174] Reference Fig.11 , taking the room model as an example to illustrate the process of matching and positioning using the angle information in the first multipath parameter:

[0175] First, the real space is scanned by using devices such as laser rangefinders and cameras to obtain the virtual space model in the room. After obtaining the virtual space model, the virtual space coordinate information of the real base station in the virtual space model (i.e., the room model) and the antenna parameter information of the real base station (such as preset angle, preset signal strength) are set and imported into the ray tracing model to obtain the angle information of the received signal ray at each grid point in the space grid in the virtual space model.

[0176] Among them, the three-dimensional length, width and height information of the room model is [l, w, h] = [48m, 30m, 6m]; the position coordinates of the real base station (i.e., the third real base station) are prru: [16m, 12m, 5m]; the angle information in the preset multipath information library obtained by measurement (i.e., the second multipath parameter calculated in advance) is Ta = [aoa0, aoa1, aoa2, aoa3];

[0177] Get the angle information prru of the third real base station actually collected: [16m, 12m, 5m], AOA = aoa0;

[0178] Match the angle information with the angle information in the preset multipath information library to determine the matching target signal ray and the transmission information corresponding to the signal ray, and then generate the fourth virtual base station prru1': [-16m, 12m, 5m], AOA1 = aoa1, which is mirror-symmetrical about the first obstacle surface, the fifth virtual base station prru2': [16m, 48m, 5m], AOA2 = aoa2, which is mirror-symmetrical about the second obstacle surface, and the sixth virtual base station prru3': [16m, -12m, 5m], AOA3 = aoa3, which is mirror-symmetrical about the third obstacle surface, according to the transmission information of the target signal ray and the position coordinates of the third real base station.

[0179] Substitute the position coordinates of the third real base station, the fourth virtual base station, the fifth virtual base station and the sixth virtual base station into the multi-AOA positioning equation:

[0180]

[0181]

[0182]

[0183]

[0184] Through the AOA positioning equation, the coordinate values ​​X, Y and Z of the terminal can be iteratively solved using the least squares method to obtain the terminal's position [X, Y, Z]. In some related technologies, the positioning of the terminal is to obtain multiple measurements through multiple transceiver devices, and jointly calculate the target's location information, but this places high demands on the deployment of base stations. The embodiments of the present disclosure accurately locate the position of the mirror virtual base station by obtaining multiple groups of measurements of a real base station, thereby reducing the density and cost of deploying real base stations in real space. In some scenarios, only one base station is needed to accurately position the terminal, which expands the application scenarios of the base station and reduces the dependence of the real base station on the los scenario.

[0185] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0186] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only in a general illustrative sense and not for limiting purposes. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly noted, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, those skilled in the art will appreciate that various changes in form and detail may be made without departing from the scope of the present disclosure as set forth in the appended claims.

Claims

1. A terminal positioning method, comprising: Acquire a first multipath parameter of a return signal, wherein the return signal is a signal generated by a real base station in real space in response to a measurement signal, and the measurement signal is a signal sent by a target terminal in a direct path; Determine the point information matching the first multipath parameter in the preset multipath information library as the target point information, and determine the signal ray corresponding to the target point information as the target signal ray; wherein the preset multipath information library includes a plurality of the signal rays and the point information corresponding to the signal rays, the signal ray is a signal emitted from a position corresponding to a real base station simulated in a virtual space model, the virtual space model is a simulated space model constructed according to the real space, and the point information is used to describe the multipath transmission process of the signal ray when it is transmitted in the virtual space model; Determine a mirror virtual base station according to the target point information and the real base station; The location of the terminal is determined according to the real base station and the mirror virtual base station.

2. The terminal positioning method according to claim 1, wherein: The first multipath parameter includes at least one of a first multipath delay and first angle information.

3. The terminal positioning method according to claim 1, wherein: The point information includes a second multipath parameter and transmission information, wherein the second multipath parameter includes at least one of a second multipath delay and a second angle information; The second multipath parameter is used to describe the signal propagation characteristics of each signal ray during the multipath transmission process; and the transmission information is used to describe the physical propagation characteristics of each signal ray during the multipath transmission process.

