Antenna selection method, device, electronic device and storage medium

Abstract

The present invention provides an antenna selection method, device, electronic device and storage medium for a TDOA positioning system, which specifically include: acquiring target signals detected by multiple TDOA sites, wherein the target signals are signals of the same signal source; calculating distribution probability information of each sub-area in a target area based on the target signals, wherein the distribution probability information represents the possibility that the signal source is in a corresponding sub-area, and the target area includes multiple sub-areas; determining a target sub-area, wherein the possibility represented by the distribution probability information of the target sub-area is the highest among the multiple sub-areas; and determining, based on the location information of the target sub-area, the antenna required to be used by at least some of the TDOA sites to detect the signal source.

Description

Technical Field

[0001] The present invention relates to the field of wireless communications, and in particular to an antenna selection method, device, electronic device and storage medium for a TDOA positioning system. Background Art

[0002] TDOA positioning technology is a positioning technology that determines the signal location by measuring the absolute time difference of the signal reaching each receiving station.

[0003] In order to effectively receive signals from different directions, TDOA receiving stations are usually equipped with omnidirectional antennas as basic antenna units. However, omnidirectional antennas lack sensitivity to long-distance signals. As the distance from the signal source increases, an omnidirectional antenna cannot meet the positioning requirements. In order to solve the long-distance reception problem, the receiving station will use multiple sets of directional antennas to increase the long-distance reception capability of the receiver. Multiple sets of directional antennas can approximate the omnidirectionality of omnidirectional antennas, while improving the long-distance reception capability. However, with a combination of multiple antennas, the receiver needs to receive signals from multiple antennas each time, which has a certain impact on the accuracy and efficiency of TDOA positioning. Summary of the invention

[0004] The present invention provides an antenna selection method, device, electronic equipment and storage medium to solve the antenna selection method of a multi-antenna receiver.

[0005] According to a first aspect of the present invention, there is provided an antenna selection method for a TDOA positioning system, comprising:

[0006] Acquire target signals detected by multiple TDOA stations, where the target signals are signals from the same signal source;

[0007] Calculating distribution probability information of each sub-region within a target region according to the target signal, wherein the distribution probability information represents the possibility that the signal source is located in a corresponding sub-region, and the target region includes a plurality of sub-regions;

[0008] Determine a target sub-region, wherein the probability represented by the distribution probability information of the target sub-region is the highest among the multiple sub-regions;

[0009] According to the location information of the target sub-area, antennas required for at least some TDOA sites to detect the signal source are determined.

[0010] Optionally, calculating distribution probability information of each sub-area in the target area according to the target signal includes:

[0011] For each TDOA site, according to the relative position between each sub-area and the TDOA site, and the signal strength of the detected target signal, the preliminary probability information of the TDOA site for each sub-area is calculated; the preliminary probability information represents the possibility that the signal source is in the corresponding sub-area, and the preliminary probability information is reflected when the corresponding TDOA site detects the target signal;

[0012] The distribution probability information is determined based on preliminary probability information of at least some of the TDOA sites.

[0013] Optionally, for each TDOA site, according to the relative position between each sub-area and the TDOA site, and the signal strength of the target signal detected by the TDOA site, preliminary probability information of the TDOA site for each sub-area is calculated, including:

[0014] For each antenna of the TDOA site, determine the signal propagation characteristics of the antenna when detecting the signal originating from the relative azimuth, and determine the distribution probability reference information of the antenna for each sub-area according to the signal propagation characteristics and the signal strength of the target signal detected by the antenna; the distribution probability reference information represents the possibility that the signal source is in the corresponding sub-area, and the distribution probability reference information is reflected when the corresponding antenna detects the target signal;

[0015] For each TDOA site, preliminary probability information of the TDOA site for each sub-area is determined based on distribution probability reference information of at least part of antennas of the TDOA site.

