Indoor node layout method and device for communication and navigation fusion system

Abstract

The present application provides a method and device for indoor node layout of a communication and navigation fusion system, the method comprising: predicting the indoor signal propagation path of the indoor scene corresponding to the communication and navigation fusion system based on ray tracing to obtain multipath information; generating corresponding communication and navigation fusion network evaluation indicators according to the evaluation indicators corresponding to the communication network and positioning network of the communication and navigation fusion system; using the communication and navigation fusion network evaluation indicators as the objective function of the multi-optimization algorithm, and solving the objective function based on the multipath information to obtain the optimal layout scheme of the indoor nodes of the communication and navigation fusion system. The present application is applicable to the communication and navigation fusion system, and on the basis of effectively ensuring the communication performance, it can accurately predict the indoor signal propagation path, reduce the influence of multipath and non-line-of-sight propagation on the positioning error, and is applicable to indoor environments of different scales, different complexities and different application scenarios, thereby improving the reliability and effectiveness of the indoor node layout of the communication and navigation fusion system.

Description

Technical Field

[0001] The present application relates to the technical field of communication and navigation integration, and in particular to a method and device for indoor node layout of a communication and navigation fusion system. Background Art

[0002] The integrated communication and navigation technology combines communication with positioning and navigation. The integration of the two will continue to deepen and promote each other to achieve higher communication and positioning performance, which has broad research and application prospects. In order to provide a good user experience, the indoor distributed system needs to further improve the signal quality and coverage of the wireless communication network and provide high-precision indoor positioning services. The layout planning of the indoor distributed nodes is one of the key factors that determine the network performance.

[0003] At present, the existing indoor node layout method mainly considers the impact of the node location on the overall network positioning error and accuracy. The optimization objectives mainly involve fingerprint differences, Cramer-Rao lower bounds, and geometric precision factors, etc., without involving user communication needs. In the case of co-location of communication and positioning nodes, the layout of indoor nodes needs to jointly consider the impact on communication services and positioning performance, but there is currently no indoor network planning technology specifically for communication and navigation fusion systems. In addition, the signal coverage range and quality assessment of the existing indoor node layout method are inaccurate, which will make it difficult for the ranging results of the positioning system to reflect the actual situation, resulting in large positioning errors; and the communication performance cannot be guaranteed, and the impact on communication services and positioning performance is not jointly considered. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a method and device for indoor node layout of a communication and conduction fusion system to eliminate or improve one or more defects existing in the prior art.

[0005] One aspect of the present application provides a method for indoor node layout of a communication and guidance fusion system, including:

[0006] Based on ray tracing, the indoor signal propagation path of the indoor scene corresponding to the communication and guidance fusion system is predicted to obtain multipath information;

[0007] Generate a corresponding communication and navigation fusion network evaluation index according to the evaluation indexes corresponding to the communication network and the positioning network of the communication and navigation fusion system;

[0008] The communication-conductance fusion network evaluation index is used as the objective function of the multi-optimization algorithm, and the objective function is solved based on the multi-path information to obtain the optimal layout solution of the indoor nodes of the communication-conductance fusion system.

[0009] In some embodiments of the present application, the method of using the communication-conductance fusion network evaluation index as the objective function of a multi-optimization algorithm, and solving the objective function based on the multi-path information to obtain the optimal layout solution of the indoor nodes of the communication-conductance fusion system includes:

[0010] Using the communication-conductance fusion network evaluation index as the objective function of the multi-optimization algorithm;

[0011] The objective function is multi-optimized based on the NSGA-II algorithm, and Pareto front surface data is obtained by iterative solution based on the multi-path information;

[0012] According to preset indoor network construction requirements and engineering experience data, the optimal layout plan of indoor nodes is selected from the Pareto front surface data.

[0013] In some embodiments of the present application, before predicting the indoor signal propagation path of the indoor scene corresponding to the communication-conduction fusion system based on the ray tracing method to obtain multipath information, the method further includes:

[0014] Based on the WallMan tool in the preset network planning simulation software WinProp, the indoor scene corresponding to the communication and navigation fusion system is modeled to obtain the indoor scene model;

[0015] Antenna placement points and test points are determined in the indoor scene model, and grid processing is performed on the indoor scene model.

[0016] In some embodiments of the present application, the indoor signal propagation path of the indoor scene corresponding to the communication-conduction fusion system is predicted based on the ray tracing method to obtain multipath information, including:

[0017] Construct antenna patterns based on the Aman tool, and determine the corresponding working parameters of the communication network and the positioning network of the communication and navigation fusion system;

[0018] Applying the 3D ray tracing method corresponding to the ProMan tool, the indoor signal propagation path of the indoor scene corresponding to the communication and positioning network is predicted according to the antenna radiation pattern and the corresponding working parameters of the communication network and the positioning network, so as to obtain multipath information; wherein the multipath information includes: the propagation path and path parameters of the signal in the communication and positioning fusion system from the antenna placement point to the test point.

