A direction finding and positioning method and device

Abstract

The present disclosure relates to a direction finding and positioning method and apparatus. The method includes: obtaining a first signal to be measured from a movable device; performing a signal analysis operation on the first signal to be measured to obtain a first average power value and a first predicted main direction; when it is determined that the first average power value of the first signal to be measured meets a preset condition, controlling the movable device to move to a second direction finding position according to the first predicted main direction and a first movement strategy; when it is determined that there is an intersection point between the first predicted main direction and a second predicted main direction, determining the position information of the target to be located according to the intersection point information of the intersection point; the second predicted main direction is obtained after performing a signal analysis operation on a second signal to be measured received by the movable device at the second direction finding position. The method provided by the present disclosure can enable the movable device to determine the approximate range of the target to be located at a relatively far distance, so as to quickly approach the target to be located in the later stage, and can effectively improve the positioning efficiency.

Description

Technical Field

[0001] The present disclosure relates to the technical field of positioning, and in particular, to a direction finding and positioning method and device. Background Art

[0002] In current direction finding and positioning technologies, common direction finding technologies include: amplitude comparison, phase comparison, spatial spectrum estimation and other technologies.

[0003] Traditional phase interferometer direction finding is a phase comparison direction finding method, which determines the direction of a signal by obtaining the phase difference of an incident signal through an antenna array. The distribution of antenna elements determines the magnitude of the phase difference. However, due to the mutual coupling between antenna elements and various reasons of the antenna device, the incident signal is distorted on the wavefront, resulting in a deviation between the measurement result and the actual situation. If the multi-valued ambiguity of direction finding (angle value = principal value + 2πK, K is an integer) is eliminated by reducing the spacing between antenna elements (the element baseline length is less than half a wavelength), the mutual coupling between antenna elements will increase; if the mutual coupling between antenna elements is reduced by increasing the spacing between antenna elements, this will cause phase ambiguity in direction finding, which also limits the distance between antenna elements.

[0004] For the phase comparison direction finding method of a correlation interferometer, the error effects caused by the mutual coupling between antennas, the antenna device, etc. can be stored in a "sample" database in advance. During the process of calculating the correlation, these error effects are weakened, making these effects stable and controllable. In other words, the correlation interferometer direction finding algorithm does not suppress the influence of these factors on the device, but weakens the influence caused by these factors on the premise of the existence of these factors, and can avoid the ambiguity problem generated by the phase interferometer algorithm.

[0005] Common positioning technologies include: positioning technologies based on angle of arrival (AOA), time of arrival (TOA), time difference of arrival (TDOA), etc.

[0006] Among them, the positioning technology based on angle of arrival is very suitable for a correlation interferometer. Its principle is relatively simple. In a plane, a ray endpoint and a ray angle can determine a ray, and two non-parallel rays can determine an intersection point.

[0007] In actual direction finding and positioning, the environment is not ideal. There may be various situations such as signal attenuation, reflection, diffraction, and multipath. Therefore, it is impossible to consider the positioning result accurate only through two direction findings. Instead, multiple direction finding and positioning need to be carried out at different direction finding points, and by screening appropriate direction finding data for calculation, a more reliable result can be obtained. How to reduce the influence of the environment on direction finding and positioning, how to screen appropriate data, and how to select effective direction finding points are the key issues in direction finding and positioning.

[0008] Regarding the many technical problems existing in the related art, the effective solutions provided currently cannot be applied to all situations. Summary of the Invention

[0009] To solve the above technical problems or at least partially solve the above technical problems, the present invention discloses a direction finding and positioning method and device.

[0010] In a first aspect, an embodiment of the present invention discloses a direction finding and positioning method, including:

[0011] Obtain a first signal to be measured from a movable device, where the first signal to be measured is a signal sent by a target to be located received by the movable device when the movable device is at a first direction finding position;

[0012] Perform a signal analysis operation on the first signal to be measured to obtain a first average power value and a first predicted main direction for predicting the direction of the target to be located;

[0013] When it is determined that the first average power value meets a preset condition, control the movable device to move to a second direction finding position according to the first predicted main direction and a first movement strategy;

[0014] When it is determined that there is no intersection between the first predicted main direction and a second predicted main direction, control the movable device to move to a third direction finding position according to the second predicted main direction and a second movement strategy, and determine whether a third average power value of a third signal to be measured meets the preset condition; the second predicted main direction is obtained by performing the signal analysis operation on a second signal to be measured received by the movable device at the second direction finding position; the third signal to be measured is a signal sent by the target to be located received by the movable device when the movable device is at the third direction finding position;

[0015] When it is determined that there is an intersection between the first predicted main direction and the second predicted main direction, determine the position information of the target to be located according to the intersection information of the intersection.

[0016] Optionally, for the method as described above, the signal analysis operation includes:

[0017] When determining that the movable device is at the target direction-finding position, at least two signals to be measured are obtained from the movable device; the target direction-finding position includes: the first direction-finding position, the second direction-finding position, or the third direction-finding position;

[0018] By performing direction finding on the signals to be measured, a direction-finding angle value corresponding to each signal to be measured is obtained;

[0019] According to the power values of the signals to be measured, an average power value is obtained;

[0020] Based on the direction-finding angle values, a predicted main direction is calculated;

[0021] According to the sub-deviation values between the direction-finding angle values and the predicted main direction, a direction-finding angle deviation value is calculated.

[0022] Optionally, in the method as described above, the controlling the movable device to move to the second direction-finding position according to the first predicted main direction and the first movement strategy includes:

[0023] Determining a first offset angle and a first movement distance according to the first movement strategy;

[0024] Based on the first predicted main direction and the first offset angle, a first movement direction is determined;

[0025] According to the first movement direction and the first movement distance, the movable device is controlled to move to the second direction-finding position.

[0026] Optionally, in the method as described above, the controlling the movable device to move to the third direction-finding position according to the second predicted main direction and the second movement strategy includes:

[0027] Determining a second movement distance according to the second movement strategy;

[0028] Based on the first predicted main direction, a second movement direction is determined;

[0029] According to the second movement direction and the second movement distance, the movable device is controlled to move to the third direction-finding position.