[0016] Optionally, the preliminary probability information is determined according to the following formula:

[0017]

[0018] a represents the antenna number; A represents the total number of antennas at a single site; P a represents the signal source strength value received by antenna a; (x, y) represents the coordinate information of the sub-area; θ x,y Indicates the angle between the current antenna and the coordinate (x, y); represents the normalized gain value of the directional antenna at this angle, which characterizes the signal propagation characteristics.

[0019] Optionally, the distribution probability information is determined according to preliminary probability information of all TDOA sites, including:

[0020] For each sub-area, the preliminary probability information of at least part of the TDOA sites is summed or weighted to obtain the distribution probability information of the sub-area.

[0021] Optionally, each sub-area is a grid area divided from the target area, and the grid area takes the center of each site as the coordinate origin.

[0022] According to a second aspect of the present invention, there is provided an antenna selection device for a TDOA positioning system, comprising:

[0023] A target signal acquisition module, used to acquire target signals detected by multiple TDOA sites, wherein the target signals are signals from the same signal source;

[0024] A distribution probability information calculation module, used to calculate the distribution probability information of each sub-region in the target area according to the target signal, wherein the distribution probability information represents the possibility that the signal source is in the corresponding sub-region, and the target area includes multiple sub-regions;

[0025] A target sub-region determining module, used to determine a target sub-region, wherein the probability represented by the distribution probability information of the target sub-region is the highest among the multiple sub-regions;

[0026] The antenna determination module is used to determine the antennas required for at least some TDOA sites to detect the signal source based on the location information of the target sub-area.

[0027] Optionally, the distribution probability information calculation module calculates the distribution probability information of each sub-area in the target area according to the target signal, including:

[0028] For each TDOA site, according to the relative position between each sub-area and the TDOA site, and the signal strength of the detected target signal, the preliminary probability information of the TDOA site for each sub-area is calculated; the preliminary probability information represents the possibility that the signal source is in the corresponding sub-area, and the preliminary probability information is reflected when the corresponding TDOA site detects the target signal;

[0029] The distribution probability information is determined based on preliminary probability information of at least some of the TDOA sites.

[0030] Optionally, for each TDOA site, the relative position between each sub-area and the TDOA site and the signal strength of the target signal detected by the TDOA site are determined.

[0031] The preliminary probability information of the TDOA site for each sub-area is calculated, including:

[0032] For each antenna of the TDOA site, determine the signal propagation characteristics of the antenna when detecting the signal originating from the relative azimuth, and determine the distribution probability reference information of the antenna for each sub-area according to the signal propagation characteristics and the signal strength of the target signal detected by the antenna; the distribution probability reference information represents the possibility that the signal source is in the corresponding sub-area, and the distribution probability reference information is reflected when the corresponding antenna detects the target signal;

[0033] For each TDOA site, preliminary probability information of the TDOA site for each sub-area is determined based on distribution probability reference information of at least part of antennas of the TDOA site.

[0034] Optionally, the preliminary probability information is determined according to the following formula:

[0035]

[0036] a represents the antenna number; A represents the total number of antennas at a single site; P a represents the signal source strength value received by antenna a; (x, y) represents the coordinate information of the sub-area; θ x,y Indicates the angle between the current antenna and the coordinate (x, y); represents the normalized gain value of the directional antenna at this angle, which characterizes the signal propagation characteristics.

[0037] Optionally, the distribution probability information is determined according to preliminary probability information of all TDOA sites, including:

[0038] For each sub-area, the preliminary probability information of at least part of the TDOA sites is summed or weighted to obtain the distribution probability information of the sub-area.

[0039] Optionally, each sub-area is a grid area divided from the target area, and the target area takes the center of each site as the coordinate origin.

[0040] According to the third aspect of the present invention, there is provided an electronic device, comprising a processor and a memory; the memory stores a program that can be called by the processor; wherein, when the processor executes the program, the antenna selection method of the TDOA positioning system involved in the first aspect and its optional scheme is implemented.

