Positioning method and device, system, storage medium and electronic device of transmitting device

Abstract

Embodiments of the present application provide a positioning method and device of a transmitting device, a system, a storage medium and an electronic device, which comprises: determining control information by a receiving device, the control direction information being used to instruct a metasurface control unit to adjust the reflection coefficient of the metasurface to a target reflection coefficient corresponding to a preset direction; transmitting a pilot signal to the metasurface by the transmitting device; sending the control information to the metasurface control unit by the receiving device, the control information being used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction in a target time period; determining a signal measurement result corresponding to the preset direction, and positioning the transmitting device according to the preset direction and the signal measurement result. Through the present application, the technical problem that the terminal cannot be positioned by using the characteristics of the metasurface itself in the related art is solved, and the effect that the terminal is positioned by using the characteristics of the metasurface itself is achieved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of communications, in particular, to a positioning method and device of a transmitting device, a system, a storage medium and an electronic device. BACKGROUND

[0002] The traditional direction of arrival (DOA) estimation method of array beam includes methods based on multiple signal classification (MUSIC), estimating signal parameter via rotation invariance techniques (ESPRIT), etc., and the basis is that the array elements have independent measurement functions (such as measuring the phase of the incoming wave). However, for a beam adjustable metasurface (also known as a metasurface or a reconfigurable metasurface), the increase in measurement function will reduce the reflection efficiency and increase the cost, so the metasurface usually does not have the phase measurement function of independent electromagnetic elements, thereby causing the traditional array DOA estimation method to be unavailable in the metasurface.

[0003] The traditional non-line-of-sight positioning method includes a line-of-sight reconstruction positioning method, a non-line-of-sight weighted positioning method, a time of arrival (TOA) positioning method based on line-of-sight reconstruction and smoothing processing combination, and an inequality constraint based positioning method, wherein the non-line-of-sight is converted into line-of-sight by using a mirror principle or the influence of the non-line-of-sight component is reduced by using a statistical method, and the positioning method requires the cooperation of multiple base stations; and in the fingerprint map or the global positioning system based positioning method in the related art, another set of positioning system deployment and related supporting is required, which increases the cost and is limited in implementation in some scenarios. It can be seen that in the related art, multiple systems need to be used and the support of other related technologies is required when positioning, and the characteristics of the metasurface itself cannot be used for terminal positioning.

[0004] For the technical problem that the characteristics of the metasurface itself cannot be used for terminal positioning in the related art, no effective technical solution has been proposed. SUMMARY

[0005] Embodiments of the present application provide a positioning method and device of a transmitting device, a system, a storage medium and an electronic device to at least solve the technical problem that the characteristics of the metasurface itself cannot be used for terminal positioning in the related art.

[0006] According to one embodiment of the present application, a positioning method of a transmitting device is provided, comprising: determining, by a receiving device, regulation information, wherein the regulation information comprises timing information and regulation direction information, the regulation direction information is used to instruct a metasurface control unit to adjust a reflection coefficient of a metasurface to a target reflection coefficient corresponding to a preset direction, so that a beam from the receiving device to the metasurface direction forms a reflected beam of the preset direction on the metasurface, the preset direction is a direction indicated by preset direction information corresponding to a target time period, and the preset direction points to a target area, the timing information comprises the target time period, and the regulation direction information comprises the preset direction information; transmitting, by the transmitting device, a pilot signal to the metasurface, wherein the transmitting device is located in the target area; sending, by the receiving device, the regulation information to the metasurface control unit, wherein the regulation information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction in the target time period; determining a signal measurement result corresponding to the preset direction, and positioning the transmitting device according to the preset direction and the signal measurement result, wherein the signal measurement result is a measurement result obtained by the receiving device measuring a target pilot signal received by the receiving device after being reflected by the metasurface adjusted to the target reflection coefficient, and the pilot signal transmitted by the transmitting device comprises the target pilot signal.

[0007] In one example embodiment, the determining, by the receiving device, regulation information comprises determining the regulation information according to the target scanning area; wherein the determining the regulation information according to the target scanning area comprises determining a plurality of preset direction information according to a plurality of sub-areas divided from the target area, and determining a plurality of target time periods according to the plurality of 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 comprises the plurality of 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 preset directions pointing to the target area, determining each of the preset direction information as one of the plurality of preset directions, and determining a plurality of target time periods according to the plurality of preset direction information, wherein the timing information comprises the plurality of target time periods, and each of the target time periods corresponds to each of the preset direction information one by one.

[0008] In an example embodiment, after the sending of the control information by the receiving device to the metasurface control unit, the method further comprises: determining, by the metasurface control unit, the target reflection coefficient according to the preset direction information; and adjusting, by the metasurface control unit, the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient in the target time period to adjust the reflection coefficient of the metasurface to the target reflection coefficient, wherein the reflection coefficient of each electromagnetic unit comprises at least one of the following: amplitude, phase, and polarization.

[0009] In an example embodiment, when the preset direction information is an input parameter corresponding to the preset direction, after the sending of the control information by the receiving device to the metasurface control unit, the method further comprises: determining, by the metasurface control unit, the target reflection coefficient according to the input parameter; and adjusting, by the metasurface control unit, the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient in the target time period to adjust the reflection coefficient of the metasurface to the target reflection coefficient; or when the preset direction information is the target reflection coefficient corresponding to the preset direction, after the sending of the control information by the receiving device to the metasurface control unit, the method further comprises: adjusting, by the metasurface control unit, the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient in the target time period to adjust the reflection coefficient of the metasurface to the target reflection coefficient.

[0010] In an example embodiment, the control information further comprises one of the following information: a beam control start time, wherein the beam control start time is used to indicate that the metasurface control unit starts to control the reflection coefficient of each electromagnetic unit of the metasurface at the beam control start time; and a beam control end time, wherein the beam control end time is used to indicate that the metasurface control unit ends the control of the reflection coefficient of each electromagnetic unit of the metasurface at the beam control end time.

[0011] In an example embodiment, the determining of the signal measurement result corresponding to the preset direction comprises: determining a target time period corresponding to each signal measurement result in a signal measurement result set, wherein the signal measurement result set comprises the signal measurement result corresponding to the preset direction; and determining, as the signal measurement result corresponding to the preset direction, the signal measurement result corresponding to the target time period according to the preset direction information indicated by the preset direction corresponding to the target time period.

[0012] In an example embodiment, the positioning of the transmitting device according to the preset directions and the signal measurement results comprises: determining the position coordinates (xi, yi) of the reflected beam corresponding to each preset direction in the target region according to the preset directions and the position and height of the super 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 (xi, yi), wherein i is the identifier of the reflected beam corresponding to the preset direction; performing Gaussian function fitting according to the coordinate range where the target region is located, the position coordinates (xi, yi) and the corresponding vertical axis coordinates zi to obtain a fitted Gaussian function, and determining the positioning result of the positioning of the transmitting device according to the coordinates corresponding to the vertex of the fitted Gaussian function.

[0013] In an example embodiment, the Gaussian function fitting according to the coordinate range where the target region is located, the position coordinates (xi, yi) and the corresponding vertical axis coordinates zi to obtain a fitted Gaussian function, and determining the positioning result of the positioning of the transmitting device according to the coordinates corresponding to the vertex of the fitted Gaussian function comprises: sampling the horizontal coordinate range and the vertical coordinate range of the target region according to a preset coordinate interval respectively to obtain a sampled horizontal coordinate set and a sampled vertical coordinate set; determining the vertical axis coordinate zw corresponding to each horizontal coordinate xw in the horizontal coordinate set from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi), and determining the vertical axis coordinate zp corresponding to each vertical coordinate yp in the vertical coordinate set from the vertical axis coordinates zi corresponding to the position coordinates (xi, yi), wherein w and p are positive integers in the interval [1, n], and n is the number of 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 fitted first Gaussian function; and performing one-dimensional Gaussian function 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 fitted second 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 determining the xt and the yt as the horizontal coordinate and the vertical coordinate of the positioning result respectively, wherein xt is a horizontal coordinate in the horizontal coordinate range, and yt is a vertical coordinate in the vertical coordinate range.

[0014] In an example embodiment, the positioning the transmitting device according to the preset directions and the signal measurement results comprises: determining a position coordinate (xi, yi) of the reflected beam corresponding to each preset direction in the target area according to the preset direction and the position and height of the super surface, determining a value of the signal measurement result corresponding to the preset direction as a vertical axis coordinate zi corresponding to the position coordinate, wherein the i is an identifier of the reflected beam corresponding to the preset direction; performing two-dimensional Gaussian function fitting according to a coordinate set (xi, yi, zi) composed of the position coordinate (xi, yi) and the vertical axis coordinate zi to obtain a fitted two-dimensional Gaussian function; determining a coordinate (xt, yt) corresponding to a vertex of the two-dimensional Gaussian function, and determining the coordinate (xt, yt) as a positioning result obtained by positioning the transmitting device, wherein the xt is a horizontal coordinate in a horizontal coordinate range where the target area is located, and the yt is a vertical coordinate in a vertical coordinate range where the target area is located.

[0015] In an example embodiment, after the determining the signal measurement result corresponding to the preset direction and the positioning the transmitting device according to the preset direction and the signal measurement result, the method further comprises: determining target direction information according to the positioning result obtained by positioning the transmitting device, wherein the target direction information is used to instruct the super surface control unit to control the reflection coefficients of each electromagnetic unit of the super surface according to the target direction information, so that the reflected beam formed by the wireless signal transmitted by the receiving device on the super surface is directed to the transmitting device.

[0016] According to another embodiment of the present application, a positioning device of a transmitting device is provided, comprising: a determining module configured to determine, by a receiving device, regulation information, wherein the regulation information comprises timing information and regulation direction information, the regulation direction information is used to instruct a metasurface control unit to adjust a reflection coefficient of a metasurface to a target reflection coefficient corresponding to a preset direction, so that a beam from the receiving device to the metasurface direction forms a reflected beam of the preset direction on the metasurface, the preset direction is a direction indicated by preset direction information corresponding to a target time period, and the preset direction points to a target area, the timing information comprises the target time period, and the regulation direction information comprises the preset direction information; a transmitting module configured to transmit, by the transmitting device, a pilot signal to the metasurface, wherein the transmitting device is located in the target area; a regulation module configured to send, by the receiving device, the regulation information to the metasurface control unit, wherein the regulation information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction in the target time period; and a positioning module configured to determine a signal measurement result corresponding to the preset direction, and to position the transmitting device according to the preset direction and the signal measurement result, wherein the signal measurement result is a measurement result obtained by the receiving device by measuring a target pilot signal received by the receiving device, the target pilot signal is reflected by the metasurface adjusted to the target reflection coefficient, and the pilot signal transmitted by the transmitting device comprises the target pilot signal.

[0017] According to another embodiment of the present application, a positioning system of a transmitting device is provided, comprising: a transmitting device, a receiving device, a metasurface control unit, a metasurface, and a positioning node, wherein the receiving device is configured to determine regulation information, wherein the regulation information comprises timing information and regulation direction information, the regulation direction information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to a target reflection coefficient corresponding to a preset direction, so that a beam from the receiving device to the metasurface forms a reflected beam of the preset direction on the metasurface, the preset direction is a direction indicated by preset direction information corresponding to a target time period, and the preset direction points to a target area, the timing information comprises the target time period, and the regulation direction information comprises the preset direction information; the transmitting device is configured to transmit a pilot signal to the metasurface, wherein the transmitting device is located in the target area; the receiving device is further configured to send the regulation information to the metasurface control unit, wherein the regulation information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction during the target time period; the receiving device is further configured to determine a signal measurement result corresponding to the preset direction; and the positioning node is configured to position the transmitting device according to the preset direction and the signal measurement result, wherein the signal measurement result is a measurement result obtained by the receiving device measuring a target pilot signal received by the receiving device, the target pilot signal is reflected by the metasurface adjusted to the target reflection coefficient, and the pilot signal transmitted by the transmitting device comprises the target pilot signal.

[0018] In an example embodiment, the receiving device is further configured to determine the regulation information according to the target scanning area; wherein the receiving device is configured to determine the regulation information by: determining a plurality of preset direction information according to a plurality of sub-areas divided from the target area, and determining a plurality of target time periods according to the plurality of 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 comprises the plurality of 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 preset directions pointing to the target area, determining each of the preset direction information as one of the plurality of preset directions, and determining a plurality of target time periods according to the plurality of preset direction information, wherein the timing information comprises the plurality of target time periods, and each of the target time periods corresponds to each of the preset direction information one by one.

[0019] In an exemplary embodiment, the metasurface control unit is used to: determine the target reflection coefficient based on the preset direction information; adjust the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient in the target time period to adjust the reflection coefficient of the metasurface to the target reflection coefficient; wherein the reflection coefficient of each electromagnetic unit includes at least one of the following: amplitude, phase, and polarization.

[0020] In an exemplary embodiment, the receiving device is further used to: determine a target time period corresponding to each signal measurement result in a signal measurement result set, wherein the signal measurement result set includes a signal measurement result corresponding to the preset direction; determine the preset direction indicated by the preset direction information corresponding to the target time period based on 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.

[0021] In an exemplary embodiment, the positioning node is further used to: determine the position coordinates (xi, yi) of the reflected beam corresponding to each preset direction in the target area according to the preset direction and the position and height of the metasurface, 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 coordinate (xi, yi), wherein i is the identifier of the reflected beam corresponding to the preset direction; perform Gaussian function fitting according to the coordinate range of the target area, the position coordinates (xi, yi) and the corresponding vertical axis coordinate zi to obtain a fitted Gaussian function, and determine the positioning result of the transmitting device according to the coordinates corresponding to the vertices of the fitted Gaussian function.

[0022] In an example embodiment, the positioning node is further configured to: sample the horizontal coordinate range and the vertical coordinate range of the target area according to a preset coordinate interval respectively to obtain a sampled horizontal coordinate set and a sampled vertical coordinate set; determine, from the vertical axis coordinate z i corresponding to the position coordinate (x i, y i ), a vertical axis coordinate z w corresponding to each horizontal coordinate x w in the horizontal coordinate set, and determine, from the vertical axis coordinate z i corresponding to the position coordinate (x i, y i ), a vertical axis coordinate z p corresponding to each vertical coordinate y p in the vertical coordinate set, wherein w and p are positive integers in the interval [1, n], and n is the number of samples; perform one-dimensional Gaussian function fitting on a coordinate set (x w, z w ) composed of the horizontal coordinate set and the vertical axis coordinate z w corresponding to each horizontal coordinate x w in the horizontal coordinate set to obtain a fitted first Gaussian function; perform one-dimensional Gaussian function fitting on a coordinate set (y p, z p ) composed of the vertical coordinate set and the vertical axis coordinate z p corresponding to each vertical coordinate y p in the vertical coordinate set to obtain a fitted second Gaussian function; determine a first coordinate x t corresponding to the vertex of the first Gaussian function and a second coordinate y t corresponding to the vertex of the second Gaussian function, and determine the x t and the y t as the horizontal coordinate and the vertical coordinate of the positioning result respectively, wherein the x t is a horizontal coordinate in the horizontal coordinate range, and the y t is a vertical coordinate in the vertical coordinate range.

[0023] In an example embodiment, the positioning node is further configured to: determine, according to the preset direction and the position and height of the hyper-surface, a position coordinate (x i, y i ) in the target area of the reflected beam corresponding to each preset direction, and determine the value of the signal measurement result corresponding to the preset direction as a vertical axis coordinate z i corresponding to the position coordinate, wherein i is an identifier of the reflected beam corresponding to the preset direction; perform two-dimensional Gaussian function fitting on a coordinate set (x i, y i, z i ) composed of the position coordinate (x i, y i ) and the vertical axis coordinate z i to obtain a fitted two-dimensional Gaussian function; determine a coordinate (x t, y t ) corresponding to the vertex of the two-dimensional Gaussian function, and determine the coordinate (x t, y t ) as the positioning result of positioning the emitting device, wherein x t is a horizontal coordinate in the horizontal coordinate range of the target area, and y t is a vertical coordinate in the vertical coordinate range of the target area.

[0024] According to still another embodiment of the present application, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. When the computer program is executed, the steps in any of the above method embodiments are performed.

[0025] According to a further embodiment of the present application, an electronic device is also provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor being arranged to run the computer program to perform the steps of any of the method embodiments described above.

[0026] According to the present application, the regulation information is determined by a receiving device, wherein the regulation information comprises timing information and regulation direction information, the regulation direction information is used to instruct a metasurface control unit to adjust a reflection coefficient of a metasurface to a target reflection coefficient corresponding to a preset direction, so that a beam from the receiving device to the metasurface direction forms a reflected beam of the preset direction on the metasurface, the preset direction is a direction indicated by preset direction information corresponding to a target time period, and the preset direction points to a target area, the timing information comprises the target time period, and the regulation direction information comprises the preset direction information; a pilot signal is transmitted to the metasurface by a transmitting device, wherein the transmitting device is located in the target area; the regulation information is sent to the metasurface control unit by the receiving device, wherein the regulation information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction in the target time period; a signal measurement result corresponding to the preset direction is determined, and the transmitting device is positioned according to the preset direction and the signal measurement result, wherein the signal measurement result is a measurement result obtained by the receiving device by measuring a target pilot signal received by the receiving device after reflection of the metasurface adjusted to the target reflection coefficient, and the pilot signal transmitted by the transmitting device comprises the target pilot signal. Therefore, the technical problem that the terminal cannot be positioned by using the characteristics of the metasurface itself in the related art can be solved, and the effect of positioning the terminal by using the characteristics of the metasurface itself is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 FIG. 1 is a hardware structure block diagram of an electronic device of a positioning method of a transmitting device according to an embodiment of the present application;

[0028] Figure 2 FIG. 2 is a network architecture diagram of a positioning method of a transmitting device according to an embodiment of the present application;

[0029] Figure 3 FIG. 3 is a flowchart of a positioning method of a transmitting device according to an embodiment of the present application;

[0030] Figure 4 FIG. 4 is a deployment scene plane schematic diagram of a metasurface according to an embodiment of the present application;

[0031] Figure 5is a schematic diagram of wireless signal quality recorded by a receiving device of an embodiment of the present application;

[0032] Figure 6 is a schematic diagram of wireless signal quality recorded by a receiving device of another embodiment of the present application;

[0033] Figure 7 is a schematic diagram of the correspondence between wireless signal quality and position coordinates in a target area of an embodiment of the present application;

[0034] Figure 8 is a schematic diagram of a three-dimensional display of wireless signal quality and position coordinates in a target area of an embodiment of the present application;

[0035] Figure 9 is a schematic diagram of a two-dimensional display of wireless signal quality and position coordinates in a target area of an embodiment of the present application;

[0036] Figure 10 is a schematic diagram of a three-dimensional display of wireless signal quality and position coordinates in a target area of another embodiment of the present application;

[0037] Figure 11 is a schematic diagram of a two-dimensional display of wireless signal quality and position coordinates in a target area of another embodiment of the present application;

[0038] Figure 12 is a schematic diagram of X-axis direction wireless signal quality and one-dimensional Gaussian function fitting of an embodiment of the present application;

[0039] Figure 13 is a schematic diagram of Y-axis direction wireless signal quality and one-dimensional Gaussian function fitting of an embodiment of the present application;

[0040] Figure 14 is a schematic diagram of X-axis direction wireless signal quality and one-dimensional Gaussian function fitting of another embodiment of the present application;

[0041] Figure 15 is a schematic diagram of Y-axis direction wireless signal quality and one-dimensional Gaussian function fitting of another embodiment of the present application;

[0042] Figure 16 is a structural block diagram of a positioning device of a transmitting device of an embodiment of the present application. DETAILED DESCRIPTION

[0043] Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings and in conjunction with embodiments.

[0044] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and in the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence.

[0045] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on an electronic device as an example, Figure 1 This is a hardware structure block diagram of an electronic device for a positioning method of a transmitting device according to an embodiment of the present application. Figure 1 As shown, the electronic device may include one or more ( Figure 1 Only one is shown) a processor 102 (the processor 102 may include but is not limited to a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. The electronic device may also include a transmission device 106 and an input / output device 108 for communication functions. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0046] Memory 104 can be used to store computer programs, such as software programs and modules for application software, such as the computer program corresponding to the positioning method for the transmitter device in the embodiments of the present application. Processor 102 executes the computer programs stored in memory 104 to execute various functional applications and data processing, thereby implementing the aforementioned methods. Memory 104 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 may further include memory remotely located from processor 102, and such remote memory may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0047] The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by a telecommunications provider. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices to enable communication with the Internet. In one embodiment, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0048] The embodiment of the present application can be run on Figure 2 In the network architecture shown in Figure 2 As shown, the network architecture includes: a transmitting device (eg, a terminal, whereinFigure 2 It is shown that there are two transmitting devices, namely transmitting device A (i.e. terminal A) and transmitting device B (i.e. terminal B)), a beam-adjustable metasurface control unit (i.e. corresponding to the metasurface control unit in the embodiment of the present application, or called a metasurface control device or a metasurface control device), a beam-adjustable metasurface (i.e. the metasurface in the embodiment of the present application, also called a reconfigurable metasurface), and a receiving device (e.g., a base station). Among them, the receiving device includes a wireless radio frequency unit or an antenna, and the receiving device is used to plan, configure and receive specific wireless signals. For example, the receiving device receives a specific wireless signal (i.e., the target pilot signal in the embodiment of the present application) transmitted by the transmitting device and reflected by the metasurface. The metasurface control unit is used to control the reflection coefficient of each electromagnetic unit (or electromagnetic reflection unit) in the metasurface; the metasurface is composed of a plurality of groups of electromagnetic units with controllable reflection coefficients. By controlling the reflection coefficients of each electromagnetic unit, the metasurface can form a predetermined reflection beam antenna pattern (i.e., a reflection beam of a preset direction is formed on the metasurface); the transmitting device is used to transmit a specific wireless signal (i.e., a target pilot signal); the receiving device is also used to measure, record or analyze the received target pilot signal. The target pilot signal transmitted by the transmitting device is pre-planned and configured by the receiving device (for example, a base station), and the target pilot signals corresponding to different transmitting devices are different, that is, the receiving device can distinguish different transmitting devices according to the target pilot signal after receiving the target pilot signal.

[0049] In this embodiment, a positioning method for a transmitting device running on the above network architecture is provided. Figure 3 This is a flow chart of a positioning method for a transmitter according to an embodiment of the present application. Figure 3 As shown, the process includes the following steps:

[0050] Step S302: determining control information by a receiving device, wherein the control information includes timing information and control direction information, the control direction information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to a target reflection coefficient corresponding to a preset direction, so that a beam from the receiving device to the metasurface forms a reflected beam in the preset direction on the metasurface, the preset direction is a direction indicated by the preset direction information corresponding to a 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;

[0051] Step S304: transmitting a pilot signal to the metasurface by the transmitting device, wherein the transmitting device is located in the target area;

[0052] In step S306, the receiving device sends the control information to the metasurface control unit, where the control information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction in the target time period.

[0053] In step S308, a signal measurement result corresponding to the preset direction is determined, and the transmitting device is positioned according to the preset direction and the signal measurement result, where the signal measurement result is a measurement result obtained by the receiving device measuring a target pilot signal received by the receiving device after being reflected by the metasurface adjusted to the target reflection coefficient, and the pilot signal transmitted by the transmitting device includes the target pilot signal.

[0054] Through the above steps, the control information is determined by the receiving device, where the control information includes timing information and control direction information, the control direction information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction, so that the beam from the receiving device to the metasurface direction forms a reflected beam of the preset direction on the metasurface, the preset direction is a direction indicated by preset direction information corresponding to a 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 is transmitted by the transmitting device to the metasurface, where the transmitting device is located in the target area; the control information is sent by the receiving device to the metasurface control unit, where the control information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction in the target time period; a signal measurement result corresponding to the preset direction is determined, and the transmitting device is positioned according to the preset direction and the signal measurement result, where the signal measurement result is a measurement result obtained by the receiving device measuring a target pilot signal received by the receiving device after being reflected by the metasurface adjusted to the target reflection coefficient, and the pilot signal transmitted by the transmitting device includes the target pilot signal. Therefore, the technical problem that the terminal cannot be positioned by using the characteristics of the metasurface itself in the related art can be solved, and the effect that the terminal is positioned by using the characteristics of the metasurface itself is achieved.

[0055] It should be noted that in the embodiments of the present application, a set of systems (i.e., using one base station and metasurface) is used, and the positioning of the transmitting device (i.e., the terminal) can be realized by using the capability of the metasurface itself, so that the positioning of the transmitting device can be completed by using one base station and using the characteristics of the metasurface itself.

[0056] In the above embodiments, the signal measurement result can be signal quality, signal field strength level or signal received power.

[0057] The execution order of steps S304 and S306 can be interchangeable, i.e., step S306 can be executed first, and then step S304.

[0058] In an example embodiment, the determining the regulation information by the receiving device comprises determining the regulation information according to the target scanning area; wherein the determining the regulation information according to the target scanning area comprises determining a plurality of preset direction information according to a plurality of sub-areas divided from the target area, and determining a plurality of target time periods according to the plurality of 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 comprises the plurality of 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 preset directions for pointing to the target area, determining each of the preset direction information as one of the plurality of preset directions, and determining the timing information according to the plurality of preset direction information, wherein the timing information comprises the plurality of target time periods, and each of the target time periods corresponds to each of the preset direction information one by one.

[0059] In the above embodiment, the target region can be divided into a plurality of sub-regions by the receiving device, for example, the target region is divided into sub-region 1, sub-region 2, and sub-region 3, and the like, and a preset direction information corresponding to each sub-region is determined according to the plurality of sub-regions, for example, preset direction information 1, preset direction information 2, and preset direction information 3, and the like. The preset direction information is used to instruct the metasurface control unit to adjust the reflection coefficient of each electromagnetic unit of the metasurface, so that the reflection beam formed on the metasurface is directed to the sub-region corresponding to the preset direction information. The reflection beam is a reflection beam (also known as a virtual reflection beam) formed on the metasurface from the receiving device to the metasurface. Therefore, by controlling the metasurface to direct the reflection beam to each sub-region in the target region in turn, the receiving device can scan the target region. In an exemplary embodiment, the receiving device can determine the preset direction information corresponding to each sub-region according to the scanning order of the sub-regions in the target region, and determine the timing information according to the determined preset direction information (i.e., determine a plurality of target time periods, each of which has corresponding preset direction information), for example, the determined plurality of preset direction information is preset direction information 1, preset direction information 2, and preset direction information 3, and the timing information includes target time period 1, target time period 2, and target time period 3 arranged in time sequence, 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.

[0060] In the above embodiment, the receiving device can directly determine a plurality of preset directions in the target region, for example, in the target region, a first preset direction pointing to a certain position of the target region is determined, and a second preset direction pointing to another position of the target region is determined, that is, a plurality of preset directions are determined, and each preset direction information is determined as one of the plurality of preset directions, that is, one preset direction can be used as a preset direction information. After determining the plurality of preset direction information, the receiving device can determine the target time period corresponding to the scanning order according to the scanning order of the positions of the target region. For example, the timing information includes target time period 1 and target time period 2, wherein target time period 1 corresponds to preset direction information 1, and target time period 2 corresponds to preset direction information 2.

[0061] It should be noted that in the embodiments of the present application, the target time period can be a time period corresponding to a time slot number (i.e., a time slot sequence number), and the timing information can be a set composed of time periods corresponding to time slots in time sequence, i.e., the timing information includes time periods corresponding to multiple time slots arranged in time sequence. In addition, in the control information sent by the receiving device to the metasurface control, the timing information includes multiple target time periods, the control direction information includes multiple preset direction information, and each target time period in the timing information corresponds to each preset direction information in the control direction information. Therefore, in the embodiments of the present application, by sending the control information to the metasurface control unit, the metasurface control unit can be instructed to adjust the reflection coefficient of the metasurface to the target reflection coefficient at the target time period, and when the next target time period arrives (for example, the start time of the next target time period), the reflection coefficient of the metasurface is adjusted to the next target reflection coefficient by the metasurface control unit, wherein the next target reflection coefficient is the reflection coefficient corresponding to the next preset direction, and the next preset direction is the direction indicated by the preset direction information corresponding to the next target time period. Thus, the reflection coefficient of the metasurface is adjusted to the corresponding reflection coefficient by the metasurface control unit at a certain target time period in the timing information, wherein the corresponding reflection coefficient is the reflection coefficient corresponding to the preset direction indicated by the preset direction information corresponding to the certain target time period.

[0062] In one exemplary embodiment, after the control information is sent by the receiving device to the metasurface control unit, the method further comprises: determining the target reflection coefficient according to the preset direction information by the metasurface control unit; adjusting the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient by the metasurface control unit at the target time period to adjust the reflection coefficient of the metasurface to the target reflection coefficient; wherein the reflection coefficient of each electromagnetic unit includes at least one of the following: amplitude, phase, polarization. That is, the reflection coefficient of each electromagnetic unit can be any combination of amplitude, phase, and polarization.

[0063] In an example embodiment, when the preset direction information is an input parameter corresponding to the preset direction, after the receiving device sends the control information to the metasurface control unit, the method further comprises: determining, by the metasurface control unit, the target reflection coefficient according to the input parameter; adjusting, by the metasurface control unit, the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient in the target time period to adjust the reflection coefficient of the metasurface to the target reflection coefficient; or, when the preset direction information is the target reflection coefficient corresponding to the preset direction, after the receiving device sends the control information to the metasurface control unit, the method further comprises: adjusting, by the metasurface control unit, the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient in the target time period to adjust the reflection coefficient of the metasurface to the target reflection coefficient.

[0064] In an example embodiment, the control information further comprises one of the following information: a beam control start time, wherein the beam control start time is used to instruct the metasurface control unit to start controlling the reflection coefficient of each electromagnetic unit of the metasurface at the beam control start time; a beam control end time, wherein the beam control end time is used to instruct the metasurface control unit to end controlling the reflection coefficient of each electromagnetic unit of the metasurface at the beam control end time.

[0065] The metasurface control unit is further configured to adjust the reflection coefficient of the metasurface to a target reflection coefficient corresponding to a first preset direction according to a first target time period in the timing information at the beam control start time, wherein the first preset direction is a direction indicated by the preset direction information corresponding to the first target time period.

[0066] In an optional embodiment, each target time period in the timing information constitutes a continuous period of time, the start time of the first target time period in the timing information is the beam control start time, the end time of the last target time period is the beam control end time, and the end time of each intermediate target time period (i.e., a 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 period 1 to target time period 3, wherein 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 control start time, and the end time of target time period 3 is the beam control end time.

[0067] In an example embodiment, the timing information is a set of time periods corresponding to time slots (e.g., a time period corresponding to the first time slot to a time period corresponding to the 180th time slot), and the target time period is a time period corresponding to a target time slot (also referred to as a target time slot number, e.g., one of the first time slot to the 180th time slot). The transmitting device records a correspondence between the target time period and a pilot signal transmitted in the target time period, and the receiving device records a correspondence between the target time period and the target pilot signal received in the target time period when the target pilot signal is received. It is to be noted that the correspondence between the target time period and the pilot signal transmitted in the target time period recorded by the transmitting device is consistent with the correspondence between the target time period and the target pilot signal received in the target time period recorded by the receiving device.