[0030] Optionally, in the method as described above, it further includes:

[0031] Obtaining a starting signal to be measured obtained by the movable device at the starting position; the starting signal to be measured is a signal sent by the target to be located when the movable device is at the starting position;

[0032] Through the signal analysis operation, a starting predicted main direction and a starting direction-finding angle deviation value of the starting signal to be measured are obtained;

[0033] When it is determined that the starting direction finding angle deviation value is greater than the preset angle deviation value threshold, control the movable device to perform at least one moving behavior until it moves to a direction finding position where the direction finding angle deviation of the acquired signal to be measured is less than or equal to the angle deviation value threshold, and determine the initial direction finding position; determine the position information of the target to be located according to the initial signal to be measured at the initial direction finding position; the moving direction of the moving behavior is determined according to the predicted main direction of the current position.

[0034] Control the movable device to move to the first direction finding position according to the initial predicted main direction of the initial signal to be measured and the preset third moving distance.

[0035] Optionally, the method as described above further includes:

[0036] When the initial average power value of the initial signal to be measured is greater than or equal to the preset signal power threshold, determine the position information of the target to be located according to the initial predicted main direction of the initial signal to be measured.

[0037] Optionally, the method as described above further includes:

[0038] When the difference between the first average power value and the initial average power value is less than the signal power threshold difference, and the first direction finding angle deviation value is greater than the initial direction finding angle deviation value, use the first direction finding position as the starting position and re-determine the initial direction finding position.

[0039] Optionally, for the method as described above, determining that the first average power value of the first signal to be measured meets the preset conditions includes:

[0040] Perform a signal analysis operation on the first signal to be measured to obtain the first direction finding angle deviation value of the first signal to be measured;

[0041] Perform a signal analysis operation on the initial signal to be measured to obtain the initial direction finding angle deviation value of the initial signal to be measured;

[0042] When the first direction finding angle deviation value is less than the initial direction finding angle deviation value and / or the difference between the first average power value and the initial average power value is greater than or equal to the preset signal power threshold difference, and the difference between the first predicted main direction and the initial predicted main direction is not within the preset angle deviation value threshold, determine that the first average power value of the first signal to be measured meets the preset conditions.

[0043] Optionally, for the method as described above, acquiring the first signal to be measured from the movable device includes:

[0044] Obtain, via an intelligent flying device, the first signal to be measured among all the signals, where the signal frequency of the first signal to be measured is within a preset frequency range and the signal power exceeds a preset power threshold value.

[0045] In a second aspect, an embodiment of the present disclosure provides an airspace-based correlation interferometer direction finding and positioning device, including:

[0046] An acquisition module, configured to acquire a first signal to be measured from a movable device, where the first signal to be measured is a signal sent by a target to be positioned when the movable device is at a first direction finding position;

[0047] An analysis module, configured to perform signal analysis operations on the first signal to be measured to obtain a first average power value and a first predicted main direction for predicting the direction of the target to be positioned;

[0048] A first control module, configured to, when it is determined that the first average power value meets a preset condition, control the movable device to move to a second direction finding position according to the first predicted main direction and a first movement strategy;

[0049] A second control module, configured to, when it is determined that there is no intersection point between the first predicted main direction and a second predicted main direction, control the movable device to move to a third direction finding position according to the second predicted main direction and a second movement strategy, and determine whether a third average power value of a third signal to be measured meets the preset condition; the second predicted main direction is obtained after performing the signal analysis operation on a second signal to be measured received by the movable device at the second direction finding position; the third signal to be measured is a signal sent by the target to be positioned when the movable device is at the third direction finding position;

[0050] A position information determination module, configured to, when it is determined that there is an intersection point between the first predicted main direction and the second predicted main direction, determine the position information of the target to be positioned according to the intersection point information of the intersection point.

[0051] In a third aspect, an embodiment of the present disclosure provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;

[0052] The memory is used for storing a computer program;

[0053] The processor is configured to, when executing the computer program, implement the method as described in any one of the foregoing.

[0054] In a fourth aspect, an embodiment of the present disclosure provides a storage medium, where the storage medium includes a stored program, and when the program runs, it executes the method as described in any one of the foregoing.

[0055] The above technical solutions provided by the embodiments of the present disclosure have the following advantages compared with the prior art:

[0056] The method provided by the embodiments of the present disclosure enables a mobile device to determine the approximate range of a target to be located through intersection positioning at a relatively long distance, so as to quickly approach the target to be located in the later stage, and adopt a close-range direction finding and positioning method to determine the accurate position of the target, thereby effectively improving the positioning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0059] Figure 1 It is a flowchart of a direction finding and positioning method provided by an embodiment of the present disclosure;

[0060] Figure 2 It is a flowchart of a direction finding and positioning method provided by another embodiment of the present disclosure;

[0061] Figure 3 It is a flowchart of a direction finding and positioning method provided by another embodiment of the present disclosure;

[0062] Figure 4 It is a flowchart of a direction finding and positioning method provided by another embodiment of the present disclosure;

[0063] Figure 5 It is a schematic diagram of a direction finding and positioning method provided by an application example of the present disclosure;

[0064] Figure 6 It is a block diagram of a direction finding and positioning device provided by an embodiment of the present disclosure;

[0065] Figure 7 It is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0066] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0067] Figure 1 A direction finding and positioning method provided for the embodiments of the present disclosure includes the following steps S1 to S5:

[0068] Step S1: Obtain a first signal to be measured from a movable device. The first signal to be measured is a signal sent by a target to be located when the movable device is at a first direction finding position.

[0069] Specifically, the movable device may be a device that is installed or integrated with a direction finding device (for example, a correlation interferometer device) and can perform signal acquisition and movement.

[0070] And all signals to be measured in the present disclosure may be used to confirm the position information of the target to be located by an analysis system after being transmitted to the analysis system that implements the method of the present disclosure.