[0041] According to a fourth aspect of the present invention, there is provided a storage medium having a program stored thereon, which, when executed by a processor, implements the antenna selection method of the TDOA positioning system involved in the first aspect and its optional solutions.

[0042] The antenna selection method, device, electronic device and storage medium of the TDOA positioning system provided by the present invention calculate the distribution probability information of each sub-area in the target area, determine the target sub-area with the highest probability that the signal source is in the corresponding sub-area, and then determine the antenna required for at least some TDOA sites to detect the signal source, thereby improving the accuracy and efficiency of TDOA system positioning using a multi-antenna receiver. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0044] Figure 1 FIG. 1 is a flow chart of an antenna selection method for a TDOA positioning system according to an embodiment of the present invention. Figure 1 ;

[0045] Figure 2 FIG. 1 is a flow chart of an antenna selection method for a TDOA positioning system according to an embodiment of the present invention. Figure 2 ;

[0046] Figure 3 Schematic diagram of a module of an antenna selection device of a TDOA positioning system according to an embodiment of the present invention Figure 1 ;

[0047] Figure 4 It is a schematic diagram of the structure of an electronic device of an antenna selection method of a TDOA positioning system in one embodiment of the present invention;

[0048] Figure 5 is a schematic diagram of target area division of a TDOA positioning system in one embodiment of the present invention;

[0049] Figure 6 It is a schematic diagram of distribution probability information analysis of a TDOA positioning system in one embodiment of the present invention;

[0050] Figure 7 It is the normalized gain value of the directional antenna of the TDOA positioning system at different angles in one embodiment of the present invention. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0052] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0054] Figure 1 FIG. 1 is a flow chart of an antenna selection method for a TDOA positioning system according to an embodiment of the present invention. Figure 1 , specifically including:

[0055] S1: Acquire target signals detected by multiple TDOA stations, where the target signals are signals from the same signal source;

[0056] S2: Calculating distribution probability information of each sub-region within a target region according to the target signal, wherein the distribution probability information represents the possibility that the signal source is located in a corresponding sub-region, and the target region includes multiple sub-regions;

[0057] S3: determining a target sub-region, wherein the probability represented by the distribution probability information of the target sub-region is the highest among the multiple sub-regions;

[0058] S4: According to the location information of the target sub-area, determine the antennas required for at least some TDOA sites to detect the signal source.

[0059] TDOA positioning is a method of positioning using time difference. The location of the signal source can be determined by measuring the absolute time difference of the signal reaching each monitoring station. The TDOA station can be understood as the monitoring station used in TDOA positioning, or as the signal receiver used in TDOA positioning.

[0060] When TDOA stations detect signals, they can receive and process signals by polling frequencies. Generally, multiple frequencies are polled according to demand. For example, all stations simultaneously receive signals at the 2447MHz frequency, process signals received at the 2447MHz frequency, receive signals at the 2457MHz frequency, process signals received at the 2457MHz frequency... until all frequencies are polled. TDOA stations participating in positioning calculations receive signals synchronously at the polling frequencies, and perform an identification calculation on each frequency data. If the current frequency does not identify the signal source, it is discarded and the calculation of the current frequency is abandoned.

[0061] Step S1 obtains target signals detected by multiple TDOA sites, which refers to target signals received at a current polling frequency point, and the target signals are signals from the same signal source.

[0062] The antenna selection method, device, electronic device and storage medium of the TDOA positioning system of the present invention calculate the distribution probability information of each sub-area in the target area, determine the target sub-area with the highest probability that the signal source is in the corresponding sub-area, and then determine the antenna required for at least some TDOA sites to detect the signal source, thereby improving the accuracy and efficiency of TDOA system positioning using a multi-antenna receiver.

[0063] Among them, a multi-antenna receiver refers to a TDOA site that includes multiple groups of directional antennas. For example, each group of directional antennas can cover an area of ​​120°. Generally, three or more groups of directional antennas can approximate the omnidirectionality of an omnidirectional antenna, while improving the long-distance receiving capability. The present invention selects the most reliable and effective antenna for each TDOA site for a TDOA system using a multi-antenna receiver, thereby improving the efficiency and reliability of TDOA positioning.