[0068] In an example embodiment, the determining the signal measurement result corresponding to the preset direction comprises: determining a target time period corresponding to each signal measurement result in a signal measurement result set, wherein the signal measurement result set comprises the signal measurement result corresponding to the preset direction; determining the signal measurement result corresponding to the target time period as the signal measurement result corresponding to the preset direction according to the preset direction information indicated by the preset direction corresponding to the target time period.

[0069] In the above embodiment, when the receiving device receives a target pilot signal, the receiving device records a target time period (e.g., a time period corresponding to the first time slot) corresponding to the target pilot signal, and performs signal measurement on the target pilot signal to obtain a signal measurement result, which can be a signal quality, a signal field strength level, or a signal received power.

[0070] In an example embodiment, the positioning the transmitting device according to the preset direction and the signal measurement result comprises: determining a position coordinate (xi, yi) of the reflected beam corresponding to each preset direction in the target area according to the preset direction and a position and a height of the super surface, and determining a vertical axis coordinate zi corresponding to the position coordinate (xi, yi) according to a value of the signal measurement result corresponding to the preset direction, wherein i is an identifier of the reflected beam corresponding to the preset direction; performing Gaussian function fitting according to a coordinate range of the target area, the position coordinate (xi, yi), and the corresponding vertical axis coordinate zi to obtain a fitted Gaussian function, and determining a positioning result of the positioning the transmitting device according to a coordinate corresponding to a vertex of the fitted Gaussian function.

[0071] In one example embodiment, the fitting of the Gaussian function according to the coordinate range where the target region is located, the position coordinate (xi, yi) and the corresponding vertical axis coordinate zi, obtaining a fitted Gaussian function, determining the positioning result of positioning the emitting device according to the coordinate corresponding to the vertex of the fitted Gaussian function, comprises: sampling the horizontal coordinate range and the vertical coordinate range where the target region is located according to a preset coordinate interval respectively, obtaining a sampled horizontal coordinate set and a sampled vertical coordinate set; determining the vertical axis coordinate zw corresponding to each horizontal coordinate xw in the horizontal coordinate set from the vertical axis coordinate zi corresponding to the position coordinate (xi, yi), and determining the vertical axis coordinate zp corresponding to each vertical coordinate yp in the vertical coordinate set from the vertical axis coordinate zi corresponding to the position coordinate (xi, yi), wherein w and p are positive integers in the interval [1, n], and n is the number of samples; fitting a one-dimensional Gaussian function according to the horizontal coordinate set and the coordinate set (xw, zw) composed of the vertical axis coordinate zw corresponding to each horizontal coordinate xw in the horizontal coordinate set, obtaining a fitted first Gaussian function; and fitting a one-dimensional Gaussian function according to the vertical coordinate set and the coordinate set (yp, zp) composed of the vertical axis coordinate zp corresponding to each vertical coordinate yp in the vertical coordinate set, obtaining a fitted second 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 determining the xt and the yt as the horizontal coordinate and the vertical coordinate of the positioning result respectively, wherein the xt is a horizontal coordinate in the horizontal coordinate range, and the yt is a vertical coordinate in the vertical coordinate range.

[0072] For example, the target region is a region with horizontal coordinates in the interval range [xs, xe] and vertical coordinates in the interval range [ys, ye], wherein xs, xe, ys and ye are real numbers, and xe > xs and ye > ys. The horizontal coordinate range and the vertical coordinate range where the target region is located are sampled according to a preset coordinate interval respectively, obtaining a sampled horizontal coordinate set and a sampled vertical coordinate set. In the above embodiment, xs≤xw≤xe and ys≤yp≤ye, and in the obtained positioning result, xs≤xt≤xe and ys≤yt≤ye.

[0073] It should be noted that in the above embodiment, the vertex (i.e. the maximum value of the Gaussian function, which is also the maximum value of the Gaussian curve corresponding to the Gaussian function) of the two one-dimensional Gaussian functions can be determined by fitting two one-dimensional Gaussian functions (i.e. fitting two one-dimensional Gaussian curves to obtain two one-dimensional Gaussian functions, each one-dimensional Gaussian function corresponding to a Gaussian curve), and the position coordinate (i.e. the positioning result) of the emitting device can be determined by determining the coordinate (i.e. the input corresponding to the maximum value of the Gaussian function) corresponding to the vertex.

[0074] In the method, the vertical axis coordinate zw corresponding to each horizontal axis coordinate xw in the horizontal axis coordinate set is determined from the vertical axis coordinate zi corresponding to the position coordinate (xi, yi), and the vertical axis coordinate zp corresponding to each vertical axis coordinate yp in the vertical axis coordinate set is determined from the vertical axis coordinate zi corresponding to the position coordinate (xi, yi), including: determining the vertical axis coordinates corresponding to all position coordinates with the horizontal axis coordinate xw in the position coordinate (xi, yi), determining the maximum value in the vertical axis coordinates corresponding to all position coordinates with the horizontal axis coordinate xw as the vertical axis coordinate zw corresponding to the horizontal axis coordinate xw; and determining the vertical axis coordinates corresponding to all position coordinates with the vertical axis coordinate yp in the position coordinate (xi, yi), determining the maximum value in the vertical axis coordinates corresponding to all position coordinates with the vertical axis coordinate yp as the vertical axis coordinate zp corresponding to the vertical axis coordinate yp.

[0075] In one example embodiment, the positioning of the transmitting device according to the preset direction and the signal measurement result includes: determining the position coordinate (xi, yi) of the reflected beam corresponding to each preset direction in the target area according to the preset direction and the position and height of the hyper surface, determining the value of the signal measurement result corresponding to the preset direction as the vertical axis coordinate zi corresponding to the position coordinate, wherein the i is the identifier of the reflected beam corresponding to the preset direction; performing two-dimensional Gaussian function fitting on the coordinate set (xi, yi, zi) composed of the position coordinate (xi, yi) and the vertical axis coordinate zi to obtain a fitted two-dimensional Gaussian function; determining the coordinate (xt, yt) corresponding to the vertex of the two-dimensional Gaussian function, and determining the coordinate (xt, yt) as the positioning result obtained by positioning the transmitting device, wherein the xt is a horizontal axis coordinate in the horizontal axis coordinate range of the target area, and the yt is a vertical axis coordinate in the vertical axis coordinate range of the target area.

[0076] For example, the horizontal axis coordinate range of the target area is [xs, xe], and the vertical axis coordinate range is [ys, ye], wherein xs, xe, ys, and ye are real numbers, and xe> xs and ye> ys. In the obtained positioning result, xs≤ xt≤ xe and ys≤ yt≤ ye.

[0077] It should be noted that in the above embodiment, the position coordinate of the transmitting device can be determined by two-dimensional Gaussian function fitting, that is, Gaussian surface fitting. The least square method or the least mean square error method can be used for fitting.

[0078] In an exemplary embodiment, after determining the signal measurement result corresponding to the preset direction and positioning the transmitting device based on the preset direction and the signal measurement result, the method further includes: determining target direction information based on the positioning result obtained by positioning the transmitting device, wherein the target direction information is used to instruct the metasurface control unit to control the reflection coefficient of each electromagnetic unit of the metasurface according to the target direction information, so that the reflection beam formed on the metasurface by the wireless signal transmitted by the receiving device is directed to the transmitting device.

[0079] Among them, after determining the target direction information, the receiving device sends the target direction information to the metasurface control unit to instruct the metasurface control unit to control the reflection coefficient of the metasurface according to the target direction information, so that the reflected beam formed on the metasurface by the wireless signal transmitted by the receiving device (i.e., the base station) is directed to the transmitting device, so that the wireless signal transmitted by the base station can accurately reach the terminal side.

[0080] The positioning method of the transmitting device in the above embodiment is explained below with reference to an example, but is not intended to limit the technical solution of the embodiment of the present application.

[0081] In the related art, using a beam-adjustable metasurface (also known as a reconfigurable metasurface, i.e., the metasurface in the above embodiment) to enhance the coverage of mobile networks in non-line-of-sight areas is a very effective and low-cost method. This application will provide a related method that can use the characteristics of the metasurface itself to achieve precise alignment of the target beam orientation, thereby making the metasurface deployment solution self-complete; and, in the non-line-of-sight area where the metasurface coverage is enhanced, the terminal position is accurately positioned. That is, in the embodiment of this application, the deployment of the metasurface is used to achieve non-line-of-sight terminal positioning using a single station (i.e., a single base station).

[0082] In the embodiments of this application, the following nodes are mainly involved:

[0083] The receiving device is configured to determine a beam scanning plan and send information related to the beam scanning plan to the transmitting device via a radio frequency unit, wherein the information related to the beam scanning plan includes a beam scanning time interval (which is the time interval between the beam steering start time and the beam steering end time in the above embodiment), a specific pilot sequence of the transmitting device (i.e., the target pilot signal in the above embodiment) and related time-frequency resources, etc. The determination of the beam scanning plan refers to the process of dividing the target area into grids or planning the target beam pointing direction by the receiving device, and converting the two-dimensional spatial domain plan of the target area into a one-dimensional time domain plan. For example, the receiving device determines each grid corresponding to a time sequence (i.e., the time sequence information in the above embodiment) according to the scanning order of the grids (i.e., the sub-area in the above embodiment) in the target area, and determines the preset direction information corresponding to each grid. That is, in the above embodiment, each preset direction information has a corresponding target time period. In an exemplary embodiment, the receiving device also sends the beam steering start time and the beam steering end time to the transmitting device.

[0084] The transmitting device is configured to transmit the target pilot signal according to the time-frequency resources configured by the receiving device within the beam scanning time interval. When transmitting the target pilot signal, the transmitting device adjusts the beam via a radio frequency unit in the transmitting device and aligns the transmitted beam with the metasurface (transmits the target pilot signal to the metasurface). It should be noted that in the above embodiment, the pilot sequence (i.e., the target pilot signal in the above embodiment) transmitted by the transmitting device is an encoding sequence known to both the transmitting device and the receiving device and can be used to distinguish different transmitting devices, and the encoding sequence has good autocorrelation and cross-correlation characteristics.

[0085] The receiving device is also configured to control the metasurface within the beam scanning time interval via a metasurface control unit, i.e., adjust the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient corresponding to the target time period in the target time period, so as to realize the scanning of the target area within the beam scanning interval.

[0086] The receiving device is also configured to identify the transmitting device based on the received pilot sequence and measure the wireless signal strength (i.e., the signal measurement result in the above embodiment). At the same time, multiple transmitting devices can transmit pilot signals simultaneously.

[0087] The control of the metasurface by the metacontrol unit includes: a receiving device sending control information to the metacontrol unit via an interface between the receiving device and the metasurface control unit, wherein the control information includes but is not limited to the following: beam control start time, beam control direction, target reflection coefficient of each electromagnetic unit, input parameters for determining the target reflection coefficient of each electromagnetic unit, timing information, beam control end time, etc. The control information can be a beam target to be adjusted or a control instruction for each electromagnetic unit of the metasurface. When these instructions act on each electromagnetic unit, they can cause each electromagnetic unit to change or adjust its reflection coefficient (also known as the input reflection coefficient), thereby adjusting the reflection coefficient of each electromagnetic unit in the metasurface to the target reflection coefficient corresponding to the target time period.

[0088] It should be noted that, in an embodiment of the present application, the receiving device can predetermine the control information (including preset direction information for making the beam from the receiving device to the metasurface form a reflection beam in a preset direction on the metasurface), and after determining the control information, the metasurface control unit controls the metasurface according to the control information in the beam scanning interval. Wherein, when the metasurface is controlled according to the control information, the receiving device does not transmit a signal to the metasurface, and at this time there is no signal transmitted by the receiving device to the metasurface. That is, in an embodiment of the present application, the reflection coefficient of the metasurface is adjusted to the target reflection coefficient in order to adjust the state of the metasurface to a state that generates a virtual reflection beam along a preset direction, and the virtual reflection beam is a reflection beam formed on the metasurface when simulating the receiving device transmitting a wireless signal to the metasurface, that is, the wireless signal transmitted by the receiving device to the metasurface is a simulated signal, and the receiving device does not actually need to transmit the wireless signal. Therefore, in an embodiment of the present application, after the receiving device determines the control information, the receiving device does not need to transmit a wireless signal to the metasurface when positioning the transmitting device.

[0089] Based on the above embodiment, by adjusting the reflection coefficient of each electromagnetic unit of the metasurface, the virtual main beam reflected by the metasurface (i.e., the above-mentioned virtual reflected beam) can be pointed to different target directions (i.e., the preset directions in the above embodiment) according to a predetermined time period (i.e., the target time period in the timing information in the above embodiment), thereby realizing scanning of the target area.

[0090] In the above embodiment, the receiving device measures and records the wireless signal quality of the target pilot signal transmitted by each transmitting device in the beam scanning interval, that is, the receiving device measures the signal quality of the received target pilot signal based on the known target pilot signal in the beam scanning interval, and records each signal quality and the corresponding target time period. The signal measurement result set composed of the signal measurement results recorded by the receiving device is arranged in time sequence, that is, the signal measurement result set is a time sequence data of each wireless signal quality, and each signal measurement result corresponds to the beam steering timing of the metasurface (that is, the time sequence information composed of the target time period corresponding to each signal measurement result in the signal measurement result set is consistent with the time sequence information for controlling the metasurface).

[0091] In the embodiment of the present application, the receiving device is further configured to perform target beam direction estimation and transmitting device position positioning based on the measurement results of the receiving device (that is, the signal measurement results in the above embodiment).

[0092] The target beam direction estimation and the transmitting device position positioning based on the measurement results of the receiving device include the following steps: (1) determining the wireless signal quality measured by the receiving device for a certain terminal when the main steering beam of the metasurface is directed to different directions based on the measurement results of the receiving device and the beam steering timing of the metasurface; and (2) performing the terminal position estimation and the target beam direction estimation based on the wireless signal quality of the main steering beam in different directions. The specific implementation of the step (2) can be performed in the receiving device or other network positioning equipment.

[0093] When positioning the terminal position, one-dimensional time data can be converted into two-dimensional spatial data based on the metasurface beam pointing and related measurement results, for example, the terminal position can be determined by a two-dimensional surface fitting algorithm. The two-dimensional surface fitting algorithm includes but is not limited to a two-dimensional Gaussian distribution surface, a least square method, a least mean square error method, or a fitting method using two independent Gaussian curves reduced to one dimension.

[0094] Figure 4 is a planar schematic diagram of the deployment scene of the metasurface in the embodiment of the present application, which shows the beam scanning area (that is, the target area in the above embodiment) and the beam adjustable metasurface (that is, the metasurface in the above embodiment). In an exemplary application scenario of the present application,

[0095] The receiving device (that is, Figure 4 The deployment parameters of the base station in which the wireless radio frequency receiving unit of the receiving device is located are as follows:

[0096] The antenna (that is, the wireless radio frequency unit) of the receiving device is installed on the top of a building with a hanging height of 43 meters (that is, the position height of the antenna of the receiving device is 43 meters);

[0097] The coordinates of the center point of the wireless radio frequency transmitting unit of the receiving device are: [0, 0, 43] (unit: meters: m);

[0098] The horizontal azimuth angle Az = 120 degrees;

[0099] The elevation angle EL = 10 degrees;

[0100] The rotation angle SL = 0 degrees.

[0101] The various deployment parameters of the metasurface are as follows:

[0102] The center point position of the metasurface: [21.67, 133.2, 36.2] (unit: m) (i.e. the position and height of the metasurface in the above embodiment);

[0103] The horizontal azimuth angle Az = -60 degrees;

[0104] The elevation angle EL = 0 degrees;

[0105] The rotation angle SL = 0 degrees.

[0106] The parameters of the transmitting device and the metasurface are configured as follows:

[0107] The carrier frequency Fc = 28 GHz;

[0108] Polarization: vertical polarization;

[0109] The base station equivalent isotropic radiated power (EIRP)

[0110] is 43 dBm

[0111] The size of the metasurface: 20λ long x 20λ wide, λ being the wavelength of the carrier frequency;

[0112] The size of the metasurface control unit:

[0113] The metasurface phase control granularity: 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: radians);

[0114] The sub-carrier spacing (SCS): 30 kHz;

[0115] The wireless frame length: 10 ms;

[0116] The number of slots per wireless frame: 20;

[0117] The receiving device sets the scanning beam update frequency: every time slot.

[0118] When testing the positioning accuracy of the positioning method of the transmitting device in the embodiment of the present application, the transmitting device A with the position coordinates of [78,88] (unit: meters: m) in the target area and the transmitting device B with the position coordinates of [76,98] (unit: m) are used as references to test the positioning accuracy of the positioning method in the embodiment of the present application.

[0119] In an embodiment of the present application, the positioning method includes the following steps:

[0120] Step 1: The receiving 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 the first target time period also corresponds to the beam steering start time in the above embodiment) to the 180th time slot (that is, the 180th target time period, which is also the last target time period in the timing information, and the end time of the last target time period also corresponds to the beam steering end time in the above embodiment), the receiving 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 the first ... Figure 4 For beam scanning in the medium beam scanning area (i.e., the target area in the above embodiment), the receiving device sends relevant information of the beam scanning plan to the transmitting device through the wireless radio frequency unit of the receiving device, wherein the relevant information includes: each target time period in the timing information (wherein, the start time of the first target time period in the timing information (which is also the beam control start time), the end time of the last target time period (i.e., the beam control end time), and the time period from the beam control start time to the beam control end time is the beam control time interval), a specific pilot sequence of the transmitting device (i.e., the target pilot signal corresponding to the transmitting device) and related time-frequency resources, etc.;

[0121] Step 2: The wireless radio frequency unit of the transmitting device adjusts the beam to align with the metasurface and transmits a pilot sequence signal (i.e., the target pilot signal in the above embodiment) according to the time-frequency resources configured by the receiving device within the beam scanning time zone. The pilot sequence signals of different transmitting devices can be distinguished by frequency division or code division, etc.

[0122] Step 3: The receiving device controls the direction of the metasurface's virtual beam through the metasurface control unit. The metasurface's beam scanning direction is updated every time slot. During a certain time slot (i.e., the time period corresponding to the time slot), the virtual reflected beam reaches the beam scanning area along a preset direction. After each update, the beam will be aligned with the next new predetermined direction (i.e., the preset direction in the above embodiment).

[0123] Step 4: The receiving device measures and records the wireless signal quality of the wireless pilot signal transmitted by the relevant transmitting device during the beam scanning time interval. The results are shown in Figure 5 andFigure 6 The horizontal axis in the figure represents time slots arranged in order. In each time slot, the receiving device measures the signal received from the target pilot signal transmitted by the transmitting device A, and the vertical axis in the figure represents the signal receiving strength. Figure 5 The horizontal axis in the figure represents time slots arranged in order. In each time slot, the receiving device measures the signal received from the target pilot signal transmitted by the transmitting device A, and the vertical axis in the figure represents the signal receiving strength. Figure 6 The horizontal axis in the figure represents time slots arranged in order. In each time slot, the receiving device measures the signal received from the target pilot signal transmitted by the transmitting device B, and the vertical axis in the figure represents the signal receiving strength. Figure 5 The horizontal axis in the figure represents time slots arranged in order. In each time slot, the receiving device measures the signal received from the target pilot signal transmitted by the transmitting device B, and the vertical axis in the figure represents the signal receiving strength. Figure 6 The horizontal axis in the figure represents time slots arranged in order. In each time slot, the receiving device measures the signal received from the target pilot signal transmitted by the transmitting device B, and the vertical axis in the figure represents the signal receiving strength. The horizontal axis in the figure represents time slots arranged in order. In each time slot, the receiving device measures the signal received from the target pilot signal transmitted by the transmitting device B, and the vertical axis in the figure represents the signal receiving strength.

[0124] Step 5: Based on the measurement results of the receiving device, the target beam direction is estimated and the transmitting device is located.

[0125] The format of the measurement results in a measurement period (i.e. beam scanning time interval) of a certain transmitting device (e.g. transmitting device A) is as follows: (wherein slotNo represents the time slot number, i.e. the target time period in the above embodiment, and RxPwr represents the receiving level, i.e. the signal measurement result in the above embodiment)

[0126] slotNo 1: RxPwr -130; (i.e. in the first target time period (i.e. the time period corresponding to the 1st time slot), the signal field strength level of the received target pilot signal is -130 dBm)

[0127] …

[0128] slotNo 57: RxPwr -87.31;

[0129] …

[0130] The network positioning node (which can be the receiving device or a network positioning device different from the receiving device in the network) maps the time slot number to the target beam direction, and combines the position and height of the metasurface center (i.e. the position and height of the metasurface in the above embodiment) to convert the one-dimensional time data in the above Figure 7 to two-dimensional spatial data Figure 8 , and map the measurement results to the ground surface Figure 9 of the beam scanning area (i.e. Figure 9 is Figure 8 a plan view). Wherein, Figure 7The numbers beside each point "·" represent the time slot number, for example Figure 7 The two annotations in the second row of the table: ·31, and ·47, where "37" and "47" represent the corresponding time slot numbers 31, and 47, respectively, according to Figure 7 The position coordinates corresponding to each time slot number can be determined. Figure 8 The horizontal axis and the vertical axis of the table represent the horizontal coordinate of the target area and the coordinate of the target area, respectively, and the vertical axis (z-axis) represents the received signal quality, where the predicted position of the transmitting device is the positioning result (i.e., the coordinates in the positioning result) obtained by positioning the transmitting device. Figure 9 The horizontal axis and the vertical axis of the table represent the horizontal coordinate of the target area and the coordinate of the target area, respectively, Figure 9 Each point "·" in the table represents the presence of received signal quality, and the specific received signal quality is displayed in Figure 8 the vertical axis coordinate of the table.

[0131] And the one-dimensional time data obtained by measuring the received pilot signal transmitted by the transmitting device B is converted into two-dimensional spatial data (as shown in Figure 10 ), and the measurement results are mapped to the ground surface of the beam scanning area Figure 11 (i.e. Figure 11 is Figure 10 a plan view of the table).

[0132] Using the dimension reduction method, the X coordinate and the Y coordinate of the transmitting device are estimated independently, as follows:

[0133] Based on the orientation of each beam of the metasurface and the height of the metasurface (i.e., the position and height of the metasurface), the position [xi, yi] of each virtual reflected beam on the ground is determined, where i is the beam identifier, which is equal to the time slot number in this embodiment;

[0134] 1. Data dimension reduction is performed in the x-axis and y-axis directions:

[0135] (1) The X-axis direction is segmented (i.e., the horizontal coordinate is segmented), and the interval between each segment is 2. The set of coordinates corresponding to the center points of all segments is: [62, 64, 66, …, 80] (i.e., the horizontal coordinate set in the above embodiment).

[0136] (2) The Y-axis direction is segmented (i.e., the vertical coordinate is segmented), and the interval between each segment is 2. The set of coordinates corresponding to the center points of all segments is: [80, 82, 84, …, 110] (i.e., the vertical coordinate set in the above embodiment).

[0137] 2. Determine the dimension-reduced received level of each segment

[0138] (1) For Figure 8For all the two-dimensional data, the following operations are performed (i.e. the following processing is performed on the received wireless signal quality measured by the target pilot signal transmitted by the transmitting device A): according to the result of the segmentation in the X direction, for the set of coordinates corresponding to the center points of each segment of the X axis [62, 64, 66, …, 80], the dimension-reduced received level corresponding to the coordinates of each center point is determined (in an exemplary embodiment, the strongest wireless signal quality in each segment is determined as the unique dimension-reduced received level of the segment, i.e. for the coordinate xw of a certain center point, the maximum value of the wireless signal quality (i.e. the received level) corresponding to the coordinate xw (i.e. zw) is determined), and the result is as follows:

[0139] [62, RxPwrx1;

[0140] 64, RxPwrx2;

[0141] 66, RxPwrx3;

[0142] …,

[0143] 80, RxPwrx10]

[0144] The obtained coordinate set in the X axis direction and the corresponding wireless signal quality are Figure 12 each of the measured data in the figure.

[0145] For Figure 8 all the two-dimensional data, according to the result of the segmentation in the Y direction, the wireless signal quality is respectively attributed to each segment, and the coordinate set of the center points of each segment of the Y axis is: [80, 82, 84, …, 110], and the unique dimension-reduced received level of each segment is determined according to the strongest wireless channel received quality in the segment (i.e. for each longitudinal coordinate yp in the longitudinal coordinate set, zp corresponding to the yp is determined; the specific determination method is similar to the processing method of the X axis direction), and the result is as follows:

[0146] [80, RxPwry1

[0147] 82, RxPwry2

[0148] 84, RxPwry3

[0149] …,

[0150] 110, RxPwry16]

[0151] The obtained coordinate set in the Y axis direction and the corresponding wireless signal quality are Figure 13 each of the measured data in the figure.

[0152] (2) For Figure 10For all two-dimensional data in the , the following operations are performed (i.e., the following processing is performed on the wireless signal reception quality obtained by measuring the received target pilot signal transmitted by transmitter B): according to the results of the segmentation in the X direction, for the coordinate set [62, 64, 66, ..., 80] corresponding to the center points of each X-axis segment, the reduced-dimensionality reception level corresponding to the coordinate of each center point is determined (in an exemplary embodiment, the strongest wireless signal reception quality in each segment is used to determine the unique reduced-dimensionality reception level of the segment, i.e., for the coordinate xw of a certain center point, the maximum value (i.e., zw) of the wireless signal reception quality (i.e., reception level) corresponding to the coordinate xw is determined). The result is as follows:

[0153] [62,RxPwrx1;

[0154] 64,RxPwrx2;

[0155] 66,RxPwrx3;

[0156] …,;

[0157] 80, RxPwrx10]

[0158] The obtained coordinate set in the X-axis direction and the corresponding wireless signal quality are: Figure 14 The various measured data shown;

[0159] for Figure 10 For all the two-dimensional data in the image, the wireless signal quality is divided into different segments according to the segmentation results in the Y direction. The coordinate set of the center point of each Y-axis segment is: [80, 82, 84, ..., 110]. The unique reduced-dimensionality reception level of each segment is determined based on the strongest wireless channel reception quality in each segment (that is, for each ordinate yp in the ordinate set, the corresponding zp is determined). The results are as follows:

[0160] [80,RxPwry1

[0161] 82,RxPwry2

[0162] 84,RxPwry3

[0163] …,

[0164] 110, RxPwry16]

[0165] The obtained Y-axis coordinate set and the corresponding wireless signal quality are: Figure 15 The measured data are shown in Figure 2.

[0166] It should be noted that the above RxPwry1 to RxPwry16 are schematic representations of the determined dimensionality reduction reception levels.

[0167] (5) Positioning results and errors

[0168] A one-dimensional Gaussian function is selected as the fitting curve, and one-dimensional Gaussian curve fitting (i.e., one-dimensional Gaussian function fitting) is performed in the X direction and the Y direction respectively. In an exemplary embodiment, the one-dimensional Gaussian function corresponding to the X direction can be determined by least square fitting (i.e., the Gaussian curve corresponding to the one-dimensional Gaussian function, see Figure 12 The parameters of the fitting result in the Y direction are obtained, and the x coordinate corresponding to the center point (i.e., the vertex, the maximum value of the function) is determined (i.e., xt in the above embodiment); and the one-dimensional Gaussian function corresponding to the Y direction can be determined by least squares fitting (i.e., the Gaussian curve corresponding to the one-dimensional Gaussian function, see Figure 13 The parameters of the fitting result in the above example are calculated, and the y coordinate corresponding to the center point is determined (i.e., yt in the above embodiment). According to the positioning method in the embodiment of the present application, the position coordinates of the transmitter A obtained by positioning are: [76.223097.6619]m, and the positioning error between the actual coordinate position of the transmitter A as the reference target is: 0.405m.

[0169] For the transmitter B, the results of one-dimensional Gaussian curve fitting in the X and Y directions are as follows: Figure 14 and Figure 15 As shown, the position coordinates of transmitter B obtained by positioning are: [77.7978 88.7517]m, and the positioning error between it and the true coordinate position of transmitter B as the reference target is: 0.50378m. It can be seen that using the positioning method of the embodiment of the application, a relatively accurate positioning result can be obtained.

[0170] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0171] This embodiment also provides a positioning device for a transmitter, which is used to implement the above-mentioned embodiments and preferred embodiments. Details already described will not be repeated here. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0172] Figure 16 is a structural block diagram of a positioning device of a transmitting device of an embodiment of the present application, as shown in the figure, the positioning device comprises: Figure 16

[0173] A determination module 211 is configured to determine, by a receiving device, regulation information, wherein the regulation information comprises timing information and regulation direction information, the regulation direction information is used to instruct a metasurface control unit to adjust a reflection coefficient of a metasurface to a target reflection coefficient corresponding to a preset direction, so that a beam from the receiving device to the metasurface direction forms a reflected beam of the preset direction on the metasurface, the preset direction is a direction indicated by preset direction information corresponding to a target time period, and the preset direction points to a target area, the timing information comprises the target time period, and the regulation direction information comprises the preset direction information.

[0174] A transmitting module 213 is configured to transmit, by the transmitting device, a pilot signal to the metasurface, wherein the transmitting device is located in the target area.

[0175] A regulation module 215 is configured to send, by the receiving device, the regulation information to the metasurface control unit, wherein the regulation information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction in the target time period.

[0176] A positioning module 217 is configured to determine a signal measurement result corresponding to the preset direction, and to position the transmitting device according to the preset direction and the signal measurement result, wherein the signal measurement result is a measurement result obtained by the receiving device by measuring a target pilot signal received, the target pilot signal is reflected by the metasurface adjusted to the target reflection coefficient and then received by the receiving device, and the pilot signal transmitted by the transmitting device comprises the target pilot signal.

[0177] ​According to the application, the receiving device determines the regulation information, wherein the regulation information comprises timing information and regulation direction information, the regulation direction information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to a target reflection coefficient corresponding to a preset direction, so that the beam from the receiving device to the metasurface direction forms a reflected beam of the preset direction on the metasurface, the preset direction is a direction indicated by preset direction information corresponding to a target time period, and the preset direction points to a target area, the timing information comprises the target time period, and the regulation direction information comprises the preset direction information; the transmitting device transmits a pilot signal to the metasurface, wherein the transmitting device is located in the target area; the receiving device sends the regulation information to the metasurface control unit, wherein the regulation information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction in the target time period; a signal measurement result corresponding to the preset direction is determined, and the transmitting device is positioned according to the preset direction and the signal measurement result, wherein the signal measurement result is a measurement result obtained by the receiving device by measuring a target pilot signal received by the receiving device after being reflected by the metasurface adjusted to the target reflection coefficient, and the pilot signal transmitted by the transmitting device comprises the target pilot signal. Therefore, the technical problem that the terminal cannot be positioned by using the characteristics of the metasurface itself in the related art can be solved, and the effect that the terminal is positioned by using the characteristics of the metasurface itself is achieved.

[0178] The positioning system of the receiving device is also provided in the embodiment, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. The system comprises a transmitting device, a receiving device, a metasurface control unit, a metasurface and a positioning node, wherein the receiving device is configured to determine regulation information, wherein the regulation information comprises timing information and regulation direction information, the regulation direction information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to a target reflection coefficient corresponding to a preset direction, so that the beam from the receiving device to the metasurface direction forms a reflected beam of the preset direction on the metasurface, the preset direction is a direction indicated by preset direction information corresponding to a target time period, and the preset direction points to a target area, the timing information comprises the target time period, and the regulation direction information comprises the preset direction information; the transmitting device is configured to transmit a pilot signal to the metasurface, wherein the transmitting device is located in the target area; the receiving device is further configured to send the regulation information to the metasurface control unit, wherein the regulation information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction in the target time period; the receiving device is further configured to determine a signal measurement result corresponding to the preset direction; and the positioning node is configured to position the transmitting device according to the preset direction and the signal measurement result, wherein the signal measurement result is a measurement result obtained by the receiving device by measuring a target pilot signal received by the receiving device, the target pilot signal is reflected by the metasurface adjusted to the target reflection coefficient, and the pilot signal transmitted by the transmitting device comprises the target pilot signal.

[0179] According to the application, the receiving device determines the regulation information, wherein the regulation information includes timing information and regulation direction information, the regulation direction information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to a target reflection coefficient corresponding to a preset direction, so that the beam from the receiving device to the metasurface direction forms a reflected beam of the preset direction on the metasurface, the preset direction is a direction indicated by preset direction information corresponding to a 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 transmitting device transmits a pilot signal to the metasurface, wherein the transmitting device is located in the target area; the receiving device sends the regulation information to the metasurface control unit, wherein the regulation information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction in the target time period; a signal measurement result corresponding to the preset direction is determined, and the transmitting device is positioned according to the preset direction and the signal measurement result, wherein the signal measurement result is a measurement result obtained by the receiving device measuring a target pilot signal received by the receiving device after being reflected by the metasurface adjusted to the target reflection coefficient, and the pilot signal transmitted by the transmitting device includes the target pilot signal. Therefore, the technical problem that the terminal cannot be positioned by using the characteristics of the metasurface itself in the related art can be solved, and the effect of positioning the terminal by using the characteristics of the metasurface itself is achieved.

[0180] It should be noted that the above positioning node can be the receiving device or other positioning device in the network.

[0181] In an example embodiment, the receiving device is further configured to determine the regulation information according to the target scanning area; wherein the receiving device is configured to determine the regulation information by determining a plurality of preset direction information according to a plurality of sub-areas divided from the target area, and determining a plurality of target time periods according to a plurality of 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 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 preset directions pointing to the target area, determining each of the preset direction information as one of the plurality of preset directions, and determining a plurality of target time periods according to a plurality of preset direction information, wherein the timing information includes a plurality of target time periods, and each of the target time periods corresponds to each of the preset direction information one by one.

[0182] In an exemplary embodiment, the metasurface control unit is used to: determine the target reflection coefficient based on the preset direction information; adjust the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient in the target time period to adjust the reflection coefficient of the metasurface to the target reflection coefficient; wherein the reflection coefficient of each electromagnetic unit includes at least one of the following: amplitude, phase, and polarization.

[0183] In an exemplary embodiment, the receiving device is further used to: determine a target time period corresponding to each signal measurement result in a signal measurement result set, wherein the signal measurement result set includes a signal measurement result corresponding to the preset direction; determine the preset direction indicated by the preset direction information corresponding to the target time period based on 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.

[0184] In an exemplary embodiment, the positioning node is further used to: determine the position coordinates (xi, yi) of the reflected beam corresponding to each preset direction in the target area according to the preset direction and the position and height of the metasurface, 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 coordinate, wherein i is the identifier of the reflected beam corresponding to the preset direction; perform Gaussian function fitting according to the coordinate range of the target area, the position coordinates (xi, yi) and the corresponding vertical axis coordinate zi to obtain a fitted Gaussian function, and determine the positioning result of the transmitting device according to the coordinates corresponding to the vertices of the fitted Gaussian function.

[0185] In an example embodiment, the positioning node is further configured to: sample the horizontal coordinate range and the vertical coordinate range in which the target area is located according to a preset coordinate interval, respectively, to obtain a sampled horizontal coordinate set and a sampled vertical coordinate set; determine, from the vertical axis coordinate z, corresponding to the position coordinate (xi, yi), a vertical axis coordinate zwcorresponding to each horizontal coordinate xw in the horizontal coordinate set, and determine, from the vertical axis coordinate z, corresponding to the position coordinate (xi, yi), a vertical axis coordinate zp corresponding to each vertical coordinate yp in the vertical coordinate set, wherein w and p are positive integers in the interval [1, n], and n is the number of samples; perform one-dimensional Gaussian function fitting on a coordinate set (xw, zw) composed of the horizontal coordinate set and the vertical axis coordinate zw corresponding to each horizontal coordinate xw in the horizontal coordinate set, to obtain a fitted first Gaussian function; perform one-dimensional Gaussian function fitting on a coordinate set (yp, zp) composed of the vertical coordinate set and the vertical axis coordinate zp corresponding to each vertical coordinate yp in the vertical coordinate 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 horizontal coordinate and the vertical coordinate of the positioning result, respectively, wherein the xt is a horizontal coordinate in the horizontal coordinate range, and the yt is a vertical coordinate in the vertical coordinate range.

[0186] In an example embodiment, the positioning node is further configured to: determine, according to the preset direction and the position and height of the hyper-surface, a position coordinate (xi, yi) in the target area of the reflected beam corresponding to each preset direction, and determine the value of the signal measurement result corresponding to the preset direction as a vertical axis coordinate zi corresponding to the position coordinate, wherein i is an identifier of the reflected beam corresponding to the preset direction; perform two-dimensional Gaussian function fitting on a coordinate set (xi, yi, zi) composed of the position coordinate (xi, yi) and the vertical axis coordinate zi, to obtain a fitted two-dimensional Gaussian function; determine a coordinate (xt, yt) corresponding to the vertex of the two-dimensional Gaussian function, and determine the coordinate (xt, yt) as a positioning result obtained by positioning the transmitting device, wherein xt is a horizontal coordinate in a horizontal coordinate range in which the target area is located, and yt is a vertical coordinate in a vertical coordinate range in which the target area is located.

[0187] In an example embodiment, the positioning node is further configured to determine target direction information according to a positioning result obtained by positioning the transmitting device, wherein the target direction information is used to instruct the metasurface control unit to control the reflection coefficients of the electromagnetic units of the metasurface according to the target direction information, so that a reflection beam formed by the wireless signal transmitted by the receiving device on the metasurface is directed to the transmitting device.

[0188] In an example embodiment, in a case where the preset direction information is an input parameter corresponding to the preset direction, after the transmitting, by the receiving device, of the regulation information to the metasurface control unit, the method further comprises: determining, by the metasurface control unit, the target reflection coefficient according to the input parameter; adjusting, by the metasurface control unit, the reflection coefficients of the electromagnetic units of the metasurface to the target reflection coefficient in the target time period to adjust the reflection coefficients of the metasurface to the target reflection coefficient; or, in a case where the preset direction information is the target reflection coefficient corresponding to the preset direction, after the transmitting, by the receiving device, of the regulation information to the metasurface control unit, the method further comprises: adjusting, by the metasurface control unit, the reflection coefficients of the electromagnetic units of the metasurface to the target reflection coefficient in the target time period to adjust the reflection coefficients of the metasurface to the target reflection coefficient.

[0189] In an example embodiment, the regulation information further comprises one of the following information: a beam regulation start time, wherein the beam regulation start time is used to instruct the metasurface control unit to start controlling the reflection coefficients of the electromagnetic units of the metasurface at the beam regulation start time; and a beam regulation end time, wherein the beam regulation end time is used to instruct the metasurface control unit to end the control of the reflection coefficients of the electromagnetic units of the metasurface at the beam regulation end time.

[0190] It should be noted that each of the above modules can be implemented by software or hardware, and for the latter, the following implementation manners can be used, but are not limited thereto: all the above modules are located in the same processor; or the above modules are located in different processors in any combination.

[0191] Embodiments of the present application also provide a computer readable storage medium, which stores a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0192] In an example embodiment, the computer readable storage medium described above can include, but is not limited to, a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media capable of storing computer programs.

[0193] Embodiments of the present application also provide an electronic device including a memory and a processor, the memory storing a computer program, and the processor being configured to execute the computer program to perform the steps in any of the method embodiments described above.

[0194] In an example embodiment, the electronic device described above can further include a transmission device connected to the processor and an input and output device connected to the processor.

[0195] The specific examples in the embodiments can refer to the examples described in the above embodiments and example embodiments, and the embodiments will not be described here again.

[0196] Obviously, those skilled in the art should understand that the modules or steps of the present application described above can be realized by general computing devices, which can be concentrated on a single computing device or distributed on a network composed of multiple computing devices, and they can be realized by program codes executable by computing devices, so that they can be stored in storage devices and executed by computing devices, and in some cases, the steps shown or described can be executed in different order, or they can be manufactured into individual integrated circuit modules, or multiple modules or steps can be manufactured into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

[0197] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for positioning a transmitting device, characterized in that: include: Determining control information by a receiving device, wherein the control information includes timing information and control direction information, the control direction information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to a target reflection coefficient corresponding to a preset direction, so that a beam from the receiving device to the metasurface forms a reflected beam in the preset direction on the metasurface, the preset direction is a direction indicated by the preset direction information corresponding to a 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; transmitting a pilot signal to the metasurface by the transmitting device, wherein the transmitting device is located in the target area; Sending the control information to the metasurface control unit through the receiving device, wherein the control information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction in the target time period; Determine a signal measurement result corresponding to the preset direction, and locate the transmitting device based on the preset direction and the signal measurement result, wherein the signal measurement result is a measurement result obtained by the receiving device measuring the received target pilot signal, the target pilot signal is received by the receiving device after being reflected by the metasurface adjusted to the target reflection coefficient, and the pilot signal transmitted by the transmitting device includes the target pilot signal.

2. The method according to claim 1, characterized in that The determining of the control information by the receiving device includes determining the control information according to the target scanning area; Wherein, determining the control information according to the target scanning area includes: Determine a plurality of preset direction information according to the plurality of sub-areas obtained by dividing the target area, and determine a plurality of target time periods according to the plurality of preset direction information, wherein each of the preset direction information corresponds one-to-one to each of the plurality of sub-areas, and the timing information includes a plurality of target time periods, and each of the target time periods corresponds one-to-one to each of the preset direction information; or determine a plurality of preset directions for pointing to the target area, and determine each of the preset direction information as one of the plurality of preset directions, and determine a plurality of target time periods according to the plurality of preset direction information, wherein the timing information includes a plurality of target time periods, and each of the target time periods corresponds one-to-one to each of the preset direction information.

3. The method according to claim 1, characterized in that After sending the control information to the metasurface control unit through the receiving device, the method further includes: Determining the target reflection coefficient according to the preset direction information by the metasurface control unit; adjusting, by the metasurface control unit, the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient during the target time period so as to adjust the reflection coefficient of the metasurface to the target reflection coefficient; The reflection coefficient of each electromagnetic unit includes at least one of the following: amplitude, phase, and polarization.

4. The method according to claim 1, wherein In a case where the preset direction information is an input parameter corresponding to the preset direction, after sending the control information to the metasurface control unit through the receiving device, the method further includes: Determining the target reflection coefficient according to the input parameters by the metasurface control unit; Adjusting the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient by the metasurface control unit in the target time period to adjust the reflection coefficient of the metasurface to the target reflection coefficient; or In a case where the preset direction information is the target reflection coefficient corresponding to the preset direction, after the control information is sent to the metasurface control unit through the receiving device, the method further includes: The metasurface control unit adjusts the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient in the target time period, so as to adjust the reflection coefficient of the metasurface to the target reflection coefficient.

5. The method according to claim 1, wherein The control information also includes one of the following information: A beam steering start time, wherein the beam steering start time is used to instruct the metasurface control unit to start controlling the reflection coefficient of each electromagnetic unit of the metasurface at the beam steering start time; The beam control end time is used to indicate that the metasurface control unit ends the control of the reflection coefficient of each electromagnetic unit of the metasurface at the beam control end time.

6. The method according to claim 1, characterized in that The determining the signal measurement result corresponding to the preset direction includes: Determining a target time period corresponding to each signal measurement result in a signal measurement result set, wherein the signal measurement result set includes the signal measurement result corresponding to the preset direction; The preset direction indicated by the preset direction information corresponding to the target time period is determined according to the target time period, and the signal measurement result corresponding to the target time period is determined as the signal measurement result corresponding to the preset direction.

7. The method according to claim 1, characterized in that Positioning the transmitting device according to the preset direction and the signal measurement result includes: Determining, based on the preset directions and the position and height of the metasurface, the position coordinates (xi, yi) of the reflected 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 reflected beam corresponding to the preset direction; A Gaussian function is fitted according to the coordinate range of the target area, the position coordinates (xi, yi) and the corresponding vertical axis coordinate zi to obtain a fitted Gaussian function, and the positioning result of the transmitting device is determined according to the coordinates corresponding to the vertices of the fitted Gaussian function.

8. The method according to claim 7, characterized in that The step of fitting a Gaussian function according to the coordinate range of the target area, 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 transmitting device according to the coordinates corresponding to the vertices of the fitted Gaussian function, includes: Sampling the horizontal coordinate range and the vertical coordinate range of the target area according to a preset coordinate interval to obtain a sampled horizontal coordinate set and a sampled vertical coordinate set; Determine the vertical coordinate zw corresponding to each horizontal coordinate xw in the horizontal coordinate set from the vertical coordinate zi corresponding to the position coordinate (xi, yi), and determine the vertical coordinate zp corresponding to each vertical coordinate yp in the vertical coordinate set from the vertical coordinate zi corresponding to the position coordinate (xi, yi), where both w and p are positive integers in the interval [1, n], and n is the number of samples; Perform one-dimensional Gaussian function fitting on a coordinate set (xw, zw) consisting 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 perform one-dimensional Gaussian function fitting on a coordinate set (yp, zp) consisting 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 yt as the horizontal coordinate and vertical coordinate of the positioning result, respectively, wherein the xt is the horizontal coordinate within the horizontal coordinate range, and the yt is the vertical coordinate within the vertical coordinate range.

9. The method according to claim 1, characterized in that Positioning the transmitting device according to the preset direction and the signal measurement result includes: Determine, based on the preset directions and the position and height of the metasurface, the position coordinates (xi, yi) of the reflected 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 coordinate, where i is an identifier of the reflected beam corresponding to the preset direction; Performing a two-dimensional Gaussian function fitting on the coordinate set (xi, yi) consisting 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 vertices of the two-dimensional Gaussian function, and determine the coordinates (xt, yt) as the positioning result obtained by positioning the transmitting device, wherein the xt is the horizontal coordinate within the horizontal coordinate range of the target area, and the yt is the vertical coordinate within the vertical coordinate range of the target area.

10. The method according to claim 1, characterized in that After determining the signal measurement result corresponding to the preset direction and locating the transmitting device according to the preset direction and the signal measurement result, the method further includes: The target direction information is determined based on the positioning result obtained by positioning the transmitting device, wherein the target direction information is used to instruct the metasurface control unit to control the reflection coefficient of each electromagnetic unit of the metasurface according to the target direction information, so that the reflection beam formed on the metasurface by the wireless signal transmitted by the receiving device is directed to the transmitting device.

11. A positioning device for a launch device, characterized in that: include: a determination module, configured to determine control information through a receiving device, wherein the control information includes timing information and control direction information, the control direction information being configured to instruct a metasurface control unit to adjust a reflection coefficient of the metasurface to a target reflection coefficient corresponding to a preset direction, so that a beam in the direction from the receiving device to the metasurface forms a reflected beam in the preset direction on the metasurface, the preset direction being a direction indicated by the preset direction information corresponding to a target time period, and the preset direction points to a target area, the timing information including the target time period, and the control direction information including the preset direction information; a transmitting module, configured to transmit a pilot signal to the metasurface via the transmitting device, wherein the transmitting device is located in the target area; a control module, configured to send the control information to the metasurface control unit through the receiving device, wherein the control information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction in the target time period; A positioning module is used to determine a signal measurement result corresponding to the preset direction, and to locate the transmitting device based on the preset direction and the signal measurement result, wherein the signal measurement result is a measurement result obtained by the receiving device measuring a received target pilot signal, the target pilot signal is received by the receiving device after being reflected by a metasurface adjusted to the target reflection coefficient, and the pilot signal transmitted by the transmitting device includes the target pilot signal.

12. A positioning system for a launch device, characterized in that: include: Transmitting device, receiving device, metasurface control unit, metasurface and positioning node, wherein, The receiving device is configured to determine control information, wherein the control information includes timing information and control direction information, the control direction information is configured to instruct the metasurface control unit to adjust a reflection coefficient of the metasurface to a target reflection coefficient corresponding to a preset direction, so that a beam from the receiving device to the metasurface forms a reflected beam in the preset direction on the metasurface, the preset direction is a direction indicated by the preset direction information corresponding to a 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; a transmitting device, configured to transmit a pilot signal to the metasurface, wherein the transmitting device is located in the target area; The receiving device is further configured to send the control information to the metasurface control unit, wherein the control information is used to instruct the metasurface control unit to adjust the reflection coefficient of the metasurface to the target reflection coefficient corresponding to the preset direction during the target time period; The receiving device is further configured to determine a signal measurement result corresponding to the preset direction; The positioning node is configured to locate the transmitting device based on the preset direction and the signal measurement result, wherein the signal measurement result is a measurement result obtained by the receiving device measuring a received target pilot signal, the target pilot signal is received by the receiving device after being reflected by a metasurface adjusted to the target reflection coefficient, and the pilot signal transmitted by the transmitting device includes the target pilot signal.

13. The system according to claim 12, wherein: The receiving device is further configured to determine the control information according to the target scanning area; The receiving device is used to determine the control information in the following manner: Determine a plurality of preset direction information according to the plurality of sub-areas obtained by dividing the target area, and determine a plurality of target time periods according to the plurality of preset direction information, wherein each of the preset direction information corresponds one-to-one to each of the plurality of sub-areas, and the timing information includes a plurality of target time periods, and each of the target time periods corresponds one-to-one to each of the preset direction information; or determine a plurality of preset directions for pointing to the target area, and determine each of the preset direction information as one of the plurality of preset directions, and determine a plurality of target time periods according to the plurality of preset direction information, wherein the timing information includes a plurality of target time periods, and each of the target time periods corresponds one-to-one to each of the preset direction information.

14. The system according to claim 12, wherein: The metasurface control unit is used to: Determining the target reflection coefficient according to the preset direction information; adjusting the reflection coefficient of each electromagnetic unit of the metasurface to the target reflection coefficient during the target time period to adjust the reflection coefficient of the metasurface to the target reflection coefficient; The reflection coefficient of each electromagnetic unit includes at least one of the following: amplitude, phase, and polarization.

15. The system according to claim 12, wherein: The receiving device is further configured to: Determining a target time period corresponding to each signal measurement result in a signal measurement result set, wherein the signal measurement result set includes the signal measurement result corresponding to the preset direction; The preset direction indicated by the preset direction information corresponding to the target time period is determined according to the target time period, and the signal measurement result corresponding to the target time period is determined as the signal measurement result corresponding to the preset direction.

16. The system according to claim 12, wherein: The positioning node is further used for: Determining, based on the preset directions and the position and height of the metasurface, the position coordinates (xi, yi) of the reflected 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 reflected beam corresponding to the preset direction; A Gaussian function is fitted according to the coordinate range of the target area, the position coordinates (xi, yi) and the corresponding vertical axis coordinate zi to obtain a fitted Gaussian function, and the positioning result of the transmitting device is determined according to the coordinates corresponding to the vertices of the fitted Gaussian function.

17. The system according to claim 16, wherein: The positioning node is further used for: Sampling the horizontal coordinate range and the vertical coordinate range of the target area according to a preset coordinate interval to obtain a sampled horizontal coordinate set and a sampled vertical coordinate set; Determine the vertical coordinate zw corresponding to each horizontal coordinate xw in the horizontal coordinate set from the vertical coordinate zi corresponding to the position coordinate (xi, yi), and determine the vertical coordinate zp corresponding to each vertical coordinate yp in the vertical coordinate set from the vertical coordinate zi corresponding to the position coordinate (xi, yi), where both w and p are positive integers in the interval [1, n], and n is the number of samples; Perform one-dimensional Gaussian function fitting on a coordinate set (xw, zw) consisting 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 perform one-dimensional Gaussian function fitting on a coordinate set (yp, zp) consisting 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 yt as the horizontal coordinate and vertical coordinate of the positioning result, respectively, wherein the xt is the horizontal coordinate within the horizontal coordinate range, and the yt is the vertical coordinate within the vertical coordinate range.

18. The system according to claim 12, wherein: The positioning node is further used for: Determine, based on the preset directions and the position and height of the metasurface, the position coordinates (xi, yi) of the reflected 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 coordinate, where i is an identifier of the reflected beam corresponding to the preset direction; Performing a two-dimensional Gaussian function fitting on the coordinate set (xi, yi) consisting 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 vertices of the two-dimensional Gaussian function, and determine the coordinates (xt, yt) as the positioning result obtained by positioning the transmitting device, wherein the xt is the horizontal coordinate within the horizontal coordinate range of the target area, and the yt is the vertical coordinate within the vertical coordinate range of the target area.

19. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the method according to any one of claims 1 to 10 when executed.

20. 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 perform the method according to any one of claims 1 to 10.

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