Positioning Method and Device, System, Storage Medium and Electronic Device of a Receiving Device

Abstract

An embodiment of the present application provides a positioning method, device, system, storage medium, and electronic device for a receiving device. The method includes: transmitting a pilot signal to an electromagnetic reflection surface through a transmitting device; sending regulation information to an electromagnetic reflection surface control unit through the transmitting device, where the regulation information includes timing information and regulation direction information, and the regulation information is used to instruct the electromagnetic reflection surface control unit to direct the reflection beam formed by the target pilot signal on the electromagnetic reflection surface to a preset direction during a target time period, and the preset direction is the direction indicated by the preset direction information corresponding to the target time period; determining a signal measurement result corresponding to the preset direction through the transmitting device or the receiving device, and positioning the receiving device according to the preset direction and the signal measurement result. Through the present application, the technical problem in the related art that the characteristics of the electromagnetic reflection surface itself cannot be used for positioning the terminal is solved, and the effect of positioning the terminal by using the characteristics of the electromagnetic reflection surface itself is achieved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communications. Specifically, the embodiments of the present application relate to a positioning method and device, a system, a storage medium, and an electronic device for a receiving device. Background Art

[0002] Traditional methods for estimating the direction of arrival (DOA) of array beams include methods based on multiple signal classification (MUSIC) and estimating signal parameter via rotation invariance techniques (ESPRIT). The basis of these methods is that array elements have independent measurement functions (such as measuring the phase of the incoming wave). However, for intelligent electromagnetic reflection surfaces (also known as intelligent reflecting surfaces, electromagnetic reflecting surfaces), the increase in such measurement functions will reduce the reflection efficiency and increase the cost. Therefore, intelligent reflecting surfaces usually do not have the phase measurement function of independent electromagnetic units, resulting in the inapplicability of traditional array DOA estimation methods in intelligent reflecting surfaces.

[0003] Traditional non-line-of-sight positioning methods include line-of-sight reconstruction positioning methods, non-line-of-sight weighted positioning methods, time-of-arrival (TOA) positioning methods based on the combination of line-of-sight reconstruction and smoothing processing, and positioning methods based on inequality constraints. In these methods, non-line-of-sight is either converted into line-of-sight using the mirror principle or the influence of non-line-of-sight components is reduced using statistical methods. The cooperation of multiple base stations is required in this positioning method. Moreover, in fingerprint maps or global positioning system-based positioning methods in related technologies, the deployment of another set of positioning systems and related accessories is required, which increases the cost and is limited in implementation in some scenarios. It can be seen that in related technologies, multiple systems need to be used and other related technologies are required for support during positioning, and the characteristics of the electromagnetic reflecting surface itself cannot be used for terminal positioning.

[0004] Aiming at the technical problem that the characteristics of the electromagnetic reflecting surface itself cannot be used for terminal positioning in related technologies, no effective technical solution has been proposed yet. Summary of the Invention

[0005] The embodiments of the present application provide a positioning method and device, a system, a storage medium, and an electronic device for a receiving device, so as to at least solve the technical problem that the characteristics of the electromagnetic reflecting surface itself cannot be used for terminal positioning in related technologies.

[0006] According to an embodiment of the present application, a positioning method for a receiving device includes: transmitting a pilot signal to an electromagnetic reflection surface through a transmitting device; sending regulation information to an electromagnetic reflection surface control unit through the transmitting device, where the regulation information includes timing information and regulation direction information, and the regulation information is used to instruct the electromagnetic reflection surface control unit to direct the reflection beam formed by a target pilot signal on the electromagnetic reflection surface to a preset direction during a target time period, the preset direction is the direction indicated by preset direction information corresponding to the target time period, and the preset direction points to a target area, the timing information includes the target time period, the regulation direction information includes the preset direction information, and the pilot signal transmitted through the transmitting device includes the target pilot signal; determining a signal measurement result corresponding to the preset direction through the transmitting device or the receiving device, and positioning the receiving device according to the preset direction and the signal measurement result, where the signal measurement result is the result obtained by the receiving device located in the target area measuring the target pilot signal reflected along the preset direction.

[0007] In an exemplary embodiment, before transmitting the pilot signal to the electromagnetic reflection surface through the transmitting device, the method further includes: determining the regulation information by the transmitting device according to the target area; the determining the regulation information according to the target area includes: determining a plurality of the preset direction information according to a plurality of sub-areas obtained by dividing the target area, and determining a plurality of the target time periods according to the plurality of the preset direction information, where each of the preset direction information corresponds to each of the plurality of sub-areas one by one, the timing information includes the plurality of the target time periods, and each of the target time periods corresponds to each of the preset direction information one by one; or, determining a plurality of the preset directions for pointing to the target area, and determining each of the preset direction information as one of the plurality of the preset directions, and determining a plurality of the target time periods according to the plurality of the preset direction information, where the timing information includes the plurality of the target time periods, and each of the target time periods corresponds to each of the preset direction information of the target time period one by one.

[0008] In an exemplary embodiment, after sending the regulation information to the electromagnetic reflection surface control unit through the transmitting device, the method further includes: determining a target reflection coefficient by the electromagnetic reflection surface control unit according to the preset direction information; adjusting the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface to the target reflection coefficient by the electromagnetic reflection surface control unit, so that the electromagnetic reflection surface forms a reflection beam in the preset direction; where the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

[0009] In an exemplary embodiment, when the preset direction information is the target reflection coefficients of the electromagnetic units corresponding to the preset direction, after sending the regulation information to the electromagnetic reflection surface control unit through the transmitting device, the method further includes: adjusting the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface to the target reflection coefficients through the electromagnetic reflection surface control unit, so that the electromagnetic reflection surface forms a reflection beam in the preset direction, where the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

[0010] In an exemplary embodiment, when the preset direction information is the input parameter corresponding to the preset direction, after sending the regulation information to the electromagnetic reflection surface control unit through the transmitting device, the method further includes: determining, by the electromagnetic reflection surface control unit, the target reflection coefficients according to the input parameter, and adjusting the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface to the target reflection coefficients, so that the electromagnetic reflection surface forms a reflection beam in the preset direction, where the input parameter is used to determine the target reflection coefficients, and the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

[0011] In an exemplary embodiment, the regulation information further includes one of the following information: the beam regulation start time, where the beam regulation start time is used to indicate that the electromagnetic reflection surface control unit starts to control the electromagnetic units of the electromagnetic reflection surface at the beam regulation start time to control the direction of the reflection beam of the electromagnetic reflection surface; the beam regulation end time, where the beam regulation end time is used to indicate that the electromagnetic reflection surface control unit ends the control of the electromagnetic units of the electromagnetic reflection surface at the beam regulation end time.

[0012] In an exemplary embodiment, when determining, by the transmitting device, the signal measurement result corresponding to the preset direction and positioning the receiving device according to the preset direction and the signal measurement result, before determining, by the transmitting device, the signal measurement result corresponding to the preset direction, the method further includes: receiving, by the transmitting device, a set of measurement results sent by the receiving device, where the set of measurement results includes the signal measurement results corresponding to the target time period; where determining, by the transmitting device, the signal measurement result corresponding to the preset direction includes: determining, according to the target time period, the preset direction indicated by the preset direction information corresponding to the target time period, and determining the signal measurement result corresponding to the target time period as the signal measurement result corresponding to the preset direction.

[0013] In an exemplary embodiment, when determining a signal measurement result corresponding to the preset direction through the receiving device and positioning the receiving device according to the preset direction and the signal measurement result, before determining the signal measurement result corresponding to the preset direction through the receiving device, the method further includes: receiving, by the receiving device, correspondence information sent by the transmitting device, where the correspondence information is a correspondence between the preset direction and the target time period, or the correspondence information is a correspondence between the preset direction and the target pilot signal; where determining the signal measurement result corresponding to the preset direction through the receiving device includes: when the correspondence information is a correspondence between the preset direction and the target time period, determining the signal measurement result corresponding to the target time period as the signal measurement result corresponding to the preset direction; or when the correspondence information is a correspondence between the preset direction and the target pilot signal, determining the signal measurement result corresponding to the target pilot signal as the signal measurement result corresponding to the preset direction.

[0014] In an exemplary embodiment, positioning the receiving device according to the preset direction and the signal measurement result includes: determining, according to the preset direction and the position and height of the electromagnetic reflection surface, the position coordinates (xi, yi) of the reflection beam corresponding to each preset direction in the target area, and determining the value of the signal measurement result corresponding to the preset direction as the vertical axis coordinate zi corresponding to the position coordinates (xi, yi), where i is an identifier of the reflection beam corresponding to the preset direction; performing Gaussian function fitting according to the coordinate range where the target area is located, the position coordinates (xi, yi), and the corresponding vertical axis coordinate zi to obtain a fitted Gaussian function, and determining a positioning result for positioning the receiving device according to the coordinates corresponding to the vertex of the fitted Gaussian function.

[0015] In an exemplary embodiment, the Gaussian function fitting is performed according to the coordinate range where the target area is located, the position coordinates (xi, yi), and the corresponding vertical axis coordinate zi to obtain the fitted Gaussian function, and the positioning result for positioning the receiving device is determined according to the coordinates corresponding to the vertex of the fitted Gaussian function, including: sampling the abscissa range and the ordinate range where the target area is located at a preset coordinate interval respectively to obtain the sampled abscissa set and ordinate set; determining the vertical axis coordinate zw corresponding to each abscissa xw in the abscissa set from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi), and determining the vertical axis coordinate zp corresponding to each ordinate yp in the ordinate set from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi), where w and p are positive integers in the interval [1, n], and n is the number of sampled samples; performing one-dimensional Gaussian function fitting according to the coordinate set (xw, zw) composed of the abscissa set and the vertical axis coordinate zw corresponding to each abscissa xw in the abscissa set to obtain the first fitted Gaussian function; and performing one-dimensional Gaussian curve fitting according to the coordinate set (yp, zp) composed of the ordinate set and the vertical axis coordinate zp corresponding to each ordinate yp in the ordinate set to obtain the second fitted Gaussian function; determining the first coordinate xt corresponding to the vertex of the first Gaussian function and the second coordinate yt corresponding to the vertex of the second Gaussian function, and respectively determining the xt and the yt as the abscissa and ordinate of the positioning result, where the xt is the abscissa within the abscissa range where the target area is located, and the yt is the ordinate within the ordinate range where the target area is located.

[0016] In an exemplary embodiment, the positioning of the receiving device according to the preset direction and the signal measurement result includes: determining the position coordinates (xi, yi) of the reflection beam corresponding to each preset direction in the target area according to the preset direction and the position and height of the electromagnetic reflection surface, and determining the value of the signal measurement result corresponding to the preset direction as the vertical axis coordinate zi corresponding to the position coordinates, where i is the identifier of the reflection beam corresponding to the preset direction; performing two-dimensional Gaussian function fitting according to the coordinate set (xi, yi, zi) composed of the position coordinates (xi, yi) and the vertical axis coordinate zi to obtain the fitted two-dimensional Gaussian function; determining the coordinates (xt, yt) corresponding to the vertex of the two-dimensional Gaussian function, and determining the coordinates (xt, yt) as the positioning result obtained by positioning the receiving device, where the xt is the abscissa within the abscissa range where the target area is located, and the yt is the ordinate within the ordinate range where the target area is located.

[0017] In an exemplary embodiment, after determining, by the transmitting device, a signal measurement result corresponding to the preset direction, and positioning the receiving device according to the preset direction and the signal measurement result, the method further includes: determining, by the transmitting device, target direction information according to the positioning result obtained by positioning the receiving device, where the target direction information is used to instruct the electromagnetic reflection surface control unit to control the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface according to the target direction information, so that the reflection beam formed by the radio frequency signal transmitted by the transmitting device on the electromagnetic reflection surface points to the receiving device.