[0064] Step S2 calculates distribution probability information of each sub-region in the target region according to the target signal, wherein the distribution probability information represents the possibility that the signal source is in the corresponding sub-region, and the target region includes multiple sub-regions.

[0065] In this embodiment, a gridding method is used to divide the site into different areas, such as Figure 5As shown. Each area has a distribution probability information, and the distribution probability information is the weighted sum of the mapping values ​​of each site and each antenna where the signal source is detected. The larger the distribution probability information, the greater the probability that the signal source exists in the sub-area, and the area with the largest distribution probability information is the sub-area where the signal source is most likely to be currently located. In step S2, it is necessary to calculate the probability distribution information of all sub-areas respectively. Each sub-area is a grid area divided out of the target area. Theoretically, if the algorithm efficiency permits, the larger the target area contains and the smaller the sub-area grid division, the more accurate it is. In this embodiment, in order to be able to analyze the distribution probability information of each sub-area in the target area to the greatest extent, the target area uses the center of each site as the coordinate origin, and the area of ​​the target area is more than four times the area of ​​the site.

[0066] Please refer to Figure 2 Step S2 calculates the distribution probability information of each sub-region in the target region, and specifically includes:

[0067] S21: For each TDOA site, according to the relative position between each sub-area and the TDOA site, and the signal strength of the target signal detected by the TDOA site, calculate the preliminary probability information of the TDOA site for each sub-area.

[0068] The preliminary probability information represents the possibility that the signal source is in the corresponding sub-area, and the preliminary probability information is reflected when the corresponding TDOA station detects the target signal;

[0069] S22: Determine the distribution probability information based on preliminary probability information of at least some TDOA sites.

[0070] The preliminary probability information of the TDOA site for each sub-area can be calculated based on the relative position between each sub-area and the TDOA site, and the signal strength of the target signal detected by the TDOA site. Each TDOA site has multiple antennas, and the preliminary probability information of the TDOA site for each sub-area is the information set of the target signal detected by all antennas on the site. In step S21, the preliminary probability information for each site is determined in units of antennas, specifically including:

[0071] For each antenna of the TDOA site, the signal propagation characteristics of the antenna when detecting the signal originating from the relative position are determined, and based on the signal propagation characteristics and the signal strength of the target signal detected by the antenna, the distribution probability reference information of the antenna for each sub-area is determined; the distribution probability reference information represents the possibility that the signal source is in the corresponding sub-area, and the distribution probability reference information is reflected when the corresponding antenna detects the target signal.

[0072] When a directional antenna receives a signal, it is determined by the directional antenna beam characteristics that the signal may come from different directions. In this embodiment, the distribution probability reference information of the antenna for each sub-area is determined based on the signal propagation characteristics when the antenna detects the signal from the relative direction and the signal strength of the target signal detected by the antenna, thereby determining the direction or area of ​​the signal source. According to the signal propagation characteristics, the gain normalization value of the directional antenna at different angles is as follows: Figure 7 As shown, the gain normalization value reflects the directional attenuation characteristics of the directional antenna.

[0073] For each TDOA site, preliminary probability information of the TDOA site for each sub-area is determined based on the distribution probability reference information of at least part of the antennas of the TDOA site. The preliminary probability information is determined according to the following formula (1):

[0074]

[0075] a represents the antenna number; A represents the total number of antennas at a single site; P a represents the signal source strength value received by antenna a; (x, y) represents the coordinate information of the sub-area; θ x,y Indicates the angle between the current antenna and the coordinate (x, y); represents the normalized gain value of the directional antenna at this angle, which characterizes the signal propagation characteristics.

[0076] In this embodiment, the coordinates (x, y) representing the coordinate information of the sub-region are the center coordinates of the sub-region, and may also be other coordinates obtained based on the coordinates of each corner point and / or edge of the sub-region.