[0019] In some embodiments of the present application, generating corresponding communication and navigation fusion network evaluation indicators according to evaluation indicators corresponding to the communication network and the positioning network of the communication and navigation fusion system respectively includes:

[0020] Obtaining the wireless signal strength RSRP corresponding to the communication network of the communication-conductor fusion system and the ratio SINR of the signal received by the receiver to all interference and noise power, so as to construct a standard composed of the RSRP and SINR, and determining the ratio of the number of the test points that meet the standard to the total number of test points as the communication performance evaluation index of the communication network;

[0021] And, obtaining an average value of positioning errors of all test points corresponding to the positioning network of the communication-guidance fusion system, and determining the average value as a positioning performance evaluation index of the positioning network;

[0022] The communication performance evaluation index and the positioning performance evaluation index are determined as communication-guidance fusion network evaluation indexes.

[0023] In some embodiments of the present application, the method of using the communication-conductance fusion network evaluation index as the objective function of the multi-optimization algorithm includes:

[0024] With the goal of solving the maximum value of the communication performance evaluation index, constructing the first objective function of the multi-optimization algorithm;

[0025] And, constructing a second objective function of the multi-optimization algorithm with the goal of solving the minimum value of the positioning performance evaluation index;

[0026] The objective function of the multi-optimization algorithm is generated according to the preset constraints, the first objective function and the second objective function.

[0027] In some embodiments of the present application, the objective function is multi-optimized based on the NSGA-II algorithm, and Pareto front surface data is obtained by iterative solution based on the multi-path information, including:

[0028] Iterative steps: initialize the parent population, and the number of nodes in each individual in the parent population is the target number; perform binary tournament selection, simulated binary crossover and polynomial mutation processing on each parent population to generate a child population with the same size as the parent population; merge the parent population and the child population to obtain a synthetic population; perform non-dominated sorting on all the individuals according to the objective function of the multi-optimization algorithm, and reclassify all the individuals according to the non-dominated level of the individuals, and calculate the crowding distance of the individuals belonging to the same level and sort the individuals;

[0029] According to the results of reclassification and sorting, the target number of individuals are selected from all the individuals as the new parent population; if the new parent population meets the maximum number of iterations or the optimization goal, the iteration is terminated to obtain the Pareto front surface data, otherwise, the iteration step is returned to perform the next iteration.

[0030] Another aspect of the present application provides a room-divided node layout device for a communication-conductance fusion system, comprising:

[0031] A signal propagation path prediction module is used to predict the indoor signal propagation path of the indoor scene corresponding to the communication and guidance fusion system based on ray tracing to obtain multipath information;

[0032] A network performance evaluation index construction module, used to generate corresponding communication and navigation fusion network evaluation indexes according to the evaluation indexes corresponding to the communication network and the positioning network of the communication and navigation fusion system;

[0033] The indoor node layout module is used to use the communication and conduction fusion network evaluation index as the objective function of the multi-optimization algorithm, and solve the objective function based on the multi-path information to obtain the optimal layout solution of the indoor nodes of the communication and conduction fusion system.

[0034] Another aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the indoor node layout method of the communication and conduction fusion system when executing the computer program.

[0035] Another aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the indoor node layout method of the communication and conduction fusion system.

[0036] The indoor node layout method of the communication and navigation fusion system provided in the present application predicts the indoor signal propagation path of the indoor scene corresponding to the communication and navigation fusion system based on ray tracing to obtain multi-path information; generates corresponding communication and navigation fusion network evaluation indicators according to the evaluation indicators corresponding to the communication network and positioning network of the communication and navigation fusion system; uses the communication and navigation fusion network evaluation indicators as the objective function of the multi-optimization algorithm, and solves the objective function based on the multi-path information to obtain the optimal layout scheme of the indoor nodes of the communication and navigation fusion system; the present application predicts the indoor signal propagation path of the indoor scene corresponding to the communication and navigation fusion system based on ray tracing to obtain multi-path information, and can accurately perform indoor signal propagation path. Accurate prediction can be made to obtain detailed multipath information and parameters, and indoor multipath and non-line-of-sight propagation are fully considered. The influence of multipath and non-line-of-sight propagation on positioning error can be reduced from the perspective of node layout, thereby effectively improving the authenticity of the ranging result for the indoor signal propagation path; by generating corresponding communication-conducting fusion network evaluation indicators according to the evaluation indicators corresponding to the communication network and the positioning network of the communication-conducting fusion system, it can be specifically applied to the network planning of the communication-conducting fusion system and can effectively guarantee the communication performance; by taking the communication-conducting fusion network evaluation indicators as the objective function of the multi-optimization algorithm, the joint consideration of communication services and positioning performance is realized, thereby improving the reliability and effectiveness of the indoor node layout of the communication-conducting fusion system.

