Radio positioning devices and systems

Abstract

The present invention provides a radio positioning device and system, the device comprises a directional antenna, a radio receiving processing device and a control terminal; the directional antenna is connected to the radio receiving processing device by signal, the control terminal is connected to the radio receiving processing device by signal; the radio receiving processing device comprises a DSP processing unit, a GPS module and a gyroscope; the GPS module is connected to the DSP processing unit by signal, and the gyroscope is connected to the DSP processing unit by signal. The present invention is easy to carry and improves positioning efficiency and positioning accuracy.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a radio positioning device and system. Background Art

[0002] With the development of radio technology and the widespread application of new radio technologies and services, the impact of radio interference is becoming increasingly serious. Common interference sources include illegally built radio signal generators, unauthorized drones, unregulated IoT terminals, etc. These interference devices affect the operator's public and private network communications. Therefore, a radio positioning device is urgently needed to locate these interference sources on site and eliminate signal interference.

[0003] At present, some existing radio positioning devices generally use antenna arrays, which are relatively large and are usually placed on vehicles. This solution has some restrictions, such as some urban villages and communities where ground vehicles cannot enter and cannot work. There are also smaller portable positioning devices, but they all rely solely on detecting interference signal energy, manually determining direction and finding targets, and have low positioning efficiency. Summary of the invention

[0004] The present invention provides a radio positioning device and system, which are used to solve the defect of low positioning efficiency of portable positioning equipment in the prior art and improve the positioning efficiency of the portable positioning equipment.

[0005] The present invention provides a radio positioning device, comprising a directional antenna, a radio receiving processing device and a control terminal;

[0006] The directional antenna is signal-connected to the radio reception processing device, and the control terminal is signal-connected to the radio reception processing device;

[0007] The radio receiving processing device includes a DSP processing unit, a GPS module and a gyroscope;

[0008] The GPS module is connected to the DSP processing unit by signal, and the gyroscope is connected to the DSP processing unit by signal;

[0009] The control terminal is used to configure the radio reception processing device according to the frequency and bandwidth of the positioning target, so that the directional antenna receives the signal transmitted by the positioning target;

[0010] The directional antenna is used to receive the signal transmitted by the positioning target from multiple azimuths at each position and send the signal to the radio reception processing device;

[0011] The GPS module is used to determine each position of the directional antenna and send the position to the DSP processing unit;

[0012] The gyroscope is used to measure the azimuth of the directional antenna and send the azimuth to the DSP processing unit;

[0013] The DSP processing unit is used to determine the azimuth angle corresponding to the positioning target at each position according to the energy value of the signal transmitted by the positioning target received by the directional antenna at each position from each azimuth angle; and determine the position of the positioning target according to the intersection between the extended lines of the azimuth angles corresponding to any two positions of the positioning target.

[0014] According to a radio positioning device provided by the present invention, the control terminal is also used to configure the demodulation mode of the DSP processing unit according to the signal format of the positioning target;

[0015] The DSP processing unit is used to demodulate the signal transmitted by the positioning target received by the directional antenna at each position from each azimuth angle according to the demodulation method, and obtain the energy value of each demodulated signal and the demodulation accuracy corresponding to each azimuth angle of each position;

[0016] The azimuth with the maximum demodulation accuracy at each position is used as the azimuth corresponding to the positioning target.

[0017] According to a radio positioning device provided by the present invention, the DSP processing unit is used to use the azimuth with the maximum energy value of the signal at each position as the azimuth corresponding to the positioning target.

[0018] According to a radio positioning device provided by the present invention, the radio receiving and processing device further includes a camera and an object recognition module;

[0019] The camera is used to capture an image directly in front of the azimuth angle where the energy value of the signal at each position is the largest, and send the image to the object recognition module;

[0020] The object recognition module is used to identify the obstacle type in the image, and estimate the distance between the positioning target and the directional antenna using the wireless signal fading model corresponding to the obstacle type;

[0021] The DSP processing unit is used to determine the area where the positioning target is located according to the intersection between the extension lines of the azimuths corresponding to any two positions of the positioning target; and determine the position of the positioning target from the area according to the distance.

[0022] According to a radio positioning device provided by the present invention, the DSP processing unit is used to sort the intersection points between the extension lines of the azimuth angles corresponding to any two positions of the positioning target in order of the number of occurrences from low to high, and filter out a preset number of intersection points in the sorting result; based on the filtered intersection points in the sorting result, determine the area where the positioning target is located.