[0071] Since different ground object environments will result in different propagation conditions, they can be classified into three types of areas: open areas, suburbs, and urban areas according to the density of ground objects. The propagation loss of radio waves is comprehensively determined by factors such as propagation distance, operating frequency, antenna height of the receiving device, antenna height of the mobile station, and terrain and ground object factors. When the propagation distance, operating frequency, and mobile station height are relatively fixed, the gain of the received signal can be improved by increasing the antenna height of the receiving device. If the antenna is simply elevated by lengthening the RF cable, there will be a cable loss problem.

[0072] In one optional implementation manner of the present disclosure, step S1 of obtaining the first signal to be measured from the movable device includes: obtaining, by an intelligent flight device, a first signal to be measured whose signal frequency is within a preset frequency range and whose signal power exceeds a preset power threshold value among all signals.

[0073] The intelligent flight device may be a drone. Mounting the device and the antenna on the intelligent flight device for direction finding and positioning in the airspace will not cause much cable loss, can reduce the shielding loss on land, and can also improve the gain of the received signal.

[0074] By only acquiring the first signal to be measured within a preset frequency range and with a signal power exceeding a preset power threshold value. Further, when the length of the received signal is not less than a set minimum length, the direction finding device will transmit the direction finding result of this section of the signal to the analysis system. The direction finding result includes information such as the direction finding angle value (degree), the direction finding angle deviation (degree), the main direction of the direction finding angle (degree), the signal power value (dBm) corresponding to each direction finding angle, and the longitude and latitude (degree) of the movable device.

[0075] By screening the received signals, the redundant interference signals are filtered out at the receiving front end, eliminating the need to receive noise or other unnecessary signals. This also avoids the problem of unnecessary data being transmitted to the analysis system, occupying excessive transmission bandwidth and storage space, and the problem of having to process a large amount of useless data afterwards.

[0076] Step S2: Perform signal analysis operations on the first signal to be measured to obtain the first average power value and the first predicted main direction for predicting the direction of the target to be located.

[0077] Specifically, the signal analysis operation can be an analysis operation that can perform, including but not limited to, main direction prediction and average power value calculation, based on the signal to be measured.

[0078] The first predicted main direction is the prediction result obtained through signal analysis operations on the target to be located that sends the first signal to be measured, and is information used to characterize the expected direction of the target to be located.

[0079] The first average power value is information used to characterize the power intensity of the first signal to be measured after analyzing the first signal to be measured through signal analysis operations.

[0080] Step S3: When it is determined that the first average power value meets the preset conditions, control the movable device to move to the second direction finding position according to the first predicted main direction and the first movement strategy.

[0081] Specifically, for the preset conditions, the goal of setting the preset conditions can be to determine that the distance between the first direction finding position and the target to be located is closer than that of the previous direction finding position. Therefore, the conditions can include, but are not limited to, the first average power value reaching a preset power value intensity, or the first average power value being higher than the average power value of the information to be measured collected at the previous direction finding position and other limiting conditions.

[0082] The first movement strategy can be control information used to limit the movement direction and / or movement distance when the first average power value of the first signal to be measured meets the preset conditions.

[0083] Therefore, in this embodiment, by making the first average power value meet the preset condition, it is determined that the first signal to be measured can be used to predict the position information of the target to be located. Therefore, on this basis, the movable device is further controlled to move to the second direction measurement position.

[0084] Step S4, when it is determined that there is no intersection point between the first predicted main direction and the second predicted main direction, the movable device is controlled to move to the third direction measurement position according to the second predicted main direction and the second movement strategy, and it is determined whether the third average power value of the third signal to be measured meets the preset condition; the second predicted main direction is obtained after performing a signal analysis operation on the second signal to be measured received when the movable device is located at the second direction measurement position; the third signal to be measured is the signal sent by the target to be located received when the movable device is located at the third direction measurement position.

[0085] Specifically, the first movement strategy may be control information for defining the movement direction and / or the movement distance in the case where there is no intersection point between the first predicted main direction and the second predicted main direction.

[0086] Since the second signal to be measured is the signal sent by the target to be located received when the movable device is located at the second direction measurement position; therefore, by performing a signal analysis operation on the second signal to be measured, the second predicted main direction can be obtained.

[0087] Generally, a direction can be understood as a ray starting from a certain position. Therefore, the first predicted main direction and the second predicted main direction may be rays with different starting points and possibly different directions. In addition, since both the first predicted main direction and the second predicted main direction are predicted directions, they are not necessarily accurate. Therefore, when there is no intersection point between the first predicted main direction and the second predicted main direction, it means that the target to be located may be too far from the current measurement position, resulting in too large a positioning error. Therefore, the movable device needs to be controlled to move to the third direction measurement position according to the second predicted main direction and the second movement strategy, and it is determined whether the third average power value of the third signal to be measured meets the preset condition (that is: using the third direction measurement position as the first direction measurement position in step S3, and re - executing step S3).

[0088] Step S5, when it is determined that there is an intersection point between the first predicted main direction and the second predicted main direction, the position information of the target to be located is determined according to the intersection point information of the intersection point.

[0089] Specifically, the intersection point information may be the position information of the intersection point and a preset range size, to indicate that the position where the target to be located is corresponding may be a region range including the position where the intersection point is located and with a size of the preset range size. For example: the position information may be a region range with the position information of the intersection point as the center and a shape consistent with the range size.

[0090] For steps S3 to S5, when there is no intersection between the predicted main direction of the post-measurement direction position after moving according to the first movement strategy and the predicted main direction of the pre-movement measurement direction position, steps S3 and S4 are cyclically executed with the direction measurement signal received at the current direction measurement position of the movable device until there is an intersection between the predicted main direction of the post-measurement direction position after moving according to the first movement strategy and the predicted main direction of the pre-movement measurement direction position at a certain time, and the position information is obtained according to the intersection information of the intersection point.

[0091] Through the method in this embodiment, the movable device can determine the approximate range of the target to be located by means of intersection positioning at a relatively long distance, so as to quickly approach the target to be located in the later stage, and adopt the method of close-range direction measurement positioning to determine the accurate position of the target, thereby effectively improving the positioning efficiency.