[0077] After the preliminary probability information for each TDOA site is calculated in step S21, the distribution probability information is determined in step S22, including:

[0078] For each sub-area, the preliminary probability information of at least part of the TDOA sites is summed or weighted to obtain the distribution probability information of the sub-area. The sites participating in positioning in the TDOA system are part or all of the TDOA sites, and the preliminary probability information calculated from these sites participating in positioning is summed or weighted to obtain the distribution probability information characterizing the probability of the signal source appearing in each sub-area.

[0079] Please refer to Figure 6, The following is a specific example of detecting a signal at the frequency point 2477MHZ in this embodiment. The current sub-area center coordinates (x1, y1), stations 1, 2, and 3 all detect signals, and each station has three antennas. , where P is the signal strength received by each antenna, represents the angle between the antenna and the current sub-area coordinates (x1, y1), and φ(θ) is the normalized gain value of the directional antenna at this angle.

[0080] The signal strengths received by the three antennas of site 1 are P1=30, P2=12, and P3=0 respectively. The angles between the three antennas and the coordinates of the current sub-area are θ1, θ2, θ3, and P1* The preliminary probability information of site 1 can be obtained from formula (1):

[0081] l1=P1*φ(θ1)+P2*φ(θ2)+P3*φ(θ3)=21.083

[0082] The signal strengths received by the three antennas of site 2 are P1=28, P2=2, and P3=10, respectively. The angles between the three antennas and the coordinates of the current sub-area are θ4, θ5, and θ3, respectively. P1*φ(θ6)=28, P2*φ(θ5)=0.127, and P3*φ(θ6)=0. The preliminary probability information of site 2 can be obtained from formula (1):

[0083] l2=P1*φ(θ4)+P2*φ(θ5)+P3*φ(θ6)=28.127

[0084] The signal strengths received by the three antennas of site 3 are P1=24, P2=6, and P3=0, respectively. The angles between the three antennas and the coordinates of the current sub-area are θ7, θ8, and θ9, respectively. P1*φ(θ7)=20.19, P2*φ(θ8)=2.89, and P3*φ(θ9)=0. The preliminary probability information of site 3 can be obtained from formula (1):

[0085] l3=P1*φ(θ7)+P2*φ(θ8)+P3*φ(θ9)=29.08

[0086] According to step S22, the preliminary probability information of at least part of the TDOA sites is summed or weighted to determine that the distribution probability information is 72.29.

[0087] After the distribution probability information of each sub-region in the target region is determined in step S2, the target sub-region whose probability represented by the distribution probability information is the highest among the multiple sub-regions is determined in step S3.

[0088] Since the distribution probability information of the target sub-region represents the possibility that the signal source is in the corresponding sub-region, the greater the possibility, the greater the probability that the signal source can appear in the sub-region, so the target sub-region determined in step S3 is the region where the current signal source is most likely to appear.

[0089] According to the location information of the target sub-area determined in step S3, step S4 determines the antennas required to be used by at least some of the TDOA sites to detect the signal source. Step S4 selects the antennas of each site that point to or point in a direction closest to the current coordinates (x, y) as the antennas used for the current TDOA positioning according to the location information of the target sub-area determined in step S3, i.e., the center coordinates (x, y) of the target sub-area.

[0090] The antenna selection method for TDOA positioning provided by the present invention can quickly select the most suitable antenna for subsequent TDOA positioning. For other TDOA positioning systems with different numbers of TDOA sites and antennas than those exemplified above, the target signal can be used to calculate the distribution probability information of each sub-area in the target area, and then determine the antenna required for the TDOA site to detect the signal source, thereby effectively improving the accuracy and efficiency of TDOA positioning.