[0018] In an exemplary embodiment, after determining, by the receiving device, a signal measurement result corresponding to the preset direction, and positioning the receiving device according to the preset direction and the signal measurement result, the method further includes: determining, by the receiving device, target direction information according to the positioning result obtained by positioning the receiving device, where the target direction information is used to instruct the electromagnetic reflection surface control unit to control the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface according to the target direction information, so that the reflection beam formed by the radio frequency signal transmitted by the transmitting device on the electromagnetic reflection surface points to the receiving device.

[0019] According to another embodiment of the present application, there is also provided a positioning device for a receiving device, including: a transmitting module, configured to transmit a pilot signal to an electromagnetic reflection surface through a transmitting device; a regulation module, configured to send regulation information to an electromagnetic reflection surface control unit through the transmitting device, where the regulation information includes timing information and regulation direction information, the regulation information is used to instruct the electromagnetic reflection surface control unit to direct the reflection beam formed by a target pilot signal on the electromagnetic reflection surface to a preset direction during a target time period, the preset direction is the direction indicated by the preset direction information corresponding to the target time period, and the preset direction points to a target area, the timing information includes the target time period, the regulation direction information includes the preset direction information, and the pilot signal transmitted by the transmitting device includes the target pilot signal; a positioning module, configured to determine, by the transmitting device or the receiving device, a signal measurement result corresponding to the preset direction, and position the receiving device according to the preset direction and the signal measurement result, where the signal measurement result is the result obtained by the receiving device located in the target area measuring the received target pilot signal reflected along the preset direction.

[0020] According to another embodiment of the present application, a positioning system for a receiving device is further provided, including: a transmitting device, an electromagnetic reflecting surface control unit, an electromagnetic reflecting surface, and a receiving device. Among them, the transmitting device is configured to transmit a pilot signal to the electromagnetic reflecting surface and send regulation information to the electromagnetic reflecting surface control unit. The regulation information includes timing information and regulation direction information. The regulation information is used to instruct the electromagnetic reflecting surface control unit to direct the reflected beam formed by the target pilot signal on the electromagnetic reflecting surface to a preset direction during a target time period. The preset direction is the direction indicated by the preset direction information corresponding to the target time period, and the preset direction points to a target area. The timing information includes the target time period, and the regulation direction information includes the preset direction information. The pilot signal transmitted by the transmitting device includes the target pilot signal. The electromagnetic reflecting surface control unit is configured to direct the reflected beam formed by the target pilot signal on the electromagnetic reflecting surface to the preset direction during the target time period according to the regulation information. The receiving device is configured to measure the received target pilot signal reflected along the preset direction to obtain an information measurement result, where the receiving device is located in the target area. The transmitting device or the receiving device is further configured to determine a signal measurement result corresponding to the preset direction, and perform positioning on the receiving device according to the preset direction and the signal measurement result corresponding to the preset direction.

[0021] According to another embodiment of the present application, a computer-readable storage medium is further provided. A computer program is stored in the computer-readable storage medium. The computer program is configured to execute the steps in any one of the above method embodiments when running.

[0022] According to another embodiment of the present application, an electronic device is further provided, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0023] With this application, a pilot signal is transmitted to an electromagnetic reflection surface by a transmitting device; control information is sent to an electromagnetic reflection surface control unit by the transmitting device, where the control information includes timing information and control direction information, and the control information is used to instruct the electromagnetic reflection surface control unit to direct the reflection beam formed by a target pilot signal on the electromagnetic reflection surface to a preset direction during a target time period, the preset direction being the direction indicated by preset direction information corresponding to the target time period, and the preset direction pointing to a target area, the timing information including the target time period, the control direction information including the preset direction information, and the pilot signal transmitted by the transmitting device including the target pilot signal; a signal measurement result corresponding to the preset direction is determined by the transmitting device or a receiving device, and based on the preset direction and the signal measurement result, the receiving device is positioned, where the signal measurement result is a result obtained by the receiving device located in the target area measuring the target pilot signal reflected along the preset direction. Therefore, the technical problem in the related art that the positioning of a terminal cannot be carried out by utilizing the characteristics of the electromagnetic reflection surface itself can be solved, and the effect of positioning the terminal by utilizing the characteristics of the electromagnetic reflection surface itself is achieved. Description of the Drawings

[0024] Figure 1 is a hardware structure block diagram of an electronic device for a positioning method of a receiving device according to an embodiment of the present application;

[0025] Figure 2 is a network architecture diagram of a positioning method of a receiving device according to an embodiment of the present application;

[0026] Figure 3 is a flowchart of a positioning method of a receiving device according to an embodiment of the present application;

[0027] Figure 4 is a schematic plan view of a deployment scenario of an intelligent electromagnetic reflection surface according to an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of the wireless signal quality recorded by a receiving device according to an embodiment of the present application;

[0029] Figure 6 is a schematic diagram of the correspondence between time slots corresponding to the wireless signal quality and position coordinates in a target area according to an embodiment of the present application;

[0030] Figure 7 is a two-dimensional display schematic diagram of the wireless signal quality and position coordinates in a target area according to an embodiment of the present application;

[0031] Figure 8 is a one-dimensional display schematic diagram of the wireless signal quality and position coordinates in a target area according to an embodiment of the present application;

[0032] Figure 9 is a schematic diagram (I) of the wireless signal quality in the x-axis direction and one-dimensional Gaussian curve fitting according to an embodiment of the present application;

[0033] Figure 10 is a schematic diagram (II) of the wireless signal quality in the y-axis direction and one-dimensional Gaussian curve fitting according to an embodiment of the present application;

[0034] Figure 11 is a schematic diagram of the wireless signal quality recorded by a receiving device according to another embodiment of the present application;

[0035] Figure 12 is a schematic diagram of the corresponding relationship between the time slot corresponding to the wireless signal quality and the position coordinates in the target area according to another embodiment of the present application;

[0036] Figure 13 is a two-dimensional display schematic diagram of the wireless signal quality and the position coordinates in the target area according to another embodiment of the present application;

[0037] Figure 14 is a one-dimensional display schematic diagram of the wireless signal quality and the position coordinates in the target area according to another embodiment of the present application;

[0038] Figure 15 is a schematic diagram (I) of the wireless signal quality in the x-axis direction and one-dimensional Gaussian curve fitting according to another embodiment of the present application;

[0039] Figure 16 is a schematic diagram (II) of the wireless signal quality in the y-axis direction and one-dimensional Gaussian curve fitting according to another embodiment of the present application;

[0040] Figure 17 is a structural block diagram of the positioning device of the receiving device according to an embodiment of the present application. Detailed implementation manners

[0041] In the following, embodiments of the present application will be described in detail with reference to the drawings and in conjunction with the embodiments.

[0042] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence.

[0043] The method embodiments provided in the embodiments of the present application can be executed on a mobile terminal, a computer terminal or a similar computing device. Taking running on an electronic device as an example, Figure 1 is a hardware structural block diagram of an electronic device for a positioning method of a receiving device according to an embodiment of the present application. As Figure 1 shown, the electronic device may include one or more ( Figure 1Only one processor 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data are shown. Among them, the above-mentioned electronic device may further include a transmission device 106 for communication functions and an input / output device 108. Those of ordinary skill in the art can understand that Figure 1 The structure shown is only schematic and does not limit the structure of the above-mentioned electronic device. For example, the electronic device may further include more or fewer components than Figure 1 shown, or have a different configuration from Figure 1 shown.

[0044] The memory 104 can be used to store computer programs. For example, software programs and modules of application software, such as the computer program corresponding to the positioning method of the receiving device in the embodiments of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implements the above-mentioned method. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely provided with respect to the processor 102, and these remote memories can be connected to the electronic device through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0045] The transmission device 106 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by a communication provider. In one instance, the transmission device 106 includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices to communicate with the Internet. In one instance, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0046] The embodiments of the present application can run on Figure 2 the network architecture shown, such as Figure 2As shown in the figure, the network architecture includes: a transmitting device (e.g., a base station), an intelligent electromagnetic reflection surface control unit (i.e., the electromagnetic reflection surface control unit corresponding to the embodiments of the present application), an intelligent electromagnetic reflection surface (i.e., the electromagnetic reflection surface in the embodiments of the present application), and a receiving device (e.g., a terminal). Among them, the transmitting device includes a radio frequency unit or an antenna. The transmitting device is used to plan, configure, and transmit specific wireless signals. For example, the transmitting device transmits a radio frequency signal (e.g., the pilot signal in the embodiments of the present application) to the intelligent electromagnetic reflection surface through the radio frequency unit; the intelligent electromagnetic reflection surface control unit is used to control the reflection coefficients of the electromagnetic units (or referred to as electromagnetic reflection units) in the intelligent reflection surface; the intelligent electromagnetic reflection surface is composed of multiple groups of electromagnetic units with controllable reflection coefficients. By controlling the reflection coefficients of the electromagnetic units, the intelligent electromagnetic reflection surface can form a predetermined reflected beam antenna pattern (i.e., form a reflected beam in a predetermined direction on the intelligent reflection surface); the receiving device is used to receive wireless signals and can measure, record, or analyze the received wireless signals. Among them, the target pilot signal transmitted by the transmitting device is pre-planned and configured by the transmitting device (e.g., a base station), and the transmitting device notifies the receiving device of the planned target pilot signal, so that the receiving device can know the target pilot signal that the transmitting device will transmit.

[0047] In this embodiment, a positioning method for a receiving device operating in the above network architecture is provided. Figure 3 It is a flowchart of a positioning method for a receiving device according to an embodiment of the present application. As Figure 3 shown, the process includes the following steps:

[0048] Step S302, transmitting a pilot signal to the electromagnetic reflection surface through the transmitting device;

[0049] Step S304, sending control information to the electromagnetic reflection surface control unit through the transmitting device. Among them, the control information includes timing information and control direction information. The control information is used to instruct the electromagnetic reflection surface control unit to direct the reflected beam formed by the target pilot signal on the electromagnetic reflection surface to a preset direction during a target time period. The preset direction is the direction indicated by the preset direction information corresponding to the target time period, and the preset direction points to a target area. The timing information includes the target time period, and the control direction information includes the preset direction information. The pilot signal transmitted through the transmitting device includes the target pilot signal;

[0050] Step S306: Determine a signal measurement result corresponding to the preset direction through the transmitting device or the receiving device, and position the receiving device according to the preset direction and the signal measurement result, where the signal measurement result is the result obtained by the receiving device located in the target area measuring the target pilot signal reflected along the preset direction.

[0051] Through the above steps, a pilot signal is transmitted to the electromagnetic reflection surface by the transmitting device; control information is sent to the electromagnetic reflection surface control unit by the transmitting device, where the control information includes timing information and control direction information, and the control information is used to instruct the electromagnetic reflection surface control unit to direct the reflection beam formed by the target pilot signal on the electromagnetic reflection surface to the preset direction during the target time period, the preset direction is the direction indicated by the preset direction information corresponding to the target time period, and the preset direction points to the target area, the timing information includes the target time period, the control direction information includes the preset direction information, and the pilot signal transmitted by the transmitting device includes the target pilot signal; determine a signal measurement result corresponding to the preset direction through the transmitting device or the receiving device, and position the receiving device according to the preset direction and the signal measurement result, where the signal measurement result is the result obtained by the receiving device located in the target area measuring the target pilot signal reflected along the preset direction. Therefore, the technical problem in the related art that the positioning of the terminal cannot be performed by using the characteristics of the electromagnetic reflection surface itself can be solved, and the effect of positioning the terminal by using the characteristics of the electromagnetic reflection surface itself is achieved.

[0052] It should be noted that in the embodiments of the present application, a set of systems (i.e., using a base station and an electromagnetic reflection surface) is used, and the positioning of the receiving device can be realized by using the ability of the reflection surface itself, so that the positioning of the receiving device can be completed by using a base station and the characteristics of the electromagnetic reflection surface itself.