[0092] In some embodiments, as in the foregoing method, the signal analysis operation includes the following steps A1 to A5:

[0093] Step A1, when determining the target direction measurement position of the movable device, obtain at least two signals to be measured from the movable device; the target direction measurement position includes: the first direction measurement position, the second direction measurement position or the third direction measurement position;

[0094] Step A2, by performing direction measurement on the signals to be measured, obtain the direction measurement angle value corresponding to each signal to be measured;

[0095] Step A3, according to the power values of the signals to be measured, obtain the average power value;

[0096] Step A4, based on the direction measurement angle value, calculate the predicted main direction;

[0097] Step A5, according to the sub-deviation values between the respective direction measurement angle values and the predicted main direction, calculate the direction measurement angle deviation value.

[0098] Specifically, the target direction measurement position can be any direction measurement position.

[0099] The movable device will obtain multiple signals to be measured at each direction measurement position.

[0100] According to each signal to be measured, a unique direction measurement angle value can be analyzed, and the direction measurement angle value is used to characterize the direction of the approximate source point of the signal to be measured.

[0101] The power value corresponding to each signal to be measured can be detected. Therefore, the method of calculating the average value can be adopted to obtain the average power value of all signals to be measured received at a certain direction finding position. Further, after obtaining the average power value, the difference between the power value of each signal to be measured and the average power can be determined. Therefore, the signals to be measured with the difference greater than the preset power difference can be selected and removed, and then the average power value of the remaining signals to be measured can be calculated, which can further improve the numerical accuracy.

[0102] One method of calculating the predicted main direction can be to calculate the average value of each direction finding angle value, and then obtain the predicted main direction. Further, after obtaining the predicted main direction, the difference between each signal to be measured and the predicted main direction can be determined. Therefore, the signals to be measured with the difference greater than the preset direction difference can be selected and removed, and then the average value of the remaining signals to be measured can be calculated, which can further improve the accuracy of the predicted main direction.

[0103] One method of calculating the sub-deviation value can be to calculate the difference or variance between each direction finding angle value and the predicted main direction, and then accumulate the differences or variances of all direction finding angle values to obtain the direction finding angle deviation value. Therefore, the direction finding angle deviation value can be used to judge the credibility of the predicted main direction. Generally, the larger the direction finding angle deviation value, the lower the credibility of the predicted main direction.

[0104] As Figure 2 shown, in some embodiments, as in the foregoing method, step S3 controls the movable device to move to the second direction finding position according to the first predicted main direction and the first movement strategy, including steps S311 to S313 described as follows:

[0105] Step S311, determine the first offset angle and the first movement distance according to the first movement strategy.

[0106] Specifically, the first offset angle can be the information defined in the first movement strategy for changing the movement direction of the movable device.

[0107] The first movement distance can be the information defined in the first movement strategy for controlling the movement distance of the movable device.

[0108] Step S312, determine the first movement direction based on the first predicted main direction and the first offset angle.

[0109] Specifically, in general, based on the angle corresponding to the first predicted main direction, a first offset angle (e.g., 90 degrees) can be superimposed, so that the movable device can approach the target to be located in different moving directions, thereby avoiding the problem that when moving in a single direction, due to the too high similarity between the moving direction and the direction of the target to be located, the change between the predicted main directions at different direction-finding positions is too small to obtain an intersection point.

[0110] Step S313, control the movable device to move to the second direction-finding position according to the first moving direction and the first moving distance.

[0111] Specifically, after obtaining the first moving direction and the first moving distance, a control instruction can be generated according to the first moving direction and the first moving distance, and then the control instruction is sent to the movable device to make it move to the second direction-finding position.

[0112] In some embodiments, as in the foregoing method, step S4 of controlling the movable device to move to the third direction-finding position according to the second predicted main direction and the second moving strategy includes the following steps S41 to S43:

[0113] Step S41, determine the second moving distance according to the second moving strategy.

[0114] Step S42, determine the second moving direction based on the first predicted main direction.

[0115] Step S43, control the movable device to move to the third direction-finding position according to the second moving direction and the second moving distance.

[0116] Specifically, the second moving distance can be the information defined in the second moving strategy for controlling the moving distance of the movable device.

[0117] Generally, although the moving direction may not be exactly the same as the real position of the target to be located, the difference is not too large. Therefore, in this embodiment, determining the second moving direction based on the first predicted main direction can be taking the first predicted main direction as the second moving direction, so that the movable device can be closer to the target to be located to a certain extent.

[0118] So as to improve the probability that there is an included angle between the predicted main directions corresponding to the two direction-finding positions when adjusting the moving direction of the movable device according to step S3 later.

[0119] Specifically, after obtaining the second moving direction and the second moving distance, a control instruction can be generated according to the second moving direction and the second moving distance, and then the control instruction is sent to the movable device to make it move to the third direction-finding position.

[0120] As Figure 3 shown, in some embodiments, as in the foregoing method, it further includes steps B1 to B4 described below:

[0121] Step B1: Obtain the starting point signal to be measured acquired by the movable device at the starting point position; the starting point signal to be measured is the signal sent by the target to be located received by the movable device when it is at the starting point position;

[0122] Step B2: Through signal analysis operations, obtain the starting point predicted main direction and the starting point direction finding angle deviation value of the starting point signal to be measured.

[0123] Step B3: When it is determined that the starting point direction finding angle deviation value is greater than the preset angle deviation value threshold, control the movable device to perform at least one movement behavior until it moves to a direction finding position where the direction finding angle deviation of the acquired signal to be measured is less than or equal to the angle deviation value threshold, and determine the initial direction finding position; based on the initial signal to be measured at the initial direction finding position, determine the position information of the target to be located; the movement direction of the movement behavior is determined according to the predicted main direction of the current position;

[0124] Step B4: According to the initial predicted main direction of the initial signal to be measured and the preset third movement distance, control the movable device to move to the first direction finding position.

[0125] Specifically, when the movable device is at the starting point position, multiple starting point signals to be measured can be collected, and then through the signal analysis operations described in the foregoing embodiments, the starting point predicted main direction and the starting point direction finding angle deviation value of the starting point signal to be measured are obtained. The specific acquisition method will not be elaborated here.