[0037] Additional advantages, purposes, and features of the present application will be partially described in the following description, and will become partially apparent to those skilled in the art after studying the following, or may be learned from the practice of the present application. The purposes and other advantages of the present application can be achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0038] Those skilled in the art will understand that the purposes and advantages that can be achieved by the present application are not limited to the above specific description, and the above and other purposes that can be achieved by the present application will be more clearly understood based on the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present application, constitute a part of the present application, and do not constitute a limitation of the present application. The components in the drawings are not drawn to scale, but are only for the purpose of illustrating the principles of the present application. In order to facilitate the illustration and description of some parts of the present application, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present application. In the drawings:

[0040] Figure 1 It is a schematic diagram of the overall process of the indoor node layout method of the communication and conduction fusion system in one embodiment of the present application.

[0041] Figure 2 It is a schematic diagram of a specific flow chart of a method for indoor node layout of a communication and navigation fusion system in one embodiment of the present application.

[0042] Figure 3 It is a structural schematic diagram of a room-divided node layout device of a communication and conduction fusion system in another embodiment of the present application.

[0043] Figure 4 A technical roadmap for the indoor node layout method of the communication and navigation fusion system provided for the application example of this application.

[0044] Figure 5 Flowchart of the NSGA-II algorithm provided for the application example of this application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the implementation modes and the accompanying drawings. Here, the illustrative implementation modes and descriptions of the present application are used to explain the present application, but are not intended to limit the present application.

[0046] It should also be noted here that in order to avoid obscuring the present application due to unnecessary details, only the structures and / or processing steps closely related to the scheme according to the present application are shown in the accompanying drawings, while other details that are not very relevant to the present application are omitted.

[0047] It should be emphasized that the term “include / comprises” when used herein refers to the presence of features, elements, steps or components, but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0048] It should also be noted that, unless otherwise specified, the term “connection” herein may refer not only to a direct connection but also to an indirect connection involving an intermediate.

[0049] Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0050] In recent years, the public's demand for ubiquitous location services has continued to grow. The proportion of services occurring in indoor scenarios has reached 65% to 90% in various networks, with an average of about 80%. Satellite navigation has insufficient coverage in indoor scenarios and can no longer meet people's needs. Wireless communication systems have the advantages of wide coverage, low cost, and high reliability. Using communication systems for positioning can effectively make up for the shortcomings of satellite positioning. In this context, the coupling degree of communication and positioning navigation continues to deepen, and integrated communication and navigation technology has emerged. Integrated communication and navigation technology integrates communication and positioning navigation. While providing mobile broadband communication to the public, it also makes real-time location information the basic information of digital cities and is shared and applied through broadband Internet. Integrated communication and navigation technology aims to make full use of existing mobile communication networks to provide the public with convenient indoor positioning and navigation and other location services, so that indoor and outdoor location services can achieve continuous and seamless switching. With the advancement of technology, the degree of integration between the two will continue to deepen, and promote each other to achieve higher communication and positioning performance, which has broad research and application prospects.

[0051] In order to provide a good user experience, the indoor distributed system needs to further improve the signal quality and coverage of the wireless communication network and provide high-precision indoor positioning services. The layout planning of indoor distributed nodes is one of the key factors that determine network performance. Communications have gone through the development from 1G to 5G, and network planning technology has become mature. The existing indoor distributed network layout scheme mainly considers the impact of the location and number of nodes on the overall network coverage and signal quality. The optimization goal is to form the optimal layout under the premise of meeting the needs of communication network construction, considering factors such as network capacity, signal coverage, communication quality and cost, without involving the user's demand for indoor positioning. With the development of wireless communication technology, indoor positioning solutions based on technologies such as Wi-Fi, Bluetooth, ultra-wideband and computer vision are also becoming more and more perfect. Relevant scholars have conducted a lot of research on the layout of positioning nodes, mainly considering the impact of the location of nodes on the overall network positioning error and accuracy. The optimization goals mainly involve fingerprint differences, Cramer-Rao lower bounds and geometric precision factors, without involving the user's demand for communication. In addition, the layout algorithms used by both are mostly heuristic algorithms based on greedy algorithms, differential evolution algorithms and genetic algorithms.

[0052] Communication room network planning focuses on the impact of node location and quantity on network coverage and quality, uplink and downlink throughput, interruption probability, and inter-cell interference to ensure better communication performance. Positioning room network planning has gone through a development process from single path to multi-path, from one objective function to multiple, and from simple to complex indoor environment, focusing on the impact of node location and quantity on positioning accuracy and positioning error.

[0053] However, the existing indoor node layout method still has the following problems: First, the signal propagation model used is relatively simple, and the impact of the complex indoor environment on the signal propagation path and attenuation is not fully considered, resulting in inaccurate signal coverage and quality assessment. For the positioning system, the ranging results will be difficult to reflect the actual situation, resulting in large positioning errors; second, the network performance evaluation standard only focuses on one of the communication or positioning performance. When the communication and positioning nodes are co-located, there is a lack of performance evaluation indicators for the communication and navigation convergence network, and the communication performance cannot be guaranteed. It is not suitable for the network planning of the communication and navigation convergence system; third, the existing layout method does not jointly consider the impact on communication services and positioning performance.