[0091] Please refer to Figure 3 , a schematic diagram of a module of an antenna selection device of a TDOA positioning system in one embodiment of the present invention Figure 1 , the antenna selection device 200 of the TDOA positioning system comprises:

[0092] A target signal acquisition module 201 is used to acquire target signals detected by multiple TDOA sites, where the target signals are signals from the same signal source;

[0093] A distribution probability information calculation module 202, configured to calculate distribution probability information of each sub-region in a target region according to the target signal, wherein the distribution probability information represents the possibility that the signal source is in a corresponding sub-region, and the target region includes multiple sub-regions;

[0094] A target sub-region determining module 203 is used to determine a target sub-region, wherein the probability represented by the distribution probability information of the target sub-region is the highest among the multiple sub-regions;

[0095] The antenna determination module 204 is used to determine the antennas required for at least some of the TDOA sites to detect the signal source according to the location information of the target sub-area.

[0096] The distribution probability information calculation module 202 calculates the distribution probability information of each sub-area in the target area according to the target signal, including:

[0097] For each TDOA site, according to the relative position between each sub-area and the TDOA site, and the signal strength of the detected target signal, the preliminary probability information of the TDOA site for each sub-area is calculated; the preliminary probability information represents the possibility that the signal source is in the corresponding sub-area, and the preliminary probability information is reflected when the corresponding TDOA site detects the target signal;

[0098] Determining the distribution probability information based on preliminary probability information of at least some of the TDOA sites

[0099] Please refer to Figure 4 , an electronic device 30 is provided, comprising:

[0100] a processor 31; and

[0101] A memory 32, used to store executable instructions of the processor;

[0102] The processor 31 is configured to execute the above-mentioned method by executing the executable instructions.

[0103] The processor 31 can communicate with the memory 32 via a bus 33 .

[0104] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method is implemented.

[0105] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0106] 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An antenna selection method for a TDOA positioning system, characterized in that: include: Acquire target signals detected by multiple TDOA stations, where the target signals are signals from the same signal source; Calculating distribution probability information of each sub-region within a target region according to the target signal, wherein the distribution probability information represents the possibility that the signal source is located in a corresponding sub-region, and the target region includes a plurality of sub-regions; Determine a target sub-region, wherein the probability represented by the distribution probability information of the target sub-region is the highest among the multiple sub-regions; Determining, based on the location information of the target sub-area, antennas required for at least some of the TDOA sites to detect the signal source; Wherein, calculating the distribution probability information of each sub-area in the target area according to the target signal includes: For each TDOA site, according to the relative position between each sub-area and the TDOA site, and the signal strength of the detected target signal, the preliminary probability information of the TDOA site for each sub-area is calculated; the preliminary probability information represents the possibility that the signal source is in the corresponding sub-area, and the preliminary probability information is reflected when the corresponding TDOA site detects the target signal; The distribution probability information is determined based on preliminary probability information of at least some of the TDOA sites.

2. The antenna selection method of the TDOA positioning system according to claim 1, characterized in that: For each TDOA site, according to the relative position between each sub-area and the TDOA site, and the signal strength of the target signal detected by the TDOA site, the preliminary probability information of the TDOA site for each sub-area is calculated, including: For each antenna of the TDOA site, determine the signal propagation characteristics of the antenna when detecting the signal originating from the relative azimuth, and determine the distribution probability reference information of the antenna for each sub-area according to the signal propagation characteristics and the signal strength of the target signal detected by the antenna; the distribution probability reference information represents the possibility that the signal source is in the corresponding sub-area, and the distribution probability reference information is reflected when the corresponding antenna detects the target signal; For each TDOA site, preliminary probability information of the TDOA site for each sub-area is determined based on distribution probability reference information of at least part of antennas of the TDOA site.

3. The antenna selection method of the TDOA positioning system according to claim 1, characterized in that: The preliminary probability information is determined according to the following formula: a represents the antenna number; A represents the total number of antennas at a single site; P a Indicates the signal source strength value received by antenna a; (x, y) represents the coordinate information of the sub-region; θ x,y Indicates the angle between the current antenna and the coordinate (x, y); represents the normalized gain value of the directional antenna at the corresponding angle, which characterizes the signal propagation characteristics.