[0126] The angle deviation value threshold can be a threshold value used to limit the difference between the direction finding angle values corresponding to each starting point signal to be measured, and the specific value can be adjusted according to the actual application scenario.

[0127] Moreover, when the starting point direction finding angle deviation value is greater than the preset angle deviation value threshold, it is necessary to control the movable device to move in the starting point predicted main direction, and then obtain the direction finding angle deviation corresponding to the position after movement. If it is less than or equal to the angle deviation value threshold, the current position can be used as the initial direction finding position, and the movable device is controlled to move to the first direction finding position by executing Step B4. Otherwise, it is necessary to control the movable device to move again according to the predicted main direction of the current position, and continue to judge the relationship between the direction finding angle deviation value and the angle deviation value threshold until the direction finding angle deviation is less than or equal to the angle deviation value threshold. By this means, it is possible to avoid affecting the accuracy of subsequent analysis due to excessive differences between the acquired signals to be measured.

[0128] After determining the initial direction-finding position, the corresponding initial signal to be measured can be determined, and then according to the initial predicted main direction of the initial signal to be measured and the preset third moving distance, the movable device is controlled to move to the first direction-finding position.

[0129] For example: After the drone normally receives a signal at the starting position, it first performs direction finding m times in place, calculates the starting direction-finding angle deviation value δ, the starting predicted main direction θ, and the average power value P of the angle. When the starting direction-finding angle deviation value δ ≤ Thrδ, where Thrδ is the threshold of the angle deviation value, if it does not meet the requirement, it needs to move a distance in the direction of the starting predicted main direction θ and then perform direction finding m times; when the starting direction-finding angle deviation value δ > Thrδ, calculate the angle deviation value δ(1), the predicted main direction θ(1), and the corresponding average power value P(1);

[0130] In some embodiments, such as the method described above, it further includes the following step B5:

[0131] Step B5, when the initial average power value of the initial signal to be measured is greater than or equal to the preset signal power threshold, determine the position information of the target to be located according to the initial predicted main direction of the initial signal to be measured.

[0132] Specifically, the signal power threshold can be a threshold value used to determine whether the target to be located can be approached quickly. Therefore, the numerical value of the signal power can be adjusted according to the accuracy of the position information. Generally, the higher the signal power exceeds the signal power threshold, the more accurate the position information.

[0133] That is: If the initial average power value P(1) ≥ the signal power threshold ThrP, it is considered that the target has been approached relatively closely, and the movable device can be directly controlled to approach the target to be located quickly along the initial predicted main direction, and direction finding is performed on the target to be located, so as to quickly determine the accurate position of the target to be located.

[0134] In some embodiments, such as the method described above, it further includes the following step B6:

[0135] Step B6, perform signal analysis on the first signal to be measured to obtain the first direction-finding angle deviation value of the first signal to be measured;

[0136] Step B7, perform signal analysis on the initial signal to be measured to obtain the initial direction-finding angle deviation value of the initial signal to be measured;

[0137] Step B8, when the difference between the first average power value and the initial average power value is less than the signal power threshold difference, and the first direction-finding angle deviation value is greater than or equal to the initial direction-finding angle deviation value, use the first direction-finding position as the starting position and re-determine the initial direction-finding position.

[0138] Specifically, the signal power threshold difference may be a value used to determine the distance relationship between the first direction finding position and the second direction finding position and the target to be located by judging the difference between the first average power value and the initial average power value. For example, when the signal power threshold difference is 6 dB, if the difference between the first average power value and the initial average power value is less than the signal power threshold difference, it indicates that the difference degree between the first average power value and the initial average power value is very small; therefore, the first direction finding position may be farther or closer to the target to be located than the second direction finding position.

[0139] On the other hand, since it is also necessary to judge the relationship between the first direction finding angle deviation value and the initial direction finding angle deviation value, therefore, when the first direction finding angle deviation value is greater than the initial direction finding angle deviation value, it means that the difference in power values between the first signals to be measured is greater than the difference in power values between the initial signals to be measured. Therefore, the first direction finding position may be farther from the target to be located than the second direction finding position.

[0140] Therefore, combining the above two points, when the difference between the first average power value and the initial average power value is less than the signal power threshold difference, and the first direction finding angle deviation value is greater than or equal to the initial direction finding angle deviation value, the probability that the first direction finding position is farther from the target to be located than the initial direction finding position is extremely high. Therefore, the first direction finding position can be used as the starting position to re-determine the new initial direction finding position, and re-determine the new first direction finding position according to the new initial direction finding position, and when the difference between the new first average power value and the new initial average power value is greater than or equal to the signal power threshold difference, and / or the new first direction finding angle deviation value is less than the new initial direction finding angle deviation value, the probability that the new first direction finding position is closer to the target to be located than the new initial direction finding position is higher.

[0141] For example: Denote the first direction finding position as A(2), the initial direction finding position as A(1), the first average power value as P(2), the initial average power value as P(1), the first direction finding angle deviation value as δ(2), and the initial direction finding angle deviation value as δ(1); if P(2) - P(1) < the signal power threshold difference ThrdP, and δ(2) ≥ δ(1), then:

[0142] It is highly probable that the movable device is farther from the target at point A(2) than at point A(1). Take A(2) as A(1) and start from step B1 again to obtain a new initial direction finding position.

[0143] As Figure 4 shown, in some embodiments, in the method as described above, step S3 for determining that the first average power value of the first signal to be measured meets a preset condition includes steps S321 to S323 as described below:

[0144] Step S321: By performing signal analysis on the first signal to be measured, obtain the first direction finding angle deviation value of the first signal to be measured.

[0145] Step S322: By performing signal analysis on the initial signal to be measured, obtain the initial direction finding angle deviation value of the initial signal to be measured.

[0146] Step S323: When the first direction finding angle deviation value is less than the initial direction finding angle deviation value and / or the difference between the first average power value and the initial average power value is greater than or equal to the preset signal power threshold difference, and the difference between the first predicted main direction and the initial predicted main direction is not within the preset angle deviation value threshold, determine that the first average power value of the first signal to be measured meets the preset conditions.

[0147] Specifically, for the same reasons as in the previous embodiment, when the difference between the first average power value and the initial average power value is greater than or equal to the signal power threshold difference, and / or the first direction finding angle deviation value is less than the initial direction finding angle deviation value, the probability that the first direction finding position is closer to the target to be located than the initial direction finding position is higher. Therefore, in this case, it is determined that the preset conditions are met.

[0148] According to an embodiment of the present application, a direction finding and positioning method is provided, including:

[0149] For the convenience of description, set the angle deviation value threshold as Thrδ (degree), the signal power threshold ThrP (dBm), the signal power threshold difference ThrdP (dB), the coordinate point of the device at the kth direction finding (i.e., the direction finding position) as A(k), the direction finding angle deviation value as δ(k), the predicted main direction as θ(k), and the average power value of the signal corresponding to the predicted main direction as P(k).

[0150] 1. After the unmanned aerial vehicle (i.e., the movable device) normally receives the signal, first perform m direction findings in place, calculate the direction finding angle deviation value δ, the predicted main direction θ, and the average power value P of the signal corresponding to the predicted main direction. Since it is necessary to ensure that the direction finding angle deviation value δ ≤ Thrδ at this time, if it is not satisfied, move a certain distance in the direction of the main predicted direction θ and then perform m direction findings again, and use the qualified direction finding points as the initial direction finding points, denoted as A(1), calculate the initial direction finding angle deviation value δ(1), the initial predicted main direction θ(1), and the corresponding initial average power value P(1).

[0151] 2. If P(1) ≥ ThrP, it is considered that it is already relatively close to the target and can directly jump to the last step. If not, the following steps need to be continued.

[0152] 3. The drone flies x meters along the initial predicted main direction θ(1) to reach point A(2) (i.e., the first direction measurement position). At point A(2), m direction measurements are performed to calculate the first direction angle deviation value δ(2), the first predicted main direction (2), and the first average power value P(2). Compare the magnitudes of P(1) and P(2).

[0153] 4. If P(2) - P(1) < ThrdP and δ(2) ≥ δ(1), then:

[0154] It is highly probable that the drone is farther from the target at point A(2) than at point A(1). Take A(2) as A(1) and start over from step 1.

[0155] 5. If P(2) - P(1) ≥ ThrdP or δ(2) < δ(1), it is highly probable that the drone is closer to the target at point A(2) than at point A(1). If |θ(2) - θ(1)| ≤ Thrδ, take θ(2) as θ(1) and repeat starting from step 2. If |θ(2) - θ(1)| > Thrδ, then:

[0156] (1). Take point A(2) as the foot of the perpendicular from A(2) to the line connecting A(2) and A(1) (i.e., the first offset angle is 90 degrees). Fly y meters in the direction perpendicular to the line connecting A(2) and A(1) and on the side of the main direction θ(2) to reach point A(3) (i.e., the second direction measurement position). Perform m direction measurements to calculate the second direction angle deviation value δ(3) at this time, the second predicted main direction θ(3), and the corresponding second average power value P(3).

[0157] (2). Determine whether there is an intersection between θ(2) and the main θ(3). If there is an intersection, it can be approximately considered that the area near the intersection is the target range. If there is no intersection, continue the same process from A(1) to A(2) until there is an intersection between the main directions θ(2n) and θ(2n + 1) in two consecutive times.

[0158] 6. Perform a direct and rapid approach direction measurement along the main direction of the last direction measurement, leveraging the flexible and maneuverable advantage of the drone to locate the accurate position of the target.

[0159] As Figure 5 shown, an application example of applying the above method is:

[0160] During actual direction finding, the angle deviation value threshold is Thrδ (degrees), the signal power threshold ThrP (dBm), and the signal power threshold difference ThrdP (dB) can be adjusted. The x and y for each flight segment can also be set according to the limitations of the actual environment and the requirements of direction finding. The x or y for each segment can be different, but generally for the same set of x and y, y / x ≥ 2. The number of direction finding times m for each direction finding point can also be flexibly adjusted according to the timeliness of the relevant interferometer equipment (i.e., the direction finding device). Generally speaking, it can reach hundreds of times per second or more.

[0161] When: the angle deviation value threshold Thrδ = 5 degrees, the signal power threshold ThrP = -70 dBm, the signal power threshold difference ThrdP = 6 dB, x = 15 meters, y = 30 meters, and the number of direction finding times m for each direction finding point = 100 times.

[0162] The UAV takes off from point A(1), first conducts m = 100 times of direction finding in place, calculates the angle deviation δ(1) = 4.5 degrees < Thrδ, the main direction θ(1) = 0.1 degree, and the average power value P(1) of the signal corresponding to the main direction direction finding angle = -105.9 dBm < ThrP.

[0163] The UAV flies along the main direction θ(1) for x1 = 15 meters to reach point A(2). At point A(2), it conducts m = 100 times of direction finding, calculates the direction finding angle deviation value δ(2) = 3.7 degrees < Thrδ, the predicted main direction θ(2) = 1.2 degrees, and the corresponding average power value P(2) = -100.2 dBm < ThrP. Comparing P(2) - P(1) = 5.7 dB < ThrdP, δ(2) = 3.7 degrees < δ(1) = 4.5 degrees, it is highly probable that the UAV is closer to the target to be located at point A(2) than at point A(1).

[0164] Comparing |θ(2) - θ(1)| = 1.1 degrees ≤ Thrδ = 6 degrees, then:

[0165] The UAV flies along the predicted main direction θ(2) for x2 = 15 meters to reach point A(3). At point A(3), it conducts m = 100 times of direction finding, calculates the direction finding angle deviation value δ(3) = 3.9 degrees < Thrδ, the predicted main direction θ(3) = 7.4 degrees, and the corresponding average power value P(3) = -92.7 dBm < ThrP. Comparing P(3) - P(2) = 7.5 dB > ThrdP, δ(3) = 3.9 degrees > δ(2) = 3.7 degrees, it is highly probable that the UAV is closer to the target at point A(3) than at point A(2).