[0054] That is to say, when the communication and positioning nodes are co-located, the layout of the indoor nodes needs to jointly consider the impact on the communication service and positioning performance. However, the existing network planning technology lacks performance evaluation indicators for the communication-navigation fusion network, and does not fully consider the indoor multipath and non-line-of-sight propagation. The impact on the communication service and positioning performance is not jointly considered, and there is still a lack of research on the node layout algorithm for the communication-navigation fusion system.

[0055] Based on this, this application proposes a method for indoor node layout of a communication and navigation fusion system based on NSGA-II to address the above problems. While ensuring communication performance, it can effectively reduce the negative impact of multipath and non-line-of-sight propagation on indoor positioning.

[0056] In one or more embodiments of the present application, NSGA-II (Non-Dominate Sorting Genetic Algorithm II) refers to a non-dominated sorting genetic algorithm with an elite strategy.

[0057] In one or more embodiments of the present application, RSSI (Received Signal Strength Indication) refers to received signal strength.

[0058] In one or more embodiments of the present application, RSRP (Reference Signal Receiving Power) refers to reference signal receiving power.

[0059] In one or more embodiments of the present application, RSRQ (Reference Signal Receiving Quality) refers to reference signal receiving quality.

[0060] In one or more embodiments of the present application, SINR (Signal to Interference plus Noise Ratio) refers to the signal to interference plus noise ratio.

[0061] Based on this, the present application embodiment provides a method for indoor node layout of a communication and conduction fusion system, see Figure 1 The indoor node layout method of the communication and navigation fusion system specifically includes the following contents:

[0062] Step 100: Predict the indoor signal propagation path of the indoor scene corresponding to the communication-conductance fusion system based on ray tracing to obtain multipath information.

[0063] In step 100, the propagation path of the signal indoors is predicted using ray tracing technology, which can reduce the positioning error caused by multipath and non-line-of-sight propagation from the perspective of node layout.

[0064] Step 200: Generate corresponding communication and navigation fusion network evaluation indicators according to the evaluation indicators corresponding to the communication network and the positioning network of the communication and navigation fusion system.

[0065] It can be understood that constructing a communication-guidance fusion network evaluation index can provide an optimized objective function for the genetic algorithm, and by optimizing this process, the negative impact of multipath and non-line-of-sight propagation on indoor positioning can be effectively reduced.

[0066] Step 300: Using the communication-conductance fusion network evaluation index as the objective function of the multi-optimization algorithm, and solving the objective function based on the multi-path information to obtain the optimal layout solution of the indoor nodes of the communication-conductance fusion system.

[0067] It is understandable that for multi-objective optimization problems, there is usually a solution set for the two objective functions of communication performance and positioning performance. These solutions cannot be compared in terms of merit, that is, it is impossible to improve one optimization objective without weakening another optimization objective. These solutions can also be called Pareto optimal solutions. Therefore, the purpose of step 300 can be to find as many Pareto optimal solutions that meet the requirements as possible without bias, and objectively select a solution from them as the final layout plan based on the construction requirements of the indoor network and actual engineering experience.

[0068] From the above description, it can be seen that the indoor node layout method of the communication and navigation fusion system provided in the embodiment of the present application predicts the indoor signal propagation path of the indoor scene corresponding to the communication and navigation fusion system based on ray tracing to obtain multipath information, and can accurately predict the indoor signal propagation path to obtain detailed multipath information and parameters, fully consider the indoor multipath and non-line-of-sight propagation, and can reduce the impact of multipath and non-line-of-sight propagation on positioning errors from the perspective of node layout, thereby effectively improving the authenticity of the ranging results for indoor signal propagation paths; by generating corresponding communication and navigation fusion network evaluation indicators according to the evaluation indicators corresponding to the communication network and positioning network of the communication and navigation fusion system, it can be specifically applicable to the network planning of the communication and navigation fusion system, and can effectively guarantee the communication performance; by using the communication and navigation fusion network evaluation indicators as the objective function of the multi-optimization algorithm, the joint consideration of communication services and positioning performance is realized, thereby improving the reliability and effectiveness of the indoor node layout of the communication and navigation fusion system.

[0069] In order to further apply to indoor environments of different scales, different complexities and different application scenarios, and to improve the reliability of node layout planning, in a method for indoor node layout of a communication and navigation fusion system provided in an embodiment of the present application, see Figure 2 Step 300 of the indoor node layout method of the communication and conduction fusion system specifically includes the following contents:

[0070] Step 310: Using the communication-conductance fusion network evaluation index as the objective function of the multi-optimization algorithm.

[0071] Step 320: multi-optimize the objective function based on the NSGA-II algorithm, and iteratively solve based on the multi-path information to obtain Pareto front surface data.