4. The antenna selection method of the TDOA positioning system according to claim 1, characterized in that: The distribution probability information is determined based on the preliminary probability information of all TDOA sites, including: For each sub-area, the preliminary probability information of at least part of the TDOA sites is summed or weighted to obtain the distribution probability information of the sub-area.

5. The antenna selection method of the TDOA positioning system according to any one of claims 1 to 4, characterized in that: Each sub-area is a grid area divided from the target area, and the target area takes the center of each site as the coordinate origin.

6. An antenna selection device for a TDOA positioning system, characterized in that: include: A target signal acquisition module, used to acquire target signals detected by multiple TDOA sites, wherein the target signals are signals from the same signal source; A distribution probability information calculation module, used to calculate the distribution probability information of each sub-region in the target area according to the target signal, wherein the distribution probability information represents the possibility that the signal source is in the corresponding sub-region, and the target area includes multiple sub-regions; A target sub-region determining module, used to determine a target sub-region, wherein the probability represented by the distribution probability information of the target sub-region is the highest among the multiple sub-regions; An antenna determination module, configured to determine antennas required for at least some TDOA sites to detect the signal source based on the location information of the target sub-area; The distribution probability information calculation module calculates the distribution probability information of each sub-area in the target area according to the target signal, including: For each TDOA site, according to the relative position between each sub-area and the TDOA site, and the signal strength of the detected target signal, the preliminary probability information of the TDOA site for each sub-area is calculated; the preliminary probability information represents the possibility that the signal source is in the corresponding sub-area, and the preliminary probability information is reflected when the corresponding TDOA site detects the target signal; The distribution probability information is determined based on preliminary probability information of at least some of the TDOA sites.

7. The antenna selection device of the TDOA positioning system according to claim 6, characterized in that: For each TDOA site, according to the relative position between each sub-area and the TDOA site, and the signal strength of the target signal detected by the TDOA site, the preliminary probability information of the TDOA site for each sub-area is calculated, including: For each antenna of the TDOA site, determine the signal propagation characteristics of the antenna when detecting the signal originating from the relative azimuth, and determine the distribution probability reference information of the antenna for each sub-area according to the signal propagation characteristics and the signal strength of the target signal detected by the antenna; the distribution probability reference information represents the possibility that the signal source is in the corresponding sub-area, and the distribution probability reference information is reflected when the corresponding antenna detects the target signal; For each TDOA site, preliminary probability information of the TDOA site for each sub-area is determined based on distribution probability reference information of at least part of antennas of the TDOA site.

8. The antenna selection device of the TDOA positioning system according to claim 6, characterized in that: The preliminary probability information is determined according to the following formula: a represents the antenna number; A represents the total number of antennas at a single site; P a Indicates the signal source strength value received by antenna a; (x, y) represents the coordinate information of the sub-region; θ x,y Indicates the angle between the current antenna and the coordinate (x, y); represents the normalized gain value of the directional antenna at the corresponding angle, which characterizes the signal propagation characteristics.

9. The antenna selection device of the TDOA positioning system according to claim 6, characterized in that: The distribution probability information is determined based on the preliminary probability information of all TDOA sites, including: For each sub-area, the preliminary probability information of at least part of the TDOA sites is summed or weighted to obtain the distribution probability information of the sub-area.

10. The antenna selection device of the TDOA positioning system according to any one of claims 6 to 9, characterized in that: Each sub-area is a grid area divided from the target area, and the target area takes the center of each site as the coordinate origin.

11. An electronic device, characterized in that: It comprises a processor and a memory; the memory stores a program that can be called by the processor; wherein, when the processor executes the program, the antenna selection method of the TDOA positioning system as described in any one of claims 1-5 is implemented.

12. A storage medium, characterized in that: A program is stored thereon, and when the program is executed by a processor, the antenna selection method of the TDOA positioning system as described in any one of claims 1-5 is implemented.

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