[0053] In the above embodiment, the signal measurement result may be signal quality, signal field strength level or signal reception power.

[0054] The execution order of step S302 and step S304 can be interchanged, that is, step S304 can be executed first, and then S302 can be executed.

[0055] In an exemplary embodiment, before the pilot signal is transmitted to the electromagnetic reflecting surface by the transmitting device, the method further includes: before the pilot signal is transmitted to the electromagnetic reflecting surface by the transmitting device, the method further includes: determining the regulation information by the transmitting device according to the target area; the determining the regulation information according to the target area includes: determining a plurality of the preset direction information according to a plurality of sub-areas obtained by dividing the target area, and determining a plurality of the target time periods according to the plurality of the preset direction information, wherein each of the preset direction information corresponds to each of the plurality of sub-areas one by one, the timing information includes a plurality of the target time periods, and each of the target time periods corresponds to each of the preset direction information one by one; or, determining a plurality of the preset directions for pointing to the target area, and determining each of the preset direction information as one of the plurality of the preset directions, and determining a plurality of the target time periods according to the plurality of the preset direction information, wherein the timing information includes a plurality of the target time periods, and each of the target time periods corresponds to each of the preset direction information one by one.

[0056] In the above embodiment, the transmitting device may divide the target area into a plurality of sub-areas. For example, the target area is divided into sub-area 1, sub-area 2, and sub-area 3, etc., and determine the preset direction information corresponding to each sub-area respectively according to the divided plurality of sub-areas, such as preset direction information 1, preset direction information 2, and preset direction information 3, etc. Wherein, the preset direction information is used to instruct the electromagnetic reflecting surface control unit to adjust the reflection coefficients of the electromagnetic units of the electromagnetic reflecting surface so that the reflection beam formed on the electromagnetic reflecting surface points to the sub-area corresponding to the preset direction information. Therefore, by controlling the electromagnetic reflecting surface, the reflection beam is made to point to each sub-area in the target area in turn, thereby realizing the scanning of the target area by the transmitting device. In an exemplary embodiment, the transmitting device may determine the preset direction information corresponding to each sub-area according to the scanning order of the sub-areas in the target area, and determine the timing information according to the determined preset direction information (that is, determine a plurality of target time periods, wherein each target time period has a corresponding preset direction information). For example, the determined plurality of preset direction information are preset direction information 1, preset direction information 2, and preset direction information 3, then the timing information includes target time period 1, target time period 2, and target time period 3, wherein target time period 1 corresponds to preset direction information 1, target time period 2 corresponds to preset direction information 2, and target time period 3 corresponds to preset direction information 3.

[0057] In the above embodiments, the transmitting device can directly determine multiple preset directions in the target area. For example, in the target area, a first preset direction pointing to a certain position in the target area and a second preset direction pointing to another position in the target area are determined, that is, multiple preset directions are determined, and each preset direction information is determined as one of the multiple preset directions. That is, a preset direction itself can be used as a preset direction information. After determining multiple preset direction information, the transmitting device can determine a target time period corresponding to the scanning order according to the scanning order of the position of the target area. For example, the timing information includes target time period 1 and target time period 2, where target time period 1 corresponds to preset direction information 1 and target time period 2 corresponds to preset direction information 2.

[0058] It should be noted that in the embodiments of the present application, the target time period can be the time period corresponding to the time slot number (i.e., the time slot sequence number), and the timing information can be a set composed of the time periods corresponding to the time slot numbers (i.e., the time periods corresponding to the corresponding time slots), that is, the timing information includes the time periods corresponding to multiple time slots arranged in sequence. And the regulation direction information includes multiple preset direction information, where each target time period in the timing information corresponds one-to-one to each preset direction information in the regulation direction information. Therefore, in the embodiments of the present application, by sending regulation information to the electromagnetic reflection surface control unit, the electromagnetic reflection surface control unit can be instructed to direct the reflection beam formed by the target pilot signal on the electromagnetic reflection surface to the preset direction pointed to by the preset direction information corresponding to the target time period during the target time period; and when the next target time period in the target time period arrives (for example, when reaching the start time of the next target time period), the electromagnetic reflection surface control unit is used to direct the reflection beam formed by the target pilot signal on the electromagnetic reflection surface to the preset direction pointed to by the preset direction information corresponding to the next target time period. Thus, it is realized that during a certain target time period in the timing information, the electromagnetic reflection surface control unit controls the transmitting beam of the electromagnetic reflection surface to point to the corresponding direction, where the corresponding direction is the direction indicated by the preset direction information corresponding to the certain target time period.

[0059] In an exemplary embodiment, after the transmitting device sends regulation information to the electromagnetic reflection surface control unit, the method further includes: determining a target reflection coefficient by the electromagnetic reflection surface control unit according to the preset direction information; adjusting the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface to the target reflection coefficient by the electromagnetic reflection surface control unit so that the electromagnetic reflection surface forms a reflection beam in the preset direction; where the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

[0060] In an exemplary embodiment, when the preset direction information is the target reflection coefficients of the electromagnetic units corresponding to the preset direction, after sending the regulation information to the electromagnetic reflection surface control unit through the transmitting device, the method further includes: adjusting the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface to the target reflection coefficients through the electromagnetic reflection surface control unit, so that the electromagnetic reflection surface forms a reflection beam in the preset direction, where the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

[0061] In an exemplary embodiment, when the preset direction information is the input parameter corresponding to the preset direction, after sending the regulation information to the electromagnetic reflection surface control unit through the transmitting device, the method further includes: determining the target reflection coefficients according to the input parameter through the electromagnetic reflection surface control unit, and adjusting the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface to the target reflection coefficients, so that the electromagnetic reflection surface forms a reflection beam in the preset direction, where the input parameter is used to determine the target reflection coefficients, and the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

[0062] In an exemplary embodiment, the regulation information further includes one of the following information: the beam regulation start time, where the beam regulation start time is used to instruct the electromagnetic reflection surface control unit to start controlling the electromagnetic units of the electromagnetic reflection surface to control the direction of the reflection beam of the electromagnetic reflection surface at the beam regulation start time; the beam regulation end time, where the beam regulation end time is used to instruct the electromagnetic reflection surface control unit to end the control of the electromagnetic units of the electromagnetic reflection surface at the beam regulation end time.

[0063] Wherein, the electromagnetic reflection surface control unit is further configured to adjust the reflection coefficient of the electromagnetic reflection surface to the target reflection coefficient corresponding to the first preset direction according to the first target time period in the timing information at the beam regulation start time, where the first preset direction is the direction indicated by the preset direction information corresponding to the first target time period.

[0064] In an alternative embodiment, each target time period in the timing information forms a continuous period of time, and the start time of the first target time period in the timing information is the beam adjustment start time, the end time of the last target time period is the beam adjustment end time, and the end time of each intermediate target time period (i.e., the target time period between the first target time period and the last target time period) is the start time of the next target time period. For example, the timing information includes target time periods 1 to 3, where the end time of target time period 1 is the start time of target time period 2, the end time of target time period 2 is the start time of target time period 3, and the start time of target time period 1 is the beam adjustment start time, and the end time of target time period 3 is the beam adjustment end time. In an exemplary embodiment, the above timing information may be a set of time periods corresponding to time slots (e.g., the time period corresponding to the 1st time slot to the time period corresponding to the 180th time slot), and the target time period is the time period corresponding to the target timing sequence number (also referred to as the target time slot, or target time slot number, such as one of the 1st time slot to the 180th time slot). Optionally, the transmitting device records the correspondence between the target time period and the pilot signal transmitted within the target time period, and when the receiving device receives the target pilot signal, it simultaneously records the correspondence between the target time period and the target pilot signal received within the target time period. It should be noted that the correspondence between the target time period recorded by the transmitting device and the pilot signal transmitted within the target time period is consistent with the correspondence between the target time period recorded by the receiving device and the target pilot signal received within the target time period.

[0065] In an exemplary embodiment, when determining, by the transmitting device, a signal measurement result corresponding to the preset direction and positioning the receiving device according to the preset direction and the signal measurement result, before determining, by the transmitting device, the signal measurement result corresponding to the preset direction, the method further includes: receiving, by the transmitting device, a set of measurement results sent by the receiving device, where the set of measurement results includes signal measurement results corresponding to the target time period; where determining, by the transmitting device, the signal measurement result corresponding to the preset direction includes: determining, according to the target time period, the preset direction indicated by the preset direction information corresponding to the target time period, and determining the signal measurement result corresponding to the target time period as the signal measurement result corresponding to the preset direction.

[0066] In an exemplary embodiment, when the receiving device determines a signal measurement result corresponding to the preset direction and locates the receiving device according to the preset direction and the signal measurement result, before the receiving device determines the signal measurement result corresponding to the preset direction, the method further includes: receiving, by the receiving device, corresponding relationship information sent by the transmitting device, where the corresponding relationship information is a corresponding relationship between the preset direction and the target time period, or the corresponding relationship information is a corresponding relationship between the preset direction and the target pilot signal; where determining the signal measurement result corresponding to the preset direction by the receiving device includes: when the corresponding relationship information is a corresponding relationship between the preset direction and the target time period, determining the signal measurement result corresponding to the target time period as the signal measurement result corresponding to the preset direction; or when the corresponding relationship information is a corresponding relationship between the preset direction and the target pilot signal, determining the signal measurement result corresponding to the target pilot signal as the signal measurement result corresponding to the preset direction.

[0067] Wherein, in the above embodiment, when the receiving device receives the target pilot signal reflected along the preset direction, it records the target time period corresponding to the target pilot signal (for example, the time period corresponding to the first time slot), and performs signal measurement on the target pilot signal to obtain a signal measurement result, and the signal measurement result may be signal quality, signal field strength level or signal reception power.

[0068] In an exemplary embodiment, the locating the receiving device according to the preset direction and the signal measurement result includes: determining, according to the preset direction and the position and height of the electromagnetic reflection surface, the position coordinates (xi, yi) of the reflection beam corresponding to each preset direction in the target area, and determining the value of the signal measurement result corresponding to the preset direction as the vertical axis coordinate zi corresponding to the position coordinates (xi, yi), where i is the identifier of the reflection beam corresponding to the preset direction; performing Gaussian function fitting according to the coordinate range where the target area is located, the position coordinates (xi, yi) and the corresponding vertical axis coordinate zi to obtain a fitted Gaussian function, and determining a positioning result for locating the receiving device according to the coordinates corresponding to the vertex of the fitted Gaussian function.

[0069] In an exemplary embodiment, Gaussian function fitting is performed according to the coordinate range where the target area is located, the position coordinates (xi, yi), and the corresponding vertical axis coordinate zi to obtain the fitted Gaussian function. Determining the positioning result for positioning the receiving device according to the coordinates corresponding to the vertex of the fitted Gaussian function includes: sampling the abscissa range and the ordinate range where the target area is located at a preset coordinate interval respectively to obtain the sampled abscissa set and ordinate set; determining the vertical axis coordinate zw corresponding to each abscissa xw in the abscissa set from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi), and determining the vertical axis coordinate zp corresponding to each ordinate yp in the ordinate set from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi), where w and p are positive integers in the interval [1, n], and n is the number of sampled samples; performing one-dimensional Gaussian function fitting according to the coordinate set (xw, zw) composed of the abscissa set and the vertical axis coordinate zw corresponding to each abscissa xw in the abscissa set to obtain the first fitted Gaussian function; and performing one-dimensional Gaussian curve fitting according to the coordinate set (yp, zp) composed of the ordinate set and the vertical axis coordinate zp corresponding to each ordinate yp in the ordinate set to obtain the second fitted Gaussian function; determining the first coordinate xt corresponding to the vertex of the first Gaussian function and the second coordinate yt corresponding to the vertex of the second Gaussian function, and respectively determining the xt and the yt as the abscissa and ordinate of the positioning result, where the xt is the abscissa within the abscissa range, and the yt is the ordinate within the ordinate range.