[0072] Step 330: According to preset indoor network construction requirements and engineering experience data, select the optimal layout plan of indoor nodes from the Pareto front surface data.

[0073] It is understandable that the NSGA-Ⅱ algorithm is proposed on the basis of NSGA, and it is superior to the NSGA algorithm: it adopts a fast non-dominated sorting algorithm, and the computational complexity is greatly reduced compared with NSGA; it adopts crowding and crowding comparison operators instead of the shared radius that needs to be specified, and uses them as the winning criteria in the same-level comparison after quick sorting, so that the individuals in the quasi-Pareto domain can be expanded to the entire Pareto domain and evenly distributed, maintaining the diversity of the population; it introduces an elite strategy, expands the sampling space, prevents the loss of the best individuals, and improves the algorithm's computing speed and robustness.

[0074] NSGA-Ⅱ is improved on the basis of the first generation non-dominated sorting genetic algorithm. Its improvement is mainly aimed at the three aspects mentioned above:

[0075] ① A fast non-dominated sorting algorithm is proposed, which reduces the computational complexity on the one hand, and merges the parent population with the child population on the other hand, so that the next generation of population is selected from double the space, thus retaining all the best individuals;

[0076] ②Introducing the elite strategy to ensure that some excellent individuals in the population will not be discarded during the evolution process, thereby improving the accuracy of the optimization results;

[0077] ③ The use of crowding and crowding comparison operators not only overcomes the defect of NSGA that requires artificially specified shared parameters, but also uses it as a comparison standard between individuals in the population, so that individuals in the quasi-Pareto domain can be evenly expanded to the entire Pareto domain, ensuring the diversity of the population.

[0078] From the above description, it can be seen that the indoor node layout method of the communication and navigation fusion system provided in the embodiment of the present application performs multi-optimization on the objective function based on the NSGA-II algorithm, and obtains the Pareto front surface data based on the iterative solution of the multi-path information, and then weighs the communication and positioning performance according to the construction requirements of the indoor network and engineering experience, and selects the final layout plan. On the one hand, the communication performance is guaranteed, and on the other hand, the negative impact of multipath and non-line-of-sight propagation on indoor positioning is reduced. It is suitable for indoor environments of different scales, different complexities and different application scenarios, and improves the reliability of node layout planning.

[0079] In order to further improve the application reliability and effectiveness of the indoor scene model, in a method for indoor node layout of a communication and navigation fusion system provided in an embodiment of the present application, see Figure 2 The indoor node layout method of the communication and conduction fusion system further specifically includes the following contents before step 100:

[0080] Step 010: Model the indoor scene corresponding to the communication and navigation fusion system based on the WallMan tool in the preset network planning simulation software WinProp to obtain an indoor scene model.

[0081] It is understandable that WinProp software is the standard software tool in the field of radio wave propagation and wireless network planning today. WinProp software radio wave propagation and wireless network planning technical features and applications, including: antenna pattern management and conversion; urban and indoor scene modeling and data conversion; radio wave propagation model introduction; indoor and outdoor radio wave propagation simulation applications; indoor and outdoor network planning simulation applications.

[0082] Among them, WinProp software includes WallMan tools, Aman tools and ProMan tools. The Aman tool can read the antenna's directional pattern and also supports direct drawing, thereby realizing the simulation of any model of antenna; the WallMan tool can directly model the 3D propagation environment and can also read maps in various formats; the ProMan tool can read the propagation environment, select the base station coordinates and antenna direction, and then read the antenna directional pattern to calculate the signal strength at any location; by selecting the wireless interface, WinProp software can calculate important parameters such as the maximum data transmission rate, network throughput, signal-to-noise and interference ratio, thereby realizing complete network planning operations.

[0083] Step 020: Determine antenna placement points and test points in the indoor scene model, and perform grid processing on the indoor scene model.

[0084] From the above description, it can be seen that the indoor node layout method of the communication and navigation fusion system provided in the embodiment of the present application can effectively improve the application reliability and effectiveness of the indoor scene model by modeling the indoor scene corresponding to the communication and navigation fusion system based on the WallMan tool in the preset network planning simulation software WinProp, thereby effectively improving the reliability and effectiveness of the prediction of the indoor signal propagation path of the indoor scene corresponding to the communication and navigation fusion system.

[0085] In order to further improve the accuracy and efficiency of predicting the indoor signal propagation path of the indoor scene corresponding to the communication and guidance fusion system, in a method for indoor node layout of a communication and guidance fusion system provided in an embodiment of the present application, see Figure 2 Step 100 in the indoor node layout method of the communication and conduction fusion system specifically includes the following contents:

[0086] Step 110: construct an antenna pattern based on the Aman tool, and determine the corresponding working parameters of the communication network and the positioning network of the communication and navigation fusion system.