4. The terminal positioning method according to claim 3, wherein: The step of determining the point information matching the first multipath parameter in the preset multipath information database as the target point information, and determining the signal ray corresponding to the target point information as the target signal ray, comprises: Matching the first multipath parameter with a second multipath parameter corresponding to the signal ray reaching each spatial grid, determining the second multipath parameter having the smallest deviation value from the first multipath parameter as the target multipath parameter, and determining the point information corresponding to the target multipath parameter as the target point information, wherein the spatial grid is obtained by dividing the virtual space model; The target signal ray is determined according to the target multipath parameter corresponding to each of the space grids in the virtual space model.

5. The terminal positioning method according to claim 4, wherein: Matching the first multipath parameter with a second multipath parameter corresponding to the signal ray reaching each spatial grid, and determining the second multipath parameter having the smallest deviation value from the first multipath parameter as a target multipath parameter, comprising: Determine a difference between the first multipath parameter and a second multipath parameter within a preset sliding window range in the preset multipath information base; wherein the preset sliding window range covers all deviations of the target multipath parameter; According to the difference, the second multipath parameter having the smallest deviation from the first multipath parameter within the preset sliding window is determined as the target multipath parameter.

6. The terminal positioning method according to claim 5, wherein: The preset sliding window range is the sum of the difference between two first multipath parameters with the largest difference among all first multipath parameters corresponding to the return signal and the redundant multipath parameter.

7. The terminal positioning method according to claim 4, wherein: The step of determining the target signal ray according to the target multipath parameter corresponding to each of the space grids in the virtual space model comprises: The target multipath parameters of all space grids in the virtual space model are compared, and the signal ray corresponding to the minimum target multipath parameter is determined as the target signal ray.

8. The terminal positioning method according to claim 3, wherein: In the case where the transmission information includes a reflection point and a reflection surface, determining a mirror virtual base station according to the target point information and the real base station includes: Determine, according to the transmission information corresponding to the target signal ray and the position coordinates of the real base station, a first distance between the terminal and the reflection point, a second distance between the terminal and the real base station, and a third distance between the reflection point and the real base station; According to the first distance, the second distance, the third distance and the reflecting surface, it is determined that the target position of the real base station obtained by mirroring the reflecting surface is the position of the mirrored virtual base station.

9. The terminal positioning method according to claim 1, wherein: Before acquiring the first multipath parameter of the return signal, the method further includes: Constructing the virtual space model according to the real space; Performing geometric information conversion on all virtual objects in the virtual space model to obtain geometric information of the virtual objects; Determine virtual space coordinate information corresponding to the position coordinates of the real base station in the virtual space model; According to the geometric information, simulating a plurality of signal rays emitted from the position of the virtual space coordinate information and their multipath transmission process, and determining the point position information corresponding to each of the signal rays; The preset multipath information library is obtained according to the multiple signal rays and the point information corresponding to each of the signal rays.

10. The terminal positioning method according to claim 9, wherein: The step of constructing the virtual space model according to the real space includes: Scanning the real space to generate point cloud data and image data; Generate a vector map according to the point cloud data and the image data; The vector map is modeled to obtain the virtual space model corresponding to the real space.

11. The terminal positioning method according to claim 10, wherein: After the vector map is modeled to obtain the virtual space model corresponding to the real space, the method further includes: The electrical parameters of the surface material of the virtual object in the virtual space model are calibrated.

12. The terminal positioning method according to claim 9, wherein: The step of simulating, based on the geometric information, a plurality of signal rays emitted from the position of the virtual space coordinate information and their multipath transmission process to determine the point information corresponding to each of the signal rays includes: Simulating a plurality of signal rays emitted from a corresponding position of the virtual space coordinate information at various preset angles and various preset signal intensities; Simulate the multipath transmission process of each signal ray when it is transmitted along a preset transmission path in the virtual space model, and determine the point information corresponding to each preset transmission path, wherein the preset transmission path is the transmission path of the signal ray to reach each spatial grid, and the spatial grid is obtained by dividing according to the geometric information of the virtual space model.

13. An electronic device, comprising: one or more processors; A memory having one or more programs stored thereon, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the terminal positioning method according to any one of claims 1 to 12.

14. A computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, the terminal positioning method according to any one of claims 1 to 12 is implemented.

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