[0023] According to a radio positioning device provided by the present invention, the radio receiving processing device further comprises a filter group, and the filter group is used to filter the signal transmitted by the positioning target;

[0024] The DSP processing unit is used to determine the azimuth angle corresponding to the positioning target at each position according to the filtered energy value of the signal transmitted by the positioning target received by the directional antenna at each position from each azimuth angle.

[0025] According to a radio positioning device provided by the present invention, the directional antenna is connected to the radio receiving processing device via a radio frequency cable, and the control terminal is connected to the radio receiving processing device via WiFi or Bluetooth.

[0026] The present invention also provides a radio positioning system, comprising a server and the radio positioning device described above;

[0027] There are multiple radio positioning devices, and the DSP processing unit in each radio positioning device also includes a data transmission module;

[0028] The data transmission module is used to send the intersection point between the extended lines of the azimuths corresponding to any two positions of the positioning target to the server;

[0029] The server is used to determine the azimuth angle corresponding to each position of the positioning target according to the intersection points sent by the data transmission modules in all the radio positioning devices.

[0030] The radio positioning device and system provided by the present invention use GPS and a gyroscope to assist in determining the energy value of a signal transmitted by a positioning target received by a directional antenna from various azimuths at each position, determine the direction of the positioning target according to the energy value, and automatically locate the positioning target according to the intersection between the directions of the positioning target determined at multiple positions, thereby improving the positioning efficiency and positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a structural schematic diagram of the radio positioning device provided by the present invention;

[0033] Figure 2 It is a structural schematic diagram of a radio receiving processing device in a radio positioning device provided by the present invention;

[0034] Figure 3 It is a diagram of the filter bank architecture in the radio positioning device provided by the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Combine the following Figure 1 A radio positioning device of the present invention is described, comprising a directional antenna, a radio receiving processing device and a control terminal;

[0037] Optionally, the control terminal is a mobile phone, tablet or computer. The directional antenna and the radio receiving and processing device are placed in a backpack or shoulder bag and carried by the operator, and the control terminal is operated by the operator. The radio positioning device is carried by the operator for positioning and can enter environments that vehicles cannot enter to perform target positioning work.

[0038] The directional antenna is signal-connected to the radio reception processing device, and the control terminal is signal-connected to the radio reception processing device;

[0039] The radio receiving processing device includes a DSP (Digital Signal Processing) processing unit, a GPS (Global Positioning System) module and a gyroscope;

[0040] The GPS module is connected to the DSP processing unit by signal, and the gyroscope is connected to the DSP processing unit by signal;

[0041] Optionally, the radio receiving processing device further includes an ADC (Analog to Digital Converter), an FPGA (Field Programmable Gate Array) and a data transmission module. The specific structural diagram is shown in FIG. Figure 2 shown.

[0042] Among them, ADC completes the conversion of analog RF signals to zero intermediate frequency digital signals; FPGA completes the data interface between ADC and DSP, as well as RF front-end signal processing, and completes frequency and clock synchronization according to GPS; DSP processing unit is used to complete signal demodulation, process control, peripheral sensor control and detection, azimuth calculation, and straight-line distance estimation functions; gyroscope completes azimuth detection function, through which the current pointing angle of the directional antenna can be obtained, and with GPS, the signal energy value corresponding to each angle at this position can be obtained. Data transmission modules include but are not limited to LoRa, NBIoT and Zigbee, which are used to complete the communication function with the host or server, realize long-distance communication, and complete the information exchange between the radio positioning device and the server or vehicle-mounted positioning equipment.

[0043] The control terminal is used to configure the radio reception processing device according to the frequency and bandwidth of the positioning target, so that the directional antenna receives the signal transmitted by the positioning target;

[0044] The control terminal is used to realize parameter configuration and positioning result display. In addition, the radio positioning device can also receive the configuration information sent by the server or the vehicle-mounted positioning device through the data transmission module, and then reconfigure according to the configuration information.

[0045] The directional antenna is used to receive the signal transmitted by the positioning target from multiple azimuths at each position and send the signal to the radio reception processing device;

[0046] The main beam of a directional antenna is directed toward the outside of a backpack or shoulder bag.

[0047] The GPS module is used to determine each position of the directional antenna and send the position to the DSP processing unit;

[0048] The gyroscope is used to measure the azimuth of the directional antenna and send the azimuth to the DSP processing unit;

[0049] The GPS module and the gyroscope are used to determine the energy value of the signal transmitted by the positioning target received by the positioning antenna at each position from multiple azimuths.

[0050] The DSP processing unit is used to determine the azimuth angle corresponding to the positioning target at each position according to the energy value of the signal transmitted by the positioning target received by the directional antenna at each position from each azimuth angle; and determine the position of the positioning target according to the intersection between the extended lines of the azimuth angles corresponding to any two positions of the positioning target.

[0051] After obtaining the azimuths corresponding to enough positions, the DSP processing unit uses the intersection of the delay lines of the azimuths corresponding to the multiple positions to determine the position of the positioning target. This embodiment is not limited to the specific method of determining the position of the positioning target. The control terminal displays the position of the positioning target.

[0052] This embodiment uses GPS and a gyroscope to assist in determining the energy value of the signal transmitted by the positioning target received by the directional antenna at each position from each azimuth angle, determines the direction of the positioning target based on the energy value, and realizes automatic positioning of the positioning target based on the intersection of the directions of the positioning target determined at multiple positions, thereby improving positioning efficiency and positioning accuracy.

[0053] On the basis of the above embodiment, the control terminal in this embodiment is further used to configure the demodulation mode of the DSP processing unit according to the signal format of the positioning target;

[0054] Use the control terminal to configure the demodulation mode of the DSP processing unit according to the frequency, bandwidth and standard information of the positioning target. Some standards may require more configuration information for correct demodulation.

[0055] The DSP processing unit is used to demodulate the signal transmitted by the positioning target received by the directional antenna at each position from each azimuth angle according to the demodulation method, and obtain the energy value of each demodulated signal and the demodulation accuracy corresponding to each azimuth angle of each position;

[0056] The radio receiving processing device selects different radio frequency links according to the configuration information, configures the AD frequency points, and loads different demodulation templates according to the standard information.

[0057] The radio receiving processing device supports multi-standard demodulation of the signals transmitted by the positioning target, including but not limited to FM, GSM, NB-IoT, CDMA, WCDMA, LTE and NR. By demodulating the signals transmitted by the positioning target, the interference of non-targets can be effectively filtered out.

[0058] The azimuth with the maximum demodulation accuracy at each position is used as the azimuth corresponding to the positioning target.

[0059] When the signal transmitted by the positioning target is of a certain standard, the signal transmitted by the positioning target can be accurately demodulated. After all configuration processes are completed, signal measurement begins. The DSP processing unit calculates the energy value of each signal, records the GPS positioning position and azimuth information corresponding to the energy value, and stores this information.

[0060] When the radio positioning device is far away from the positioning target, the energy in each direction is almost the same. At this time, the position can be distinguished by the demodulation accuracy. For example, in some cases, all the parameters of the target signal are known, and the demodulation SNR (Signal Noise Ratio) of certain specific formats can be negative. In other words, when the directional antenna is facing the positioning target, although the energy value is basically the same as that in other directions, this direction can be correctly demodulated, while other directions cannot be correctly demodulated. According to this auxiliary method, the target direction can also be determined.

[0061] On the basis of the above-mentioned embodiment, the DSP processing unit in this embodiment is used to take the azimuth angle with the maximum energy value of the signal at each position as the azimuth angle corresponding to the positioning target.

[0062] When the radio positioning device is closer to the positioning target, the energy difference of the signals received from each azimuth angle is large, and the azimuth angle corresponding to the maximum energy value at each position is selected as the azimuth angle corresponding to the positioning target.

[0063] On the basis of the above embodiments, the radio receiving processing device in this embodiment further includes a camera and an object recognition module; the camera is used to capture an image directly in front of the azimuth angle where the energy value of the signal at each position is the largest, and send the image to the object recognition module;

[0064] The camera is directed to the direction directly in front of the azimuth with the maximum energy value at each position, and the camera completes the image capture in front. The object recognition module identifies the type of obstacle in front of the direction with the maximum energy. The wireless signal fading model is used to compensate and correct the energy value, and the distance between the positioning target and the directional antenna is estimated.

[0065] The object recognition module is used to identify the obstacle type in the image, and estimate the distance between the positioning target and the directional antenna using the wireless signal fading model corresponding to the obstacle type;

[0066] Different types of obstacles correspond to different fading coefficients of the wireless signal fading model, and the corresponding relationship between the two is obtained in advance through experiments. The energy value of the received signal and the energy value when the signal is sent are used as the input of the wireless signal fading model. The energy value is compensated and corrected through the wireless signal fading model to estimate the distance between the positioning target and the directional antenna.

[0067] The DSP processing unit is used to determine the area where the positioning target is located according to the intersection between the extension lines of the azimuths corresponding to any two positions of the positioning target; and determine the position of the positioning target from the area according to the distance.

[0068] The area where the positioning target is located is determined based on all the intersection points, such as the minimum area containing all the intersection points. A point is selected from the area so that the distance between the point and the directional antenna is equal to the estimated distance, and the selected point is used as the position of the positioning target.

[0069] This embodiment determines the approximate area of ​​the positioning target based on the intersection between the extended lines of the azimuth angles corresponding to any two positions of the positioning target, and uses a camera and an object recognition module to assist in calculating the distance between the positioning target and the directional antenna, thereby improving the positioning accuracy of the positioning target.

[0070] Based on the above embodiments, the DSP processing unit is used to sort the intersection points between the extension lines of the azimuth angles corresponding to any two positions of the positioning target in order of the number of occurrences from low to high, and filter out a preset number of intersection points in the sorting result; determine the area where the positioning target is located based on the filtered intersection points in the sorting result.

[0071] If the number of intersections between the extended lines of the azimuths corresponding to any two positions is large enough, the intersections are sorted and filtered according to the number of occurrences, and the intersections with low credibility are filtered out, which can effectively reduce the impact of instantaneous interference and multipath on the positioning results. The more intersections there are, the more accurate the positioning results are.

[0072] On the basis of the above embodiments, the radio receiving processing device in this embodiment also includes a filter group, which is used to filter the signal transmitted by the positioning target; the DSP processing unit is used to determine the azimuth angle corresponding to the positioning target at each position according to the filtered energy value of the signal transmitted by the positioning target received by the directional antenna at each position from each azimuth angle.

[0073] The filter group selects the frequency band of the input signal, filters out interference from other frequency bands, and prevents strong signals from other frequency bands from blocking the observation frequency band. The specific structure is as follows Figure 3 shown.

[0074] On the basis of the above embodiments, in this embodiment, the directional antenna is connected to the radio reception processing device via a radio frequency cable, and the control terminal is connected to the radio reception processing device via WiFi or Bluetooth.

[0075] The radio receiving processing device also includes a Bluetooth or WiFi transmission unit. The radio receiving processing device communicates with the control terminal via the Bluetooth or WiFi transmission unit, which belongs to short-distance communication.

[0076] The specific operation process of the radio positioning device includes:

[0077] 1. Set the target frequency and bandwidth information through the control terminal, or the host or server sends the configuration information through the data transmission module;

[0078] 2. After the device works normally, connect to the control terminal via Bluetooth or WiFi. After the connection is successful, the control terminal will display the energy value of the signal sent by the received positioning target and the location information of the operator on the map.

[0079] 3. The operator moves forward in the direction indicated by the control terminal. After each distance, the operator stops and rotates 360 degrees. The GPS module records the position information at this time, the gyroscope calculates the angle between the radio positioning device and the true north during the rotation process, and the DSP processing unit counts the energy value of the received signal at each azimuth at this position and records the azimuth corresponding to the maximum energy.

[0080] 4. The object recognition module identifies the type of obstacle ahead in the direction of maximum energy based on the image captured by the camera, corrects the energy value based on the wireless signal fading model corresponding to the obstacle type, and estimates the straight-line distance between the positioning target and the directional antenna. The control terminal marks the suspected point of the target on the map, and can display the operator's path, as well as the received energy value and angle. Based on the existing data, the DSP gradually analyzes the approximate location of the target and guides the operator to move towards the approximate area of ​​the target.

[0081] 5. The operator continues to perform step 3, gradually approaching the direction of the target with the highest energy. When the DSP records enough data samples, the overlapping area of ​​the target suspected points can be determined based on the intersection of the extension lines of the strongest energy directions at multiple locations to determine the precise location of the target.

[0082] This embodiment provides a radio positioning system, including a server and a radio positioning device in any of the above embodiments; the number of the radio positioning devices is multiple, and the DSP processing unit in each radio positioning device also includes a data transmission module;

[0083] The data transmission module is used to send the intersection point between the extended lines of the azimuths corresponding to any two positions of the positioning target to the server;

[0084] The server is used to determine the azimuth angle corresponding to each position of the positioning target according to the intersection points sent by the data transmission modules in all the radio positioning devices.

[0085] This embodiment communicates with the server or vehicle-mounted positioning device through the data transmission module. The server or vehicle-mounted positioning device coordinates multiple sets of radio positioning devices to work simultaneously, and realizes positioning according to the intersections provided by multiple radio positioning devices. A large number of intersections can be quickly acquired, thereby improving the positioning speed and positioning accuracy.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A radio positioning device, characterized in that: It includes a directional antenna, a radio receiving processing device and a control terminal; The directional antenna is signal-connected to the radio reception processing device, and the control terminal is signal-connected to the radio reception processing device; The radio receiving processing device includes a DSP processing unit, a GPS module and a gyroscope; The GPS module is connected to the DSP processing unit by signal, and the gyroscope is connected to the DSP processing unit by signal; The control terminal is used to configure the radio reception processing device according to the frequency and bandwidth of the positioning target, so that the directional antenna receives the signal transmitted by the positioning target; The directional antenna is used to receive the signal transmitted by the positioning target from multiple azimuths at each position and send the signal to the radio reception processing device; The GPS module is used to determine each position of the directional antenna and send the position to the DSP processing unit; The gyroscope is used to measure the azimuth of the directional antenna and send the azimuth to the DSP processing unit; The DSP processing unit is used to determine the azimuth angle corresponding to the positioning target at each position according to the energy value of the signal transmitted by the positioning target received by the directional antenna at each position from each azimuth angle; Determine the position of the positioning target according to the intersection of the extended lines of the azimuths corresponding to any two positions of the positioning target; The radio receiving and processing device also includes a camera and an object recognition module; The camera is used to capture an image directly in front of the azimuth angle where the energy value of the signal at each position is the largest, and send the image to the object recognition module; The object recognition module is used to identify the obstacle type in the image, and estimate the distance between the positioning target and the directional antenna using the wireless signal fading model corresponding to the obstacle type; The DSP processing unit is used to determine the area where the positioning target is located according to the intersection between the extension lines of the azimuths corresponding to any two positions of the positioning target; and determine the position of the positioning target from the area according to the distance.

2. The radio positioning device according to claim 1, characterized in that: The control terminal is also used to configure the demodulation mode of the DSP processing unit according to the signal format of the positioning target; The DSP processing unit is used to demodulate the signal transmitted by the positioning target received by the directional antenna at each position from each azimuth angle according to the demodulation method, and obtain the energy value of each demodulated signal and the demodulation accuracy corresponding to each azimuth angle of each position; The azimuth with the maximum demodulation accuracy at each position is used as the azimuth corresponding to the positioning target.

3. The radio positioning device according to claim 1, characterized in that: The DSP processing unit is used to take the azimuth angle with the maximum energy value of the signal at each position as the azimuth angle corresponding to the positioning target.

4. The radio positioning device according to claim 1, characterized in that: The DSP processing unit is used to sort the intersection points between the extended lines of the azimuths corresponding to any two positions of the positioning target in order of the number of occurrences from low to high, and filter out the intersection points of the first preset number in the sorting result; The area where the positioning target is located is determined according to the filtered intersection points in the sorting results.

5. The radio positioning device according to any one of claims 1 to 3, characterized in that: The radio receiving processing device further comprises a filter group, and the filter group is used to filter the signal transmitted by the positioning target; The DSP processing unit is used to determine the azimuth angle corresponding to the positioning target at each position according to the filtered energy value of the signal transmitted by the positioning target received by the directional antenna at each position from each azimuth angle.

6. The radio positioning device according to any one of claims 1 to 3, characterized in that: The directional antenna is connected to the radio receiving processing device via a radio frequency cable, and the control terminal is connected to the radio receiving processing device via WiFi or Bluetooth.

7. A radio positioning system, characterized in that: Comprising a server and a radio positioning device as described in any one of claims 1 to 6; There are multiple radio positioning devices, and the DSP processing unit in each radio positioning device also includes a data transmission module; The data transmission module is used to send the intersection point between the extended lines of the azimuths corresponding to any two positions of the positioning target to the server; The server is used to determine the azimuth angle corresponding to each position of the positioning target according to the intersection points sent by the data transmission modules in all the radio positioning devices.

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