[0087] Step 120: Apply the 3D ray tracing method corresponding to the ProMan tool to predict the indoor signal propagation path of the indoor scene corresponding to the communication fusion system according to the antenna radiation pattern and the corresponding working parameters of the communication network and the positioning network, so as to obtain multipath information; wherein the multipath information includes: the propagation path and path parameters of the signal in the communication-conductor fusion system from the antenna placement point to the test point.

[0088] It can be understood that the path parameters include: path number, path delay, received signal strength, phase, horizontal arrival angle, elevation arrival angle and other information.

[0089] From the above description, it can be seen that the indoor node layout method of the communication-guided fusion system provided in the embodiment of the present application, by using the Aman tool in the WinProp software to construct the antenna radiation pattern, can effectively improve the accuracy and efficiency of predicting the indoor signal propagation path of the indoor scene corresponding to the communication-guided fusion system. By applying the 3D ray tracing method corresponding to the ProMan tool in the WinProp software to predict the indoor signal propagation path of the indoor scene corresponding to the communication-guided fusion system, the indoor signal propagation path can be further accurately predicted to obtain detailed multipath information and parameters, fully considering the indoor multipath and non-line-of-sight propagation, and can reduce the influence of multipath and non-line-of-sight propagation on positioning errors from the perspective of node layout, thereby effectively improving the authenticity of the ranging results for the indoor signal propagation path.

[0090] In order to further specifically apply to the network planning of the communication and navigation fusion system, in a method for indoor node layout of a communication and navigation fusion system provided in an embodiment of the present application, see Figure 2 Step 200 of the indoor node layout method of the communication and conduction fusion system further specifically includes the following contents:

[0091] Step 210: Obtain the wireless signal strength RSRP corresponding to the communication network of the communication-conductance fusion system and the ratio SINR of the signal received by the receiver to all interference and noise power, so as to construct a standard composed of the RSRP and SINR, and determine the ratio of the number of the test points that meet the standard to the total number of test points as the communication performance evaluation index of the communication network.

[0092] Step 220: Obtain an average value of positioning errors of all test points corresponding to the positioning network of the communication-guidance fusion system, and determine the average value as a positioning performance evaluation index of the positioning network.

[0093] Step 230: Determine the communication performance evaluation index and the positioning performance evaluation index as communication-guidance fusion network evaluation index.

[0094] From the above description, it can be seen that the indoor node layout method of the communication and navigation fusion system provided in the embodiment of the present application, by constructing the standard composed of RSRP and SINR, and determining the proportion of the number of the test points that meet the standard to the total number of test points as the communication performance evaluation index of the communication network, and determining the average value of the positioning errors of all test points as the positioning performance evaluation index of the positioning network, can be further specifically applied to the network planning of the communication and navigation fusion system, and further improve the communication performance of the communication and navigation fusion system.

[0095] In order to further improve the reliability and effectiveness of the indoor node layout of the communication and conduction fusion system, in a method for indoor node layout of a communication and conduction fusion system provided in an embodiment of the present application, step 310 in the method for indoor node layout of the communication and conduction fusion system further specifically includes the following contents:

[0096] Step 311: constructing a first objective function of the multi-optimization algorithm with the goal of finding the maximum value of the communication performance evaluation index;

[0097] Step 312: constructing a second objective function of the multi-optimization algorithm with the goal of solving the minimum value of the positioning performance evaluation index;

[0098] Step 313: Generate an objective function of the multi-optimization algorithm according to the preset constraints, the first objective function and the second objective function.

[0099] In order to further improve the reliability and effectiveness of the indoor node layout of the communication and conduction fusion system, in a method for indoor node layout of a communication and conduction fusion system provided in an embodiment of the present application, step 320 in the method for indoor node layout of the communication and conduction fusion system further specifically includes the following contents:

[0100] Step 321: Iteration step: initialize the parent population, the number of nodes in each individual in the parent population is the target number; perform binary tournament selection, simulated binary crossover and polynomial mutation processing on each parent population to generate a child population with the same size as the parent population; merge the parent population and the child population to obtain a synthetic population; perform non-dominated sorting on all the individuals according to the objective function of the multi-optimization algorithm, and reclassify all the individuals according to the non-dominated level of the individuals, and calculate the crowding distance of the individuals belonging to the same level and sort the individuals;

[0101] Step 322: According to the results of reclassification and sorting, the target number of individuals are selected from all the individuals as the new parent population; if the new parent population meets the maximum number of iterations or the optimization goal, the iteration is terminated to obtain the Pareto front surface data, otherwise, the iteration step of step 321 is returned to perform the next iteration.

[0102] From the above description, it can be seen that the indoor node layout method of the communication and conduction fusion system provided in the embodiment of the present application initializes the parent population, and the number of nodes in each individual in the parent population is the target number; binary tournament selection, simulated binary crossover and polynomial mutation processing are performed on each of the parent populations to generate a child population of the same size as the parent population; the parent population and the child population are merged to obtain a synthetic population; all the individuals are non-dominated sorted according to the objective function of the multi-optimization algorithm, and all the individuals are reclassified according to the non-dominated level of the individuals, and the crowding distance of the individuals belonging to the same level is calculated and the individuals are sorted, which can effectively improve the reliability and effectiveness of multi-optimization of the objective function based on the NSGA-II algorithm, and is further applicable to indoor environments of different scales, different complexities and different application scenarios, and further improves the reliability of node layout planning.