[0070] For example, the target area is an area where the abscissa is within the interval range of [xs, xe] and the ordinate is within the interval range of [ys, ye], where xs, xe, ys, and ye are all real numbers, and xe > xs, ye > ys. Sampling the abscissa range and the ordinate range where the target area is located at a preset coordinate interval respectively to obtain the sampled abscissa set and ordinate set. Then in the above embodiment, xs ≤ xw ≤ xe, ys ≤ yp ≤ ye; and in the obtained positioning result, xs ≤ xt ≤ xe, ys ≤ yt ≤ ye.

[0071] It should be noted that in the above embodiment, by means of two one-dimensional Gaussian function fittings (that is, performing fittings of two one-dimensional Gaussian curves respectively), the coordinates corresponding to the vertices of the two one-dimensional Gaussian functions (that is, the maximum values of the Gaussian functions, which are also the maximum values of the Gaussian curves corresponding to the Gaussian functions) can be determined respectively, so as to determine the position coordinates of the receiving device (that is, the positioning result).

[0072] Among them, determining the vertical axis coordinates zw corresponding to each abscissa xw in the abscissa set and the vertical axis coordinates zp corresponding to each ordinate yp in the ordinate set from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi) includes: determining the vertical axis coordinates corresponding to all position coordinates with abscissa xw in the position coordinates (xi, yi), and determining the maximum value among the vertical axis coordinates corresponding to all position coordinates with abscissa xw as the vertical axis coordinate zw corresponding to the abscissa xw; and determining the vertical axis coordinates corresponding to all position coordinates with ordinate yp in the position coordinates (xi, yi), and determining the maximum value among the vertical axis coordinates corresponding to all position coordinates with ordinate yp as the vertical axis coordinate zp corresponding to the ordinate yp.

[0073] It should be noted that in the above embodiment, the position coordinates of the receiving device can be determined by fitting two one-dimensional Gaussian functions (that is, fitting two one-dimensional Gaussian functions, and each one-dimensional Gaussian function corresponds to a Gaussian curve). Among them, the coordinates corresponding to the vertex of each Gaussian curve (that is, the maximum value of the Gaussian function corresponding to the Gaussian curve) are determined respectively (that is, the input corresponding to the maximum value of the Gaussian curve), so as to determine the position coordinates of the receiving device.

[0074] In an exemplary embodiment, the positioning of the receiving device according to the preset direction and the signal measurement result includes: determining the position coordinates (xi, yi) of the reflection beam corresponding to each preset direction in the target area according to the preset direction and the position and height of the electromagnetic reflection surface, and determining the value of the signal measurement result corresponding to the preset direction as the vertical axis coordinate zi corresponding to the position coordinates, where i is the identifier of the reflection beam corresponding to the preset direction; performing two-dimensional Gaussian function fitting according to the coordinate set (xi, yi, zi) composed of the position coordinates (xi, yi) and the vertical axis coordinates zi to obtain the fitted two-dimensional Gaussian function; determining the coordinates (xt, yt) corresponding to the vertex of the two-dimensional Gaussian function, and determining the coordinates (xt, yt) as the positioning result obtained by positioning the receiving device, where xt is the abscissa within the abscissa range where the target area is located, and yt is the ordinate within the ordinate range where the target area is located.

[0075] For example, if the abscissa range corresponding to the target area is [xs, xe] and the ordinate range is [ys, ye], where xs, xe, ys, and ye are all real numbers, and xe > xs, ye > ys, then in the obtained positioning result: xs ≤ xt ≤ xe, ys ≤ yt ≤ ye.

[0076] It should be noted that in the above embodiments, the position coordinates of the receiving device can be determined by fitting with a two-dimensional Gaussian function (i.e., fitting a Gaussian surface). Among them, the least squares method or the least mean square error method can be used to achieve the fitting.

[0077] In an exemplary embodiment, after determining the signal measurement result corresponding to the preset direction by the transmitting device and positioning the receiving device according to the preset direction and the signal measurement result, the method further includes: determining, by the transmitting device, target direction information according to the positioning result obtained by positioning the receiving device, where the target direction information is used to instruct the electromagnetic reflection surface control unit to control the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface according to the target direction information, so that the reflection beam formed by the radio frequency signal transmitted by the transmitting device on the electromagnetic reflection surface points to the receiving device.

[0078] Among them, after determining the target direction information, the transmitting device sends the target direction information to the electromagnetic reflection surface control unit to instruct the electromagnetic reflection surface control unit to control the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface according to the target direction information, so that the reflection beam formed by the radio frequency signal on the electromagnetic reflection surface points to the receiving device.

[0079] In an exemplary embodiment, after determining the signal measurement result corresponding to the preset direction by the receiving device and positioning the receiving device according to the preset direction and the signal measurement result, the method further includes: determining, by the receiving device, target direction information according to the positioning result obtained by positioning the receiving device, where the target direction information is used to instruct the electromagnetic reflection surface control unit to control the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface according to the target direction information, so that the reflection beam formed by the radio frequency signal transmitted by the transmitting device on the electromagnetic reflection surface points to the receiving device.

[0080] Among them, after determining the target direction information, the receiving device sends the target direction information to the transmitting device, and the transmitting device sends the target direction information to the electromagnetic reflection surface control unit to instruct the electromagnetic reflection surface control unit to control the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface according to the target direction information, so that the reflection beam formed by the radio frequency signal on the electromagnetic reflection surface points to the receiving device.

[0081] The following explains the positioning method of the receiving device in the above embodiments with an example, but does not limit the technical solutions of the embodiments of the present application.

[0082] In the related art, using an intelligent metasurface (also known as an intelligent electromagnetic reflection surface, i.e., the electromagnetic reflection surface in the above embodiments) to enhance the coverage of non-line-of-sight areas in a mobile network is a very effective and low-cost method. This application will present relevant methods that can achieve precise alignment of the target beam azimuth by leveraging the characteristics of the intelligent electromagnetic reflection surface itself, thereby making the deployment scheme of the intelligent electromagnetic reflection surface self-complete; and, in the non-line-of-sight area enhanced by the intelligent electromagnetic metasurface coverage, precise positioning of the terminal location is achieved. That is, in the embodiments of this application, it is realized to use the deployment of the intelligent electromagnetic reflection surface to achieve non-line-of-sight terminal positioning using a single station (i.e., a single base station).

[0083] In the embodiments of this application, the following nodes are mainly involved:

[0084] A transmitting device, configured to determine a beam scanning plan, and generate a pilot sequence (i.e., the pilot signal in the above embodiments) based on the beam scanning plan and send it to the radio frequency unit of the transmitting device; wherein, the determination of the beam scanning plan refers to the process of the transmitting device dividing the target area into grids or planning the target beam directions, and converting the two-dimensional spatial domain plan of the target area into a one-dimensional time domain plan. For example, the transmitting device determines each grid corresponding to the time sequence (this time sequence is the timing information in the above embodiments) according to the scanning order of the grids (i.e., the sub-areas in the above embodiments) in the target area, and determines the preset direction information corresponding to each grid. That is, in the above embodiments, each preset direction information has a corresponding target time period. Among them, the radio frequency unit of the transmitting device adjusts the radio frequency beam direction of the transmitting device to point to the intelligent electromagnetic reflection surface (i.e., adjusts the beam to align with the intelligent electromagnetic reflection surface), and modulates and transmits the received pilot sequence.

[0085] It should be noted that in the above embodiments, the pilot sequence transmitted by the transmitting device is a coded sequence that is pre-known to both the transmitting device and the receiving device. This coded sequence has good autocorrelation and cross-correlation characteristics. Based on this pilot sequence, the receiving device can measure the quality or strength of the wireless signal. In an exemplary embodiment, within a predetermined time window, the transmitting device sends a specific pilot sequence to the radio frequency unit of the transmitting device. Within this time window, the content of the pilot sequence can be the same or different coded sequences at different times. Among them, when using different pilot sequences at different times, the time window is segmented, and each segment in the time window corresponds to a distinguishable pilot sequence, and this pilot sequence corresponds to the preset direction information in the control information, that is, the pilot signal is synchronized and corresponding to the target beam control azimuth of the intelligent electromagnetic reflecting surface (i.e., the preset direction in the above embodiments). Among them, the predetermined time window is the time window between the start time of beam control and the end time of beam control; in an exemplary embodiment, the transmitting device also sends the start time of beam control and the end time of beam control to the receiving device.

[0086] The transmitting device is further configured to control the intelligent reflecting surface through the intelligent electromagnetic reflecting surface control unit, that is, to control the beam direction of the intelligent reflecting surface and make the reflected beam formed by the intelligent reflecting surface scan the target area;

[0087] Among them, the control of the intelligent reflecting surface through the intelligent electromagnetic reflecting surface control unit, that is, the control of the beam direction of the intelligent reflecting surface, includes: the transmitting device sends the control information to the intelligent reflecting surface control unit through the interface between the transmitting device and the intelligent reflecting surface control unit. The control information includes, but is not limited to, the following content: the start time of beam control, the beam control direction, the target reflection coefficient of each electromagnetic unit, the input parameters for determining the target reflection coefficient of each electromagnetic unit, the timing information, the end time of beam control, etc. Among them, the control information can be the beam target to be adjusted or the control instructions for each electromagnetic unit of the intelligent electromagnetic reflecting surface. When these instructions act on the intelligent electromagnetic unit, the electromagnetic unit on the intelligent electromagnetic reflecting surface can change or adjust the reflection coefficient (also known as the input reflection coefficient), so that the main beam reflected on the electromagnetic reflecting surface points to different target azimuths (i.e., the preset direction in the above embodiments) according to a predetermined time period (i.e., the target time period in the timing information in the above embodiments).

[0088] The receiving device measures and records the wireless signal quality of each pilot in a specific pilot or pilot group within a period of time (i.e., the time period between the start time and the end time of beam steering). That is, within the predetermined time window, the receiving device measures the signal quality of all received pilot signals or the signal quality of some pilot signals in all pilot signals based on a known pilot sequence or a group of pilot sequences, and records each signal quality and the corresponding target time period. That is, the signal measurement combination set composed of the signal measurement results recorded by the receiving device is an ordered sequence of wireless signal qualities according to the time period (i.e., the signal measurement result set is a time series data), and this signal measurement result set corresponds to the beam steering timing of the intelligent electromagnetic reflection surface (i.e., the timing information composed of the target time periods corresponding to each signal measurement result in the signal measurement result set is consistent with the timing information used to control the electromagnetic reflection surface).

[0089] The transmitting device, or the receiving device, is further configured to estimate the target beam direction and locate the position of the receiving device based on the measurement results of the receiving device (i.e., the signal measurement results in the above embodiments).

[0090] Among them, the estimating the target beam direction and locating the position of the receiving device based on the measurement results of the receiving device includes the following steps: (1) determining the wireless signal quality measured by the terminal when the main steering beam of the intelligent electromagnetic reflection surface points to different azimuths based on the measurement results of the receiving device and the beam steering timing of the intelligent electromagnetic reflection surface; (2) estimating the terminal position and the target beam azimuth based on the wireless signal quality at different azimuths of the main steering beam. Among them, the specific implementation of step (2) can be performed at the receiving device or the transmitting device.

[0091] When step (2) is performed at the receiving device, the transmitting device provides the receiving device with the corresponding relationship between the relevant beam azimuth and the target time period, or the corresponding relationship between the relevant beam azimuth and the pilot sequence, and this corresponding relationship can be sent through a common channel or a dedicated channel. When step (2) is performed at the transmitting device, the receiving device reports the relevant measurement results to the transmitting device, so that the transmitting device can obtain the set of the wireless signal quality measured by the terminal for each beam azimuth of the intelligent electromagnetic reflection surface, where the wireless signal quality can be the original measurement result or the result after quantization and coding.