[0166] Comparing |θ(3) - θ(2)| = 6.2 degrees > Thrδ = 6 degrees, then:

[0167] Taking point A(3) as the foot of the perpendicular to the line connecting A(2) and A(3), the UAV flies y3 = 30 meters in the direction perpendicular to the line connecting A(2) and A(3) and on the side of the predicted main direction θ(3) to reach point A(4). Conduct m = 100 direction measurements, calculate the direction measurement angle deviation δ(4) = 3.2 degrees at this time, the predicted main direction θ(4) = 8 degrees, and the corresponding average power value P(4) = -83.9 dBm. Comparing P(4) - P(3) = 8.8 dB > ThrP and δ(4) = 3.2 degrees < δ(3) = 3.9 degrees, it is highly probable that the UAV is closer to the target at point A(4) than at point A(3). There is no positive intersection point between the rays where θ(3) and θ(4) are located, and continue with the subsequent steps.

[0168] The UAV flies x4 = 15 meters along the predicted main direction θ(4) to reach point A(5). Conduct m = 100 direction measurements at point A(5), calculate the direction measurement angle deviation δ(5) = 2.8 degrees < Thrδ, the predicted main direction θ(5) = 30.5 degrees, and the corresponding average power value P(5) = -88.7 dBm < ThrP. Comparing P(5) - P(4) = 4.8 dB < ThrP and δ(5) = 2.8 degrees < δ(4) = 3.2 degrees, it is highly probable that the UAV is closer to the target at point A(5) than at point A(4).

[0169] Comparing |θ(5) - θ(4)| = 22.5 degrees > Thrδ = 6 degrees, then:

[0170] Taking point A(5) as the foot of the perpendicular to the line connecting A(4) and A(5), the UAV flies y5 = 30 meters in the direction perpendicular to the line connecting A(4) and A(5) and on the side of the predicted main direction θ(5) to reach point A(6). Conduct m = 100 direction measurements, calculate the direction measurement angle deviation δ(6) = 2.1 degrees at this time, the predicted main direction θ(6) = 1.0 degree, and the corresponding average power value P(6) = -79.6 dBm. Comparing P(6) - P(5) = 9.1 dB > ThrP and δ(6) = 2.1 degrees < δ(5) = 2.8 degrees, it is highly probable that the UAV is closer to the target at point A(6) than at point A(5). There is a positive intersection point between the rays where θ(5) and θ(6) are located, and the target range can be located (i.e., the position information of the target to be located).

[0171] Fly directly and quickly towards the target range along the main direction θ(6) of the last direction measurement to locate the accurate position of the target to be located. Among them, the parameter values corresponding to each direction measurement point are shown in the following table:

[0172]

[0173] As Figure 6 shown, according to an embodiment of another aspect of the present application, there is also provided a spatial-domain based correlation interferometer direction finding and positioning device, including:

[0174] An acquisition module 1, configured to acquire a first signal to be measured from a movable device, where the first signal to be measured is a signal sent by a target to be located when the movable device is at a first direction measurement position;

[0175] An analysis module 2, configured to perform a signal analysis operation on the target to be located according to the first signal to be measured, and obtain a first predicted main direction;

[0176] A first control module 3, configured to, when determining that a first average power value of the first signal to be measured meets a preset condition, control the movable device to move to a second direction measurement position according to the first predicted main direction and a first movement strategy;

[0177] A second control module 4, configured to, when determining that there is no intersection point between the first predicted main direction and a second predicted main direction, control the movable device to move to a third direction measurement position according to the second predicted main direction and a second movement strategy, and determine whether a third average power value of a third signal to be measured meets the preset condition; the second predicted main direction is obtained after performing a signal analysis operation on a second signal to be measured received when the movable device is at the second direction measurement position; the third signal to be measured is a signal sent by the target to be located when the movable device is at the third direction measurement position;

[0178] A position information determination module 5, configured to, when determining that there is an intersection point between the first predicted main direction and the second predicted main direction, determine the position information of the target to be located according to the intersection point information of the intersection point.

[0179] Specifically, for the specific processes of each module in the device according to the embodiments of the present invention to implement their functions, reference may be made to the relevant descriptions in the method embodiments, which will not be elaborated here.

[0180] According to another embodiment of the present disclosure, an electronic device is further provided, including: as Figure 7 shown, the electronic device may include: a processor 1501, a communication interface 1502, a memory 1503, and a communication bus 1504, where the processor 1501, the communication interface 1502, and the memory 1503 complete communication with each other through the communication bus 1504.

[0181] The memory 1503 is used to store a computer program;

[0182] The processor 1501 is configured to implement the steps of the above method embodiments when executing the program stored on the memory 1503.

[0183] The bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. This bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0184] The communication interface is used for communication between the above electronic device and other devices.

[0185] The memory can include a Random Access Memory (RAM), and can also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory can also be at least one storage device located far from the aforementioned processor.

[0186] The above-mentioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0187] The embodiments of the present disclosure also provide a storage medium, where the storage medium includes a stored program, and when the program runs, it executes the method steps of the above method embodiments.

[0188] It should be noted that, in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0189] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A direction finding and positioning method, characterized in that, Including: Obtain a first signal to be measured from a movable device, where the first signal to be measured is a signal sent by a target to be located when the movable device is at a first direction-finding position; Perform a signal analysis operation on the first signal to be measured to obtain a first average power value and a first predicted main direction for predicting the direction of the target to be located; When it is determined that the first average power value meets a preset condition, control the movable device to move to a second direction-finding position according to the first predicted main direction and a first movement strategy; When it is determined that there is no intersection between the first predicted main direction and a second predicted main direction, control the movable device to move to a third direction-finding position according to the second predicted main direction and a second movement strategy, and determine whether a third average power value of a third signal to be measured meets the preset condition; the second predicted main direction is obtained after performing the signal analysis operation on a second signal to be measured received when the movable device is at the second direction-finding position; the third signal to be measured is a signal sent by the target to be located when the movable device is at the third direction-finding position; When it is determined that there is an intersection between the first predicted main direction and the second predicted main direction, determine the position information of the target to be located according to the intersection information of the intersection; When it is determined that the movable device is at a target direction-finding position, obtain at least two signals to be measured from the movable device; The target direction-finding position includes: the first direction-finding position, the second direction-finding position or the third direction-finding position; By performing direction finding on the signals to be measured, obtain a direction-finding angle value corresponding to each signal to be measured; Obtain an average power value according to the power values of the signals to be measured; Based on the direction-finding angle values, calculate a predicted main direction; Calculate a direction-finding angle deviation value according to the sub-deviation values between the direction-finding angle values and the predicted main direction; The preset condition is used to determine that the distance between the first direction-finding position and the target to be located is closer than that of the previous direction-finding position. The preset condition includes that the first average power value reaches a preset power value intensity, or the first average power value is higher than the average power value of the information to be measured collected at the previous direction-finding position.