[0103] From the software level, the present application also provides a room-divided node layout device for a communication-conducting fusion system for executing all or part of the room-divided node layout method of the communication-conducting fusion system, see Figure 3 The indoor node layout device of the communication and conduction fusion system specifically includes the following contents:

[0104] The signal propagation path prediction module 10 is used to predict the indoor signal propagation path of the indoor scene corresponding to the communication and guidance fusion system based on ray tracing to obtain multipath information.

[0105] The network performance evaluation index construction module 20 is used to generate corresponding communication and navigation fusion network evaluation indexes according to the evaluation indexes corresponding to the communication network and the positioning network of the communication and navigation fusion system.

[0106] The indoor node layout module 30 is used to use the communication-conductance fusion network evaluation index as the objective function of the multi-optimization algorithm, and solve the objective function based on the multi-path information to obtain the optimal layout solution of the indoor nodes of the communication-conductance fusion system.

[0107] The embodiment of the room-divided node layout device of the communication and navigation fusion system provided in the present application can be specifically used to execute the processing flow of the embodiment of the room-divided node layout method of the communication and navigation fusion system in the above-mentioned embodiment. Its functions will not be repeated here, and reference can be made to the detailed description of the embodiment of the room-divided node layout method of the communication and navigation fusion system mentioned above.

[0108] The part of the indoor node layout device of the communication and navigation fusion system that performs the indoor node layout of the communication and navigation fusion system can be executed in the server, and in another practical application scenario, all operations can also be completed in the client device. The specific selection can be based on the processing capability of the client device and the limitations of the user's usage scenario. This application is not limited to this. If all operations are completed in the client device, the client device may also include a processor for specific processing of the indoor node layout of the communication and navigation fusion system.

[0109] The client device may have a communication module (i.e., a communication unit) that can communicate with a remote server to achieve data transmission with the server. The server may include a server on the task scheduling center side, and other implementation scenarios may also include a server on an intermediate platform, such as a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, or a server cluster consisting of multiple servers, or a server structure of a distributed device.

[0110] The server and the client device may communicate with each other using any suitable network protocol, including network protocols that have not yet been developed on the date of filing this application. The network protocols may include, for example, TCP / IP, UDP / IP, HTTP, HTTPS, etc. Of course, the network protocols may also include, for example, RPC (Remote Procedure Call Protocol) and REST (Representational State Transfer) protocols used on top of the above protocols.

[0111] From the above description, it can be seen that the indoor node layout device of the communication and navigation fusion system provided in the embodiment of the present application predicts the indoor signal propagation path of the indoor scene corresponding to the communication and navigation fusion system based on ray tracing to obtain multipath information, and can accurately predict the indoor signal propagation path to obtain detailed multipath information and parameters, fully consider the indoor multipath and non-line-of-sight propagation, and can reduce the influence of multipath and non-line-of-sight propagation on positioning error from the perspective of node layout, thereby effectively improving the authenticity of the ranging results for the indoor signal propagation path; by generating corresponding communication and navigation fusion network evaluation indicators according to the evaluation indicators corresponding to the communication network and positioning network of the communication and navigation fusion system, it can be specifically applicable to the network planning of the communication and navigation fusion system, and can effectively guarantee the communication performance; by using the communication and navigation fusion network evaluation indicators as the objective function of the multi-optimization algorithm, the joint consideration of communication services and positioning performance is realized, thereby improving the reliability and effectiveness of the indoor node layout of the communication and navigation fusion system.

[0112] In order to further illustrate the present solution, the present application also provides a specific application example of the indoor node layout method of the communication and navigation fusion system based on NSGA-II. First, an indoor scene is constructed, and the indoor signal propagation path is accurately predicted through ray tracing technology to obtain detailed multi-path information and parameters; secondly, an evaluation index is constructed, and the reference signal receiving power, signal to interference plus noise ratio of the communication system and the average positioning error of the positioning system are used as the objective function of the multi-objective optimization algorithm; finally, the NSGA-II algorithm is used to perform multi-objective optimization on the communication and positioning performance indicators, and the Pareto front surface is obtained through iterative solution, and the final layout plan is selected from it according to the construction requirements of the indoor network and engineering experience. See. Figure 4 The indoor node layout method of the communication and navigation fusion system specifically includes the following contents:

[0113] (1) Signal propagation path prediction

[0114] This application uses ray tracing technology to predict the signal propagation path in complex indoor environments. First, the WinProp WallMan tool is used to model the indoor environment, determine the antenna placement area and test area, and perform grid processing; then, the Aman tool is used to build the antenna pattern and determine the working frequency band and broadcast power of the communication and positioning network. Finally, the 3D ray tracing technology in the ProMan tool is used to predict the propagation path and related information of the communication and guidance fusion signal from the antenna placement point to the test point, including path number, path delay, received signal strength, phase, horizontal arrival angle, and pitch arrival angle.