[0092] When positioning the terminal location, one-dimensional time data can be converted into two-dimensional spatial data based on the intelligent electromagnetic surface beam pointing and related measurement results. For example, the two-dimensional surface fitting algorithm (i.e., performing two-dimensional Gaussian function fitting to obtain the fitted two-dimensional Gaussian function, where the two-dimensional Gaussian function corresponds to the Gaussian surface) is used to determine the terminal location. The two-dimensional surface fitting algorithm includes but is not limited to methods such as two-dimensional Gaussian distribution surfaces, least squares method, least mean square error method, etc. Or, two independent Gaussian curves reduced to one dimension are used for fitting (i.e., performing one-dimensional Gaussian function fitting in the X direction and Y direction respectively to obtain the two fitted one-dimensional Gaussian functions, where each one-dimensional Gaussian function corresponds to a Gaussian curve).

[0093] Figure 4 It is a schematic plan view of the deployment scenario of the intelligent electromagnetic reflection surface in the embodiment of the present application, which shows the beam scanning area (i.e., the target area in the above embodiment) and the intelligent electromagnetic reflection surface (i.e., the electromagnetic reflection surface in the above embodiment). In an exemplary application scenario of the present application,

[0094] The deployment parameters of the transmitting device are as follows:

[0095] The antenna of the transmitting device (i.e., the radio frequency unit) is installed on the top of a building with a hanging height of 43 meters (i.e., the position height of the antenna of the transmitting device is 43 meters);

[0096] The coordinates of the center point of the radio frequency transmitting unit of the transmitting device are: [0, 0, 43] (unit: meter: m);

[0097] The horizontal azimuth angle Az = 120 degrees;

[0098] The elevation angle EL = 10 degrees;

[0099] The rotation angle SL = 0 degrees.

[0100] The deployment parameters of the intelligent electromagnetic reflection surface are as follows:

[0101] The center point position of the intelligent electromagnetic reflection surface: [21.67, 133.2, 36.2] (unit: m), that is, the position and height of the metasurface in the above embodiment);

[0102] The horizontal azimuth angle Az = -60 degrees;

[0103] The elevation angle EL = 0 degrees;

[0104] The rotation angle SL = 0 degrees.

[0105] Among them, the parameter configurations of the transmitting device and the intelligent electromagnetic reflection surface are as follows:

[0106] The carrier frequency Fc = 28 GHz;

[0107] Polarization: Vertical polarization;

[0108] Equivalent Isotropically Radiated Power (EIRP) of the base station = 43 dBm

[0109] Size of the intelligent electromagnetic reflection surface: length 20λ × width 20λ, where λ is the wavelength of the carrier frequency;

[0110] Size of the control unit of the intelligent electromagnetic reflection surface: length × width

[0111] Phase control granularity of the intelligent electromagnetic reflection surface: 2 - bits (i.e., 2 bits are used to indicate the phase of the metasurface, so there are 4 optional phases: [0, π / 2, π, 3π / 2] (unit: radian);

[0112] Sub - Carrier Space (SCS): 30 kHz;

[0113] Wireless frame length: 10 ms;

[0114] Number of time slots per wireless frame: 20;

[0115] The transmitting device sets the scanning beam update frequency: per time slot.

[0116] When testing the positioning accuracy of the positioning method of the receiving device in the embodiments of the present application, the receiving device at the position coordinates [68, 88] (unit: m) in the target area is used as a reference to test the positioning accuracy of the positioning method in the embodiments of the present application.

[0117] In the embodiments of the present application, the positioning method includes the following steps:

[0118] Step 1: The transmitting device determines the beam scanning plan: starting from the 1st time slot (the time period corresponding to the 1st time slot is the first target time period, and the start time of this first target time period also corresponds to the beam control start time in the above - mentioned embodiment) to the 180th time slot (i.e., the 180th target time period, which is also the last target time period in the timing information, and the end time of this last target time period also corresponds to the beam control end time in the above - mentioned embodiment), perform Figure 4 beam scanning in the beam scanning area (i.e., the target area in the above - mentioned embodiment), and the transmitting device generates a pilot sequence and sends it to the radio frequency unit;

[0119] Step 2: The radio frequency unit of the transmitting device adjusts the beam to align with the intelligent electromagnetic reflection surface and modulates and transmits the received pilot sequence.

[0120] Step 3: The transmitting device controls the beam direction of the intelligent electromagnetic reflecting surface through the intelligent electromagnetic reflecting surface control unit. The frequency of updating the azimuth of the intelligent electromagnetic reflecting surface beam scanning is per time slot. In a certain time slot, the reflected beam reaches the beam scanning area along a certain preset direction. After each update, the beam will be aligned with the next new predetermined azimuth (i.e., the preset direction in the above embodiment). Step 4: In an exemplary embodiment, the transmitting device sends the beam control start time and the beam control end time to the receiving device. The receiving device measures and records the wireless signal quality of the wireless pilot signal during this period (i.e., the period from the beam control start time to the beam control end time). The results are shown in Figure 5 as follows; where Figure 5 shows the signal reception strength measured by the receiving device for the target pilot signal transmitted by the transmitting device. Among them, the horizontal axis is each time slot arranged in sequence. Since each time slot has a certain duration, each time slot can correspond to a period (i.e., the target period in the above embodiment). For example, if the time slot length is a (unit: millisecond), then the kth target period (i.e., the period corresponding to the kth time slot) in the timing information is the period between t0+(k - 1)a and t0+ka, where t0 is the beam control start time (unit: millisecond) and k is an integer greater than or equal to 1.

[0121] Step 5: Estimate the target beam direction and locate the receiving device based on the received measurement results.

[0122] Among them, when locating the receiving device, in this embodiment, the receiving device reports the original measurement results within a measurement period to the transmitting device. The format of the reported content is: (where slotNo represents the time slot number (time slot), i.e., each target period in the above embodiment, and RxPwr represents the received level, i.e., the signal measurement result in the above embodiment)

[0123] slotNo 1: RxPwr - 130;

[0124] …

[0125] slotNo 51: RxPwr - 86.5;

[0126] slotNo 52: RxPwr - 91.61;

[0127] slotNo 53: RxPwr - 83.66;

[0128] slotNo 54: RxPwr - 75.13;

[0129] slotNo 55: RxPwr - 73.55;

[0130] slotNo 56: RxPwr - 75.06;

[0131] slotNo 57: RxPwr - 87.31;

[0132] …

[0133] The transmitting device maps the time slot number (i.e., the corresponding time slot, which is the target time period corresponding to this time slot) to the target beam direction, and combines the position and hanging height of the center of the intelligent electromagnetic reflection surface (i.e., the height of the electromagnetic reflection surface in the above embodiment) to Figure 6 convert the one - dimensional time data in Figure 7 into two - dimensional space data ( Figure 8 ), and at the same time map the measurement results to the ground view of the beam scanning area Figure 8 (i.e., Figure 7 is the plan view of Figure 6 ). Among them, Figure 6 the horizontal axis and the vertical axis of Figure 6 represent the abscissa and the coordinate of the target area respectively, and the number next to each point "·" in Figure 6 represents the time slot number (this time slot number is also used to represent the time period corresponding to this time slot number). For example, Figure 7 the two annotations in the second row of Figure 8 represent the abscissa and the coordinate of the target area respectively, and the vertical axis (z - axis) represents the received signal quality. Figure 8 the horizontal axis and the vertical axis of Figure 7 represent the abscissa and the coordinate of the target area respectively, and each point "·" in

[0134] indicates the existence of the received signal quality, and the specific magnitude of the received signal quality is shown in the vertical axis coordinate in

[0135] Based on the azimuth of each beam of the intelligent reflection surface and the hanging height of the intelligent reflection surface, determine the position [xi, yi] of each beam on the ground, where i is the beam identifier, which is equal to the time slot number in this embodiment;

[0136] Based on Figure 6 、 7 data, perform data dimensionality reduction in two directions of the X - axis and the Y - axis:

[0137] (1) Segment the X-axis direction (i.e., segment the abscissa), with an interval of 2 for each segment. The set of coordinates corresponding to the center points of all segments is: [62, 64, 66, …, 80] (i.e., the abscissa set in the above embodiment);

[0138] (2) Segment the Y-axis direction (i.e., segment the ordinate), with an interval of 2 for each segment. The set of coordinates corresponding to the center points of all segments is: [80, 82, 84, …, 110 (i.e., the ordinate set in the above embodiment)];

[0139] (3) For all two-dimensional data, for the set of coordinates [62, 64, 66, …, 80] corresponding to the center points of each segment on the X-axis, determine the dimensionality-reduced received level corresponding to the coordinates of each center point. (In an exemplary embodiment, the strongest wireless signal reception quality in each segment is used to determine the unique dimensionality-reduced received level for that segment. That is, for the coordinate xw of a certain center point, determine the maximum value (i.e., zw) of the wireless signal reception quality (i.e., received level) corresponding to the coordinate xw). The results are as follows:

[0140] [62, RxPwrx1;

[0141] 64, RxPwrx2;

[0142] 66, RxPwrx3;

[0143] …,;

[0144] 80, RxPwrx10]

[0145] The obtained coordinate set in the X-axis direction and the corresponding wireless signal quality are Figure 9 the respective measured data shown.

[0146] (4) For all two-dimensional data, according to the segmentation result in the Y direction, classify the wireless signal quality into their respective segments. The set of coordinates of the center points of each segment on the Y-axis is: [80, 82, 84, …, 110]. Determine the unique dimensionality-reduced received level for each segment according to the strongest wireless channel reception quality in each segment (i.e., for each ordinate yp in the ordinate set, determine the corresponding zp; the specific determination method is similar to the processing method in the above X-axis direction). The results are as follows:

[0147] [80, RxPwry1;

[0148] 82, RxPwry2;

[0149] 84, RxPwry3;

[0150] …,

[0151] 110, RxPwry16]

[0152] The obtained coordinate set in the Y-axis direction and the corresponding wireless signal quality are Figure 10 each measured data shown in the figure.

[0153] (5) Positioning result and error

[0154] Select a one-dimensional Gaussian function as the fitting curve, and perform one-dimensional Gaussian function fitting in the X direction and the Y direction respectively (that is, obtain one-dimensional Gaussian functions by fitting respectively); in an exemplary embodiment, the least squares fitting can be used to respectively determine the parameters of the one-dimensional Gaussian function corresponding to the X direction (that is, the one-dimensional Gaussian curve, see the fitting result in Figure 9 ), and determine the x coordinate corresponding to its vertex (that is, xt in the above embodiment); and, the least squares fitting can be used to determine the parameters of the one-dimensional Gaussian function corresponding to the Y direction (that is, the one-dimensional Gaussian curve, see the fitting result in Figure 10 ), and determine the y coordinate corresponding to its vertex (that is, yt in the above embodiment). According to the positioning method in the embodiment of the present application, the position coordinates of the receiving device determined are: [68.3963, 88.3110] m, and its positioning error from the true coordinate position [68, 88] of the receiving device as the reference target is: 0.50378 m. It can be seen that using the positioning method in the embodiment of the present application, a relatively accurate positioning result can be obtained.

[0155] In another embodiment of the present application, a receiving device at the position coordinate [64, 102] (unit: m) in the target area is also used as a reference to test the positioning accuracy of the positioning method in the embodiment of the present application. In the embodiment of the present application, the positioning method includes the following steps:

[0156] Step 1: The transmitting device determines the beam scanning plan: starting from the 1st time slot to the 180th time slot, perform Figure 4 beam scanning in the relevant area in, and the transmitting device generates a pilot sequence and sends it to the radio frequency unit;

[0157] Step 2: The radio frequency unit adjusts the beam to align with the intelligent electromagnetic reflection surface and modulates and transmits the received pilot sequence;

[0158] Step 3: The transmitting device controls the beam orientation of the intelligent reflection surface through the intelligent electromagnetic reflection surface control unit. The frequency of updating the beam scanning orientation is once per time slot, and after each update, the beam will align with the next new predetermined orientation;

[0159] Step 4: The receiving device measures and records the wireless signal quality of the wireless pilot signal during this period, and the result is shown in Figure 11 ;

[0160] Step 5: Estimate the target beam direction and locate the terminal based on the measurement results of the transmitting device.

[0161] Among them, the receiving device reports the original measurement results within a measurement period to the transmitting device, and the format of the reported content is the time slot number and the corresponding signal measurement results (the specific format is the same as the format of the reported content in the above embodiments).

[0162] Step 6: The transmitting device maps the time slot number to the target beam pointing, and combines the position and hanging height of the center of the intelligent electromagnetic reflection surface to convert the one-dimensional time data (i.e., Figure 12 the wireless signal quality corresponding to the time slot shown in Figure 13 into the two-dimensional space data shown in Figure 13 at the same time, and maps the measurement results to the ground in the beam scanning area (i.e., obtain the plan view corresponding to Figure 14 );

[0163] Step 7: Use the dimensionality reduction method to independently estimate the X and Y coordinates of the receiving device, and the estimation results are respectively as shown in Figure 15 and Figure 16 ;

[0164] Step 8: Location results and errors

[0165] Select a one-dimensional Gaussian function as the fitting curve. For the X and Y directions, use the least squares fitting to determine the parameters of the one-dimensional Gaussian function in the X and Y directions respectively. Among them, the abscissa corresponding to the vertex of the Gaussian curve in the X direction is the abscissa of the location result (i.e., xt), and the ordinate corresponding to the vertex of the Gaussian curve in the Y direction is the ordinate of the location result (i.e., yt); the fitting results can be seen in Figure 15 and Figure 16 respectively;

[0166] The location result obtained in the embodiment of the present application: [63.8170, 100.6145] m, and the location error between it and the true position coordinates of the receiving device as a reference is: 1.3975 m.

[0167] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0168] In this embodiment, a positioning device for a receiving device is further provided. This device is used to implement the above embodiments and preferred embodiments, and those that have been described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0169] Figure 17 is a structural block diagram of the positioning device of the receiving device in the embodiment of the present application. As Figure 17 shown, this positioning device includes:

[0170] A transmitting module 211, configured to transmit a pilot signal to an electromagnetic reflection surface through a transmitting device;

[0171] A regulation module 213, configured to send regulation information to an electromagnetic reflection surface control unit through the transmitting device. The regulation information includes timing information and regulation direction information. The regulation information is used to instruct the electromagnetic reflection surface control unit to direct the reflection beam formed by the target pilot signal on the electromagnetic reflection surface to a preset direction during a target time period. The preset direction is the direction indicated by the preset direction information corresponding to the target time period, and the preset direction points to a target area. The timing information includes the target time period, and the regulation direction information includes the preset direction information. The pilot signal transmitted through the transmitting device includes the target pilot signal;

[0172] A positioning module 215, configured to determine a signal measurement result corresponding to the preset direction through the transmitting device or the receiving device, and perform positioning on the receiving device according to the preset direction and the signal measurement result. The signal measurement result is the result obtained by the receiving device located in the target area measuring the target pilot signal reflected along the preset direction.

[0173] According to the present application, a pilot signal is transmitted to an electromagnetic reflection surface by a transmitting device; control information is sent to an electromagnetic reflection surface control unit by the transmitting device, where the control information includes timing information and control direction information, and the control information is used to instruct the electromagnetic reflection surface control unit to direct the reflection beam formed by a target pilot signal on the electromagnetic reflection surface to a preset direction during a target time period, the preset direction is the direction indicated by preset direction information corresponding to the target time period, and the preset direction points to a target area, the timing information includes the target time period, the control direction information includes the preset direction information, and the pilot signal transmitted by the transmitting device includes the target pilot signal; a signal measurement result corresponding to the preset direction is determined by the transmitting device or a receiving device, and the receiving device is positioned according to the preset direction and the signal measurement result, where the signal measurement result is a result obtained by the receiving device located in the target area measuring the target pilot signal reflected along the preset direction. Therefore, the technical problem in the related art that the positioning of a terminal cannot be performed by using the characteristics of the electromagnetic reflection surface itself can be solved, and the effect of positioning the terminal by using the characteristics of the electromagnetic reflection surface itself is achieved.

[0174] In an exemplary embodiment, the device further includes: a first determination module, configured to determine the control information according to the target area by the transmitting device; the first determination module is further configured to: determine a plurality of the preset direction information according to a plurality of sub-areas obtained by dividing the target area, and determine a plurality of the target time periods according to the plurality of the preset direction information, where each of the preset direction information corresponds to each of the plurality of sub-areas one by one, the timing information includes a plurality of the target time periods, and each of the target time periods corresponds to each of the preset direction information one by one; or determine a plurality of the preset directions for pointing to the target area, determine each of the preset direction information as one of the plurality of the preset directions, and determine a plurality of the target time periods according to the plurality of the preset direction information, where the timing information includes a plurality of the target time periods, and each of the target time periods corresponds to each of the preset direction information one by one.

[0175] In an exemplary embodiment, the device further includes: an adjustment module, configured to: determine a target reflection coefficient according to the preset direction information by the electromagnetic reflection surface control unit; adjust the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface to the target reflection coefficient by the electromagnetic reflection surface control unit, so that the electromagnetic reflection surface forms a reflection beam in the preset direction; where the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

[0176] In an exemplary embodiment, the device further includes an adjustment module configured to: when the preset direction information is the target reflection coefficients of the electromagnetic units corresponding to the preset direction, adjust the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface to the target reflection coefficients through the electromagnetic reflection surface control unit, so that the electromagnetic reflection surface forms a reflection beam in the preset direction, where the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

[0177] In an exemplary embodiment, the device further includes an adjustment module configured to: when the preset direction information is the input parameters corresponding to the preset direction, determine the target reflection coefficients according to the input parameters through the electromagnetic reflection surface control unit, and adjust the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface to the target reflection coefficients, so that the electromagnetic reflection surface forms a reflection beam in the preset direction, where the input parameters are used to determine the target reflection coefficients, and the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

[0178] In an exemplary embodiment, the control information further includes one of the following information: the beam control start time, where the beam control start time is used to indicate that the electromagnetic reflection surface control unit starts to control the electromagnetic units of the electromagnetic reflection surface to control the direction of the reflection beam of the electromagnetic reflection surface at the beam control start time; the beam control end time, where the beam control end time is used to indicate that the electromagnetic reflection surface control unit ends the control of the electromagnetic units of the electromagnetic reflection surface at the beam control end time.

[0179] In an exemplary embodiment, the positioning module 215 is further configured to: when determining the signal measurement result corresponding to the preset direction through the transmitting device and positioning the receiving device according to the preset direction and the signal measurement result, receive the measurement result set sent by the receiving device through the transmitting device, where the measurement result set includes the signal measurement result corresponding to the target time period; where determining the signal measurement result corresponding to the preset direction through the transmitting device includes: determining the preset direction indicated by the preset direction information corresponding to the target time period according to the target time period, and determining the signal measurement result corresponding to the target time period as the signal measurement result corresponding to the preset direction.

[0180] In an exemplary embodiment, the positioning module 215 is further configured to: when determining a signal measurement result corresponding to the preset direction through the receiving device and positioning the receiving device according to the preset direction and the signal measurement result, before determining the signal measurement result corresponding to the preset direction through the receiving device, receive, through the receiving device, correspondence information sent by the transmitting device, where the correspondence information is a correspondence between the preset direction and the target time period, or the correspondence information is a correspondence between the preset direction and the target pilot signal; wherein, determining a signal measurement result corresponding to the preset direction through the receiving device includes: when the correspondence information is a correspondence between the preset direction and the target time period, determining the signal measurement result corresponding to the target time period as the signal measurement result corresponding to the preset direction; or when the correspondence information is a correspondence between the preset direction and the target pilot signal, determining the signal measurement result corresponding to the target pilot signal as the signal measurement result corresponding to the preset direction.

[0181] In an exemplary embodiment, the positioning module 215 is further configured to: determine, according to the preset direction and the position and height of the electromagnetic reflection surface, the position coordinates (xi, yi) of the reflection beam corresponding to each preset direction in the target area, and determine the value of the signal measurement result corresponding to the preset direction as the vertical axis coordinate zi corresponding to the position coordinates (xi, yi), where i is an identifier of the reflection beam corresponding to the preset direction; perform Gaussian function fitting according to the coordinate range where the target area is located, the position coordinates (xi, yi), and the corresponding vertical axis coordinate zi to obtain a fitted Gaussian function, and determine a positioning result for positioning the receiving device according to the coordinates corresponding to the vertex of the fitted Gaussian function.

[0182] In an exemplary embodiment, the positioning module 215 is further configured to: sample the abscissa range and the ordinate range where the target area is located at a preset coordinate interval respectively to obtain a sampled abscissa set and a sampled ordinate set; determine, from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi), the vertical axis coordinates zw corresponding to each abscissa xw in the abscissa set, and determine, from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi), the vertical axis coordinates zp corresponding to each ordinate yp in the ordinate set, where w and p are positive integers in the interval [1, n], and n is the number of sampled samples; perform one-dimensional Gaussian function fitting according to the coordinate set (xw, zw) composed of the abscissa set and the vertical axis coordinates zw corresponding to each abscissa xw in the abscissa set to obtain a first Gaussian function after fitting; and perform one-dimensional Gaussian curve fitting according to the coordinate set (yp, zp) composed of the ordinate set and the vertical axis coordinates zp corresponding to each ordinate yp in the ordinate set to obtain a second Gaussian function after fitting; determine a first coordinate xt corresponding to the vertex of the first Gaussian function and a second coordinate yt corresponding to the vertex of the second Gaussian function, and determine the xt and the yt as the abscissa and the ordinate of the positioning result respectively, where the xt is an abscissa within the abscissa range and the yt is an ordinate within the ordinate range.

[0183] In an exemplary embodiment, the positioning module 215 is further configured to: determine, according to the preset direction and the position and height of the electromagnetic reflection surface, the position coordinates (xi, yi) of the reflection beam corresponding to each preset direction in the target area, and determine the numerical value of the signal measurement result corresponding to the preset direction as the vertical axis coordinate zi corresponding to the position coordinates, where i is the identifier of the reflection beam corresponding to the preset direction; perform two-dimensional Gaussian function fitting according to the coordinate set (xi, yi, zi) composed of the position coordinates (xi, yi) and the vertical axis coordinate zi to obtain a two-dimensional Gaussian function after fitting; determine the coordinates (xt, yt) corresponding to the vertex of the two-dimensional Gaussian function, and determine the coordinates (xt, yt) as the positioning result obtained by positioning the receiving device, where the xt is an abscissa within the abscissa range where the target area is located and the yt is an ordinate within the ordinate range where the target area is located.

[0184] In an exemplary embodiment, the device further includes a second determination module, configured to: after determining a signal measurement result corresponding to the preset direction through the transmitting device, and positioning the receiving device according to the preset direction and the signal measurement result, determine target direction information through the transmitting device according to the positioning result obtained by positioning the receiving device, where the target direction information is used to instruct the electromagnetic reflection surface control unit to control the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface according to the target direction information, so that the reflection beam formed by the radio frequency signal transmitted by the transmitting device on the electromagnetic reflection surface points to the receiving device.

[0185] In an exemplary embodiment, the device further includes a second determination module, configured to: after determining a signal measurement result corresponding to the preset direction through the receiving device, and positioning the receiving device according to the preset direction and the signal measurement result, determine target direction information through the receiving device according to the positioning result obtained by positioning the receiving device, where the target direction information is used to instruct the electromagnetic reflection surface control unit to control the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface according to the target direction information, so that the reflection beam formed by the radio frequency signal transmitted by the transmitting device on the electromagnetic reflection surface points to the receiving device.

[0186] In this embodiment, a positioning system for a receiving device is further provided. This system is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated. The system includes: a transmitting device, an electromagnetic reflecting surface control unit, an electromagnetic reflecting surface, and a receiving device. Among them, the transmitting device is used to transmit a pilot signal to the electromagnetic reflecting surface and to send regulation information to the electromagnetic reflecting surface control unit. The regulation information includes timing information and regulation direction information. The regulation information is used to instruct the electromagnetic reflecting surface control unit to direct the reflected beam formed by the target pilot signal on the electromagnetic reflecting surface to a preset direction during a target time period. The preset direction is the direction indicated by the preset direction information corresponding to the target time period, and the preset direction points to a target area. The timing information includes the target time period, and the regulation direction information includes the preset direction information. The pilot signal transmitted by the transmitting device includes the target pilot signal. The electromagnetic reflecting surface control unit is used to direct the reflected beam formed by the target pilot signal on the electromagnetic reflecting surface to the preset direction during the target time period according to the regulation information. The receiving device is used to measure the received target pilot signal reflected along the preset direction to obtain an information measurement result, where the receiving device is located in the target area. The transmitting device or the receiving device is further used to determine a signal measurement result corresponding to the preset direction, and to locate the receiving device according to the preset direction and the signal measurement result corresponding to the preset direction.

[0187] Through this application, a pilot signal is transmitted from the transmitting device to the electromagnetic reflecting surface; regulation information is sent from the transmitting device to the electromagnetic reflecting surface control unit. The regulation information includes timing information and regulation direction information. The regulation information is used to instruct the electromagnetic reflecting surface control unit to direct the reflected beam formed by the target pilot signal on the electromagnetic reflecting surface to a preset direction during a target time period. The preset direction is the direction indicated by the preset direction information corresponding to the target time period, and the preset direction points to a target area. The timing information includes the target time period, and the regulation direction information includes the preset direction information. The pilot signal transmitted by the transmitting device includes the target pilot signal; a signal measurement result corresponding to the preset direction is determined by the transmitting device or the receiving device, and the receiving device is located according to the preset direction and the signal measurement result, where the signal measurement result is the result obtained by the receiving device located in the target area by measuring the received target pilot signal reflected along the preset direction. Therefore, the technical problem in the related art that the characteristics of the electromagnetic reflecting surface itself cannot be used for terminal positioning can be solved, and the effect of using the characteristics of the electromagnetic reflecting surface itself for terminal positioning is achieved.

[0188] In an exemplary embodiment, the transmitting device is further configured to determine the regulation information according to the target area; wherein, the transmitting device is further configured to determine the regulation information according to the target area in the following manner: determining a plurality of the preset direction information according to a plurality of sub-areas obtained by dividing the target area, and determining a plurality of the target time periods according to the plurality of the preset direction information, wherein each of the preset direction information corresponds to each of the plurality of sub-areas one by one, the timing information includes a plurality of the target time periods, and each of the target time periods corresponds to each of the preset direction information one by one; or, determining a plurality of the preset directions for pointing to the target area, and determining each of the preset direction information as one of the plurality of the preset directions, and determining a plurality of the target time periods according to the plurality of the preset direction information, wherein the timing information includes a plurality of the target time periods, and each of the target time periods corresponds to each of the preset direction information one by one.

[0189] In an exemplary embodiment, the electromagnetic reflecting surface control unit is further configured to: determine a target reflection coefficient according to the preset direction information; adjust the reflection coefficients of the electromagnetic units of the electromagnetic reflecting surface to the target reflection coefficient, so that the electromagnetic reflecting surface forms a reflection beam in the preset direction; wherein, the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

[0190] In an exemplary embodiment, the electromagnetic reflecting surface control unit is further configured to: when the preset direction information is the target reflection coefficient of each electromagnetic unit corresponding to the preset direction, adjust the reflection coefficients of the electromagnetic units of the electromagnetic reflecting surface to the target reflection coefficient, so that the electromagnetic reflecting surface forms a reflection beam in the preset direction, wherein, the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

[0191] In an exemplary embodiment, the electromagnetic reflecting surface control unit is further configured to: when the preset direction information is an input parameter corresponding to the preset direction, determine a target reflection coefficient according to the input parameter, and adjust the reflection coefficients of the electromagnetic units of the electromagnetic reflecting surface to the target reflection coefficient, so that the electromagnetic reflecting surface forms a reflection beam in the preset direction, wherein, the input parameter is used to determine the target reflection coefficient, and the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

[0192] In an exemplary embodiment, the adjustment information further includes one of the following information: the beam adjustment start time, where the beam adjustment start time is used to indicate that the electromagnetic reflecting surface control unit starts to control each electromagnetic unit of the electromagnetic reflecting surface to control the reflection beam direction of the electromagnetic reflecting surface at the beam adjustment start time; the beam adjustment end time, where the beam adjustment end time is used to indicate that the electromagnetic reflecting surface control unit ends the control of each electromagnetic unit of the electromagnetic reflecting surface at the beam adjustment end time.

[0193] In an exemplary embodiment, the transmitting device is further configured to receive the measurement result set sent by the receiving device, where the measurement result set includes the signal measurement results corresponding to the target time period; where the transmitting device is further configured to determine the preset direction indicated by the preset direction information corresponding to the target time period according to the target time period, and determine the signal measurement results corresponding to the target time period as the signal measurement results corresponding to the preset direction.

[0194] In an exemplary embodiment, the receiving device is further configured to receive the correspondence information sent by the transmitting device, where the correspondence information is the correspondence between the preset direction and the target time period, or the correspondence information is the correspondence between the preset direction and the target pilot signal; where the receiving device is further configured to, when the correspondence information is the correspondence between the preset direction and the target time period, determine the signal measurement results corresponding to the target time period as the signal measurement results corresponding to the preset direction; or, when the correspondence information is the correspondence between the preset direction and the target pilot signal, determine the signal measurement results corresponding to the target pilot signal as the signal measurement results corresponding to the preset direction.

[0195] In an exemplary embodiment, the transmitting device or the receiving device is further configured to: determine the position coordinates (xi, yi) of the reflection beam corresponding to each preset direction in the target area according to the preset direction and the position and height of the electromagnetic reflecting surface, and determine the value of the signal measurement results corresponding to the preset direction as the vertical axis coordinate zi corresponding to the position coordinates (xi, yi), where i is the identifier of the reflection beam corresponding to the preset direction; perform Gaussian function fitting according to the coordinate range where the target area is located, the position coordinates (xi, yi), and the corresponding vertical axis coordinate zi, obtain the fitted Gaussian function, and determine the positioning result for positioning the receiving device according to the coordinates corresponding to the vertex of the fitted Gaussian function.

[0196] In an exemplary embodiment, performing Gaussian function fitting according to the coordinate range where the target area is located, the position coordinates (xi, yi), and the corresponding vertical axis coordinate zi to obtain a fitted Gaussian function, and determining a positioning result for positioning the receiving device according to the coordinates corresponding to the vertex of the fitted Gaussian function includes: sampling the horizontal coordinate range and the vertical coordinate range where the target area is located at a preset coordinate interval respectively to obtain a sampled horizontal coordinate set and a sampled vertical coordinate set; determining, from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi), the vertical axis coordinates zw corresponding to each horizontal coordinate xw in the horizontal coordinate set, and determining, from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi), the vertical axis coordinates zp corresponding to each vertical coordinate yp in the vertical coordinate set, where w and p are positive integers in the interval [1, n], and n is the number of sampled samples; performing one-dimensional Gaussian function fitting according to the coordinate set (xw, zw) composed of the horizontal coordinate set and the vertical axis coordinates zw corresponding to each horizontal coordinate xw in the horizontal coordinate set to obtain a first fitted Gaussian function; and performing one-dimensional Gaussian curve fitting according to the coordinate set (yp, zp) composed of the vertical coordinate set and the vertical axis coordinates zp corresponding to each vertical coordinate yp in the vertical coordinate set to obtain a second fitted Gaussian function; determining a first coordinate xt corresponding to the vertex of the first Gaussian function and a second coordinate yt corresponding to the vertex of the second Gaussian function, and respectively determining the xt and the yt as the horizontal and vertical coordinates of the positioning result, where the xt is a horizontal coordinate within the horizontal coordinate range, and the yt is a vertical coordinate within the vertical coordinate range.

[0197] In an exemplary embodiment, the transmitting device or the receiving device is further configured to: determine, according to the preset direction and the position and height of the electromagnetic reflection surface, the position coordinates (xi, yi) of the reflection beam corresponding to each preset direction in the target area, and determine the value of the signal measurement result corresponding to the preset direction as the vertical axis coordinate zi corresponding to the position coordinates, where i is the identifier of the reflection beam corresponding to the preset direction; perform two-dimensional Gaussian function fitting according to the coordinate set (xi, yi, zi) composed of the position coordinates (xi, yi) and the vertical axis coordinate zi to obtain a fitted two-dimensional Gaussian function; determine the coordinates (xt, yt) corresponding to the vertex of the two-dimensional Gaussian function, and determine the coordinates (xt, yt) as the positioning result obtained by positioning the receiving device, where the xt is a horizontal coordinate within the horizontal coordinate range where the target area is located, and the yt is a vertical coordinate within the vertical coordinate range where the target area is located.

[0198] In an exemplary embodiment, when the transmitting device is configured to determine a signal measurement result corresponding to the preset direction and position the receiving device based on the preset direction and the signal measurement result, the transmitting device is further configured to: determine target direction information according to the positioning result obtained by positioning the receiving device, where the target direction information is used to instruct the electromagnetic reflection surface control unit to control the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface according to the target direction information, so that the reflection beam formed by the radio frequency signal transmitted by the transmitting device on the electromagnetic reflection surface points to the receiving device.

[0199] In an exemplary embodiment, when the receiving device is configured to determine a signal measurement result corresponding to the preset direction and position the receiving device based on the preset direction and the signal measurement result, the receiving device is further configured to: determine target direction information according to the positioning result obtained by positioning the receiving device, where the target direction information is used to instruct the electromagnetic reflection surface control unit to control the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface according to the target direction information, so that the reflection beam formed by the radio frequency signal transmitted by the transmitting device on the electromagnetic reflection surface points to the receiving device.

[0200] It should be noted that the above-mentioned various modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited thereto: the above-mentioned modules are all located in the same processor; or, the above-mentioned various modules are respectively located in different processors in any combination form.

[0201] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, where the computer program is configured to execute the steps in any one of the above method embodiments when running.

[0202] In an exemplary embodiment, the above computer-readable storage medium may include, but is not limited to: USB flash drive, read-only memory (ROM for short), random access memory (RAM for short), mobile hard disk, magnetic disk or optical disk, etc., various media that can store computer programs.

[0203] An embodiment of the present application further provides an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0204] In an exemplary embodiment, the above electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the above processor, and the input / output device is connected to the above processor.

[0205] Specific examples in this embodiment may refer to the examples described in the above embodiments and exemplary embodiments, and will not be repeated here.

[0206] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. They can be implemented by program codes executable by the computing device. Thus, they can be stored in a storage device and executed by the computing device. And in some cases, the steps shown or described can be executed in a different order than here, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module to be implemented. In this way, the present application is not limited to any specific combination of hardware and software.

[0207] The above is only the preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the principle of the present application shall be included in the protection scope of the present application.

Claims

1. A positioning method for a receiving device, characterized in that, Including: Transmitting a pilot signal to an electromagnetic reflection surface by a transmitting device; Sending regulation information to an electromagnetic reflection surface control unit by the transmitting device, where the regulation information includes timing information and regulation direction information, and the regulation information is used to instruct the electromagnetic reflection surface control unit to direct the reflection beam formed by the target pilot signal on the electromagnetic reflection surface to a preset direction during a target time period. The preset direction is the direction indicated by the preset direction information corresponding to the target time period, and the preset direction points to a target area. The timing information includes the target time period, and the regulation direction information includes the preset direction information. The pilot signal transmitted by the transmitting device includes the target pilot signal; Determining a signal measurement result corresponding to the preset direction by the transmitting device or a receiving device, and positioning the receiving device according to the preset direction and the signal measurement result, where the signal measurement result is the result obtained by the receiving device located in the target area measuring the target pilot signal reflected along the preset direction.

2. The method according to claim 1, wherein: Before transmitting the pilot signal to the electromagnetic reflection surface by the transmitting device, the method further includes: determining the regulation information by the transmitting device according to the target area; Determining the regulation information according to the target area includes: determining a plurality of the preset direction information according to a plurality of sub-areas obtained by dividing the target area, and determining the timing information according to the plurality of the preset direction information, where each of the preset direction information corresponds to each of the plurality of sub-areas one by one, the timing information includes a plurality of the target time periods, and each of the target time periods corresponds to each of the preset direction information one by one; or determining a plurality of the preset directions for pointing to the target area, and determining each of the preset direction information as one of the plurality of the preset directions, and determining the timing information according to the plurality of the preset direction information, where the timing information includes a plurality of the target time periods, and each of the target time periods corresponds to each of the preset direction information one by one.

3. The method according to claim 1, characterized in that After sending the regulation information to the electromagnetic reflection surface control unit by the transmitting device, the method further includes: Determining a target reflection coefficient by the electromagnetic reflection surface control unit according to the preset direction information; Adjusting the reflection coefficients of the electromagnetic units of the electromagnetic reflection surface to the target reflection coefficient by the electromagnetic reflection surface control unit, so that the electromagnetic reflection surface forms a reflection beam in the preset direction; where the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

4. The method according to claim 1, wherein In the case where the preset direction information is the target reflection coefficient of each electromagnetic unit corresponding to the preset direction, after sending the regulation information to the electromagnetic reflection surface control unit by the transmitting device, the method further includes: Adjust the reflection coefficients of the electromagnetic units of the electromagnetic reflecting surface to the target reflection coefficients through the electromagnetic reflecting surface control unit, so that the electromagnetic reflecting surface forms a reflected beam in the preset direction, where the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

5. The method according to claim 1, characterized in that In the case where the preset direction information is an input parameter corresponding to the preset direction, after sending the control information to the electromagnetic reflecting surface control unit through the transmitting device, the method further includes: Determine the target reflection coefficient according to the input parameter through the electromagnetic reflecting surface control unit, and adjust the reflection coefficients of the electromagnetic units of the electromagnetic reflecting surface to the target reflection coefficient, so that the electromagnetic reflecting surface forms a reflected beam in the preset direction, where the input parameter is used to determine the target reflection coefficient, and the reflection coefficients of the electromagnetic units include at least one of the following: amplitude, phase, polarization.

6. The method according to claim 1, wherein The control information further includes one of the following information: The beam control start time, where the beam control start time is used to indicate that the electromagnetic reflecting surface control unit starts to control the electromagnetic units of the electromagnetic reflecting surface to control the direction of the reflected beam of the electromagnetic reflecting surface at the beam control start time; The beam control end time, where the beam control end time is used to indicate that the electromagnetic reflecting surface control unit ends the control of the electromagnetic units of the electromagnetic reflecting surface at the beam control end time.

7. The method according to claim 1, characterized in that In the case where the signal measurement result corresponding to the preset direction is determined through the transmitting device and the receiving device is positioned according to the preset direction and the signal measurement result, before determining the signal measurement result corresponding to the preset direction through the transmitting device, the method further includes: Receive the measurement result set sent by the receiving device through the transmitting device, where the measurement result set includes the signal measurement result corresponding to the target time period; Wherein, the determination of the signal measurement result corresponding to the preset direction through the transmitting device includes: Determine the preset direction indicated by the preset direction information corresponding to the target time period according to the target time period, and determine the signal measurement result corresponding to the target time period as the signal measurement result corresponding to the preset direction.

8. The method according to claim 1, wherein In the case where the signal measurement result corresponding to the preset direction is determined through the receiving device and the receiving device is positioned according to the preset direction and the signal measurement result, before determining the signal measurement result corresponding to the preset direction through the receiving device, the method further includes: Receive the correspondence information sent by the transmitting device through the receiving device, where the correspondence information is the correspondence between the preset direction and the target time period, or the correspondence information is the correspondence between the preset direction and the target pilot signal; Among them, the determination of the signal measurement result corresponding to the preset direction by the receiving device includes: when the correspondence information is the correspondence between the preset direction and the target time period, determining the signal measurement result corresponding to the target time period as the signal measurement result corresponding to the preset direction; or, when the correspondence information is the correspondence between the preset direction and the target pilot signal, determining the signal measurement result corresponding to the target pilot signal as the signal measurement result corresponding to the preset direction.

9. The method according to claim 1, characterized in that The positioning of the receiving device according to the preset direction and the signal measurement result includes: According to the preset direction and the position and height of the electromagnetic reflecting surface, determining the position coordinates (xi, yi) of the reflection beam corresponding to each preset direction in the target area, and determining the value of the signal measurement result corresponding to the preset direction as the vertical axis coordinate zi corresponding to the position coordinates (xi, yi), where i is the identifier of the reflection beam corresponding to the preset direction; Performing Gaussian function fitting according to the coordinate range where the target area is located, the position coordinates (xi, yi), and the corresponding vertical axis coordinate zi to obtain a fitted Gaussian function, and determining the positioning result for positioning the receiving device according to the coordinates corresponding to the vertex of the fitted Gaussian function.

10. The method according to claim 9, characterized in that, The performing Gaussian function fitting according to the coordinate range where the target area is located, the position coordinates (xi, yi), and the corresponding vertical axis coordinate zi to obtain a fitted Gaussian function, and determining the positioning result for positioning the receiving device according to the coordinates corresponding to the vertex of the fitted Gaussian function includes: Sampling the abscissa range and the ordinate range where the target area is located at a preset coordinate interval respectively to obtain a sampled abscissa set and a sampled ordinate set; Determining the vertical axis coordinate zw corresponding to each abscissa xw in the abscissa set from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi), and determining the vertical axis coordinate zp corresponding to each ordinate yp in the ordinate set from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi), where w and p are positive integers in the interval [1, n], and n is the number of sampled samples; Performing one-dimensional Gaussian function fitting according to the coordinate set (xw, zw) composed of the abscissa set and the vertical axis coordinate zw corresponding to each abscissa xw in the abscissa set to obtain a fitted first Gaussian function; and performing one-dimensional Gaussian curve fitting according to the coordinate set (yp, zp) composed of the ordinate set and the vertical axis coordinate zp corresponding to each ordinate yp in the ordinate set to obtain a fitted second Gaussian function; Determine a first coordinate xt corresponding to the vertex of the first Gaussian function and a second coordinate yt corresponding to the vertex of the second Gaussian function, and determine the xt and the yt as the abscissa and ordinate of the positioning result respectively, where the xt is the abscissa within the abscissa range, and the yt is the ordinate within the ordinate range.

11. The method according to claim 1, wherein The positioning of the receiving device according to the preset direction and the signal measurement result includes: According to the preset direction and the position and height of the electromagnetic reflecting surface, determine the position coordinates (xi, yi) of the reflection beam corresponding to each preset direction in the target area, and determine the value of the signal measurement result corresponding to the preset direction as the vertical axis coordinate zi corresponding to the position coordinates, where i is the identifier of the reflection beam corresponding to the preset direction; Perform two-dimensional Gaussian function fitting according to the coordinate set (xi, yi, zi) composed of the position coordinates (xi, yi) and the vertical axis coordinate zi to obtain a fitted two-dimensional Gaussian function; Determine the coordinates (xt, yt) corresponding to the vertex of the two-dimensional Gaussian function, and determine the coordinates (xt, yt) as the positioning result obtained by positioning the receiving device, where the xt is the abscissa within the abscissa range where the target area is located, and the yt is the ordinate within the ordinate range where the target area is located.

12. The method according to claim 1, characterized in that, After determining the signal measurement result corresponding to the preset direction through the transmitting device and positioning the receiving device according to the preset direction and the signal measurement result, the method further includes: Determine target direction information through the transmitting device according to the positioning result obtained by positioning the receiving device, where the target direction information is used to instruct the electromagnetic reflecting surface control unit to control the reflection coefficients of the electromagnetic units of the electromagnetic reflecting surface according to the target direction information, so that the reflection beam formed by the radio frequency signal transmitted by the transmitting device points to the receiving device on the electromagnetic reflecting surface.

13. The method according to claim 1, characterized in that, After determining the signal measurement result corresponding to the preset direction through the receiving device and positioning the receiving device according to the preset direction and the signal measurement result, the method further includes: Determine target direction information through the receiving device according to the positioning result obtained by positioning the receiving device, where the target direction information is used to instruct the electromagnetic reflecting surface control unit to control the reflection coefficients of the electromagnetic units of the electromagnetic reflecting surface according to the target direction information, so that the reflection beam formed by the radio frequency signal transmitted by the transmitting device points to the receiving device on the electromagnetic reflecting surface.

14. A positioning device for a receiving device, characterized in that, Includes: A transmitting module for transmitting a pilot signal to an electromagnetic reflecting surface through a transmitting device; A control module, configured to send control information to an electromagnetic reflection surface control unit via the transmitting device, where the control information includes timing information and control direction information. The control information is used to instruct the electromagnetic reflection surface control unit to direct the reflection beam formed by a target pilot signal on the electromagnetic reflection surface to a preset direction during a target time period. The preset direction is the direction indicated by the preset direction information corresponding to the target time period, and the preset direction points to a target area. The timing information includes the target time period, and the control direction information includes the preset direction information. The pilot signal transmitted by the transmitting device includes the target pilot signal; A positioning module, configured to determine a signal measurement result corresponding to the preset direction via the transmitting device or the receiving device, and perform positioning on the receiving device according to the preset direction and the signal measurement result, where the signal measurement result is the result obtained by the receiving device located in the target area by measuring the target pilot signal reflected along the preset direction.

15. A positioning system for a receiving device, characterized in that, Comprising: A transmitting device, an electromagnetic reflection surface control unit, an electromagnetic reflection surface, and a receiving device, where The transmitting device is configured to transmit a pilot signal to the electromagnetic reflection surface and send control information to the electromagnetic reflection surface control unit, where the control information includes timing information and control direction information. The control information is used to instruct the electromagnetic reflection surface control unit to direct the reflection beam formed by a target pilot signal on the electromagnetic reflection surface to a preset direction during a target time period. The preset direction is the direction indicated by the preset direction information corresponding to the target time period, and the preset direction points to a target area. The timing information includes the target time period, and the control direction information includes the preset direction information. The pilot signal transmitted by the transmitting device includes the target pilot signal; The electromagnetic reflection surface control unit is configured to direct the reflection beam formed by the target pilot signal on the electromagnetic reflection surface to the preset direction during the target time period according to the control information; The receiving device is configured to measure the received target pilot signal reflected along the preset direction to obtain an information measurement result, where the receiving device is located in the target area; The transmitting device or the receiving device is further configured to determine a signal measurement result corresponding to the preset direction, and perform positioning on the receiving device according to the preset direction and the signal measurement result corresponding to the preset direction.

16. A computer-readable storage medium, characterized in that, A computer program is stored in the computer-readable storage medium, where the computer program is configured to execute the method described in any one of claims 1 to 13 when running.

17. An electronic device, comprising a memory and a processor, characterized in that, A computer program is stored in the memory, and the processor is configured to run the computer program to execute the method described in any one of claims 1 to 13.

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