2. The method according to claim 1, characterized in that, The controlling the movable device to move to the second direction-finding position according to the first predicted main direction and a first movement strategy includes: Determine a first offset angle and a first movement distance according to the first movement strategy; Based on the first predicted main direction and the first offset angle, determine a first movement direction; According to the first movement direction and the first movement distance, control the movable device to move to the second direction-finding position.

3. The method according to claim 1, characterized in that, The controlling the movable device to move to the third direction-finding position according to the second predicted main direction and a second movement strategy includes: Determine a second movement distance according to the second movement strategy; Based on the first predicted main direction, determine a second movement direction; According to the second movement direction and the second movement distance, control the movable device to move to the third direction-finding position.

4. The method according to claim 1, wherein Also including: Obtain the starting signal to be measured acquired by the movable device at the starting position; the starting signal to be measured is the signal sent by the target to be located received by the movable device when it is at the starting position; Through the signal analysis operation, obtain the starting predicted main direction of the starting signal to be measured and the starting direction finding angle deviation value; When it is determined that the starting direction finding angle deviation value is greater than the preset angle deviation value threshold, control the movable device to perform at least one moving behavior until it moves to a direction finding position where the direction finding angle deviation of the acquired signal to be measured is less than or equal to the angle deviation value threshold, and determine the initial direction finding position; according to the initial signal to be measured at the initial direction finding position, determine the position information of the target to be located; the moving direction of the moving behavior is determined according to the predicted main direction at the current position; According to the initial predicted main direction of the initial signal to be measured and the preset third moving distance, control the movable device to move to the first direction finding position.

5. The method according to claim 4, wherein Further comprising: When the initial average power value of the initial signal to be measured is greater than or equal to the preset signal power threshold, determine the position information according to the initial predicted main direction of the initial signal to be measured.

6. The method according to claim 5, characterized in that Further comprising: Through signal analysis operation on the first signal to be measured, obtain the first direction finding angle deviation value of the first signal to be measured; Through signal analysis operation on the initial signal to be measured, obtain the initial direction finding angle deviation value of the initial signal to be measured; When the difference between the first average power value and the initial average power value is less than the signal power threshold difference, and the first direction finding angle deviation value is greater than the initial direction finding angle deviation value, use the first direction finding position as the starting position and re-determine the initial direction finding position.

7. The method according to claim 4, characterized in that, The determination that the first average power value of the first signal to be measured meets the preset conditions includes: Through signal analysis operation on the initial signal to be measured, obtain the initial direction finding angle deviation value of the initial signal to be measured; When the first direction finding angle deviation value is less than the initial direction finding angle deviation value and / or the difference between the first average power value and the initial average power value of the initial signal to be measured is greater than or equal to the preset signal power threshold difference, and the difference between the first predicted main direction and the initial predicted main direction is not within the angle deviation value threshold, determine that the first average power value of the first signal to be measured meets the preset conditions.

8. The method according to claim 1, wherein The obtaining of the first signal to be measured from the movable device includes: Through an intelligent flying device, obtain the first signal to be measured among all the signals whose signal frequency is within the preset frequency range and whose signal power exceeds the preset power threshold value.

9. An airspace-based correlation interferometer direction finding and positioning device, characterized in that, Comprising: An acquisition module, configured to acquire the first signal to be measured from the movable device, where the first signal to be measured is the signal sent by the target to be located received by the movable device when it is at the first direction finding position; An analysis module, configured to perform signal analysis operation on the first signal to be measured to obtain the first average power value and the first predicted main direction for predicting the direction of the target to be located; The first control module is configured to control the movable device to move to the second direction measurement position according to the first predicted main direction and the first movement strategy when it is determined that the first average power value meets a preset condition; The second control module is configured to control the movable device to move to the third direction measurement position according to the second predicted main direction and the second movement strategy and determine whether the third average power value of the third signal to be measured meets the preset condition when it is determined that there is no intersection point between the first predicted main direction and the second predicted main direction; the second predicted main direction is obtained after performing the signal analysis operation on the second signal to be measured received by the movable device at the second direction measurement position; the third signal to be measured is the signal sent by the target to be located received by the movable device when the movable device is at the third direction measurement position; The position information determination module is configured to determine the position information of the target to be located according to the intersection point information of the intersection point when it is determined that there is an intersection point between the first predicted main direction and the second predicted main direction; When determining the movable device at the target direction measurement position, at least two signals to be measured from the movable device are acquired; The target direction measurement position includes: the first direction measurement position, the second direction measurement position or the third direction measurement position; By performing direction measurement on the signals to be measured, a direction measurement angle value corresponding to each signal to be measured is obtained; According to the power values of the signals to be measured, an average power value is obtained; Based on the direction measurement angle values, a predicted main direction is calculated; According to the sub-deviation values between the direction measurement angle values and the predicted main direction, a direction measurement angle deviation value is calculated; The preset condition is used to determine that the distance between the first direction measurement position and the target to be located is closer than that of the previous direction measurement position. The preset condition includes that the first average power value reaches a preset power value intensity, or the first average power value is higher than the average power value of the information to be measured collected at the previous direction measurement position.

10. An electronic device, characterized in that, It includes: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus; The memory is used for storing a computer program; The processor is configured to implement the method according to any one of claims 1-8 when executing the computer program.

11. A storage medium, characterized in that, The storage medium includes a stored program, wherein the program executes the method according to any one of claims 1-8 when running.

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