[0115] (2) Network performance evaluation indicators of communication and navigation fusion system

[0116] In the planning of indoor communication networks, the indicators commonly used to measure the quality of wireless signals include RSSI, RSRP, RSRQ and SINR, etc. This application will examine the RSRP and SINR of indoor areas to evaluate the coverage effect of the communication network.

[0117] RSRP is one of the key parameters representing the strength of wireless signals and is defined as the average value of the signal power received on all resource elements carrying the reference signal within a symbol. The calculation formula of RSRP is given by the following formula:

[0118] RSRP(dBm)=RSSI(dBm)-10log 10 (12*N blocks ) (1)

[0119] Where N blocksIndicates the number of resource blocks. The 5G new air interface standard defines flexible subcarrier spacing. Different subcarrier spacing corresponds to different frequency ranges. For details, please refer to the TS38.101 protocol.

[0120] SINR is defined as the ratio of the useful signal received by the receiver to all interference and noise power, and is used to characterize the cell interference between different nodes:

[0121] SINR=RSSI max -(∑RSSI submax +Noise) (2)

[0122] According to the RSRP and SINR values ​​of each test point, the test point P Test According to the standard of formula (3), they can be divided into the following categories:

[0123]

[0124] This application uses the proportion of the number of test points that meet the requirements of RSRP ≥ -110dBm and SINR ≥ 3dB as the communication performance evaluation index, see formula (4):

[0125]

[0126] Among them, N fit It represents the number of test points that meet the requirements, and N represents the total number of test points. This indicator will be used as the first optimization function of the NSGA-II algorithm to evaluate the coverage and quality of the communication network.

[0127] In positioning network planning, this application aims to reduce the negative impact of multipath and non-line-of-sight propagation on positioning errors by optimizing antenna layout. This section uses the signal propagation path information predicted by ray tracing technology for positioning solution, and considers in detail the impact of other paths on the direct path signal amplitude, propagation delay and phase.

[0128] Test Points Can receive from the node The direct path signal and several multipath signals sent out, that is, the RF signal subsequently processed is the superposition of these direct signals and multipath signals, which can be expressed as s ij (t):

[0129]

[0130] Among them, s0(t) is the direct path signal, s k (t) is the multipath signal, M is the number of multipaths, A is the amplitude of the signal, c is the ranging code, τ is the signal propagation delay, and φ is the phase of the signal arriving at the test point.

[0131] The receiver willij (t) is sampled to obtain a discrete signal s ij (k), and correlate it with the local measurement code c(k), calculate the code phase according to the correlation peak position, and then convert it to obtain the arrival time TOA information. The specific calculation process is as follows:

[0132] R sc [n] = E{s ij [k]c[k+n]} (6)

[0133]

[0134] Where R sc [n] is the cross-correlation result between the sampled baseband signal and the receiver local code, It is the chip difference between the two, which is converted into time units to be the multipath signal from node To the test point The time required.

[0135] In the case of non-line-of-sight and multipath, in order to more intuitively reflect the impact of node position on positioning error, this application adopts the Chan algorithm based on residual weighting for positioning solution and calculates the average positioning error. For a certain node layout scheme, assuming that (x, y) represents the position of a certain test point, P i (X i ,Y i ) represents the position of the i-th node, then the distance R from the test point to each node i for:

[0136]

[0137] in, Take one of the nodes as the reference node P r , R ri Represents the test point and node P i and reference node P r The distance difference is

[0138]

[0139] use Expand and simplify to get:

[0140]

[0141] Among them, X ri =X i -X r , Y ri =Y i -Y r .

[0142] For N nodes, N-1 TDOA measurement values ​​can be provided, that is, N-1 equations as shown in equation (10) can be constructed. This application only considers two-dimensional positioning, so the position of the test point can be obtained by taking any two of the equations, which can be recorded as Next, these M intermediate results are weighted according to the residual, where the residual function is defined as:

[0143]

[0144] The sum of all residual squares is:

[0145]

[0146] After weighting, the estimated position of the test point is obtained:

[0147]

[0148] Therefore, the positioning error of the test point can be obtained as:

[0149]

[0150] This application uses the average value of the positioning error of all test points as the evaluation index of positioning performance, as follows:

[0151]

[0152] This indicator is used as the second optimization function of the NSGA-II algorithm to evaluate the impact of node position on the positioning error.

[0153] (3) NSGA-II algorithm

[0154] This application uses the NSGA-II algorithm to solve the indoor node layout scheme of the communication and navigation fusion system. For multi-objective optimization problems, there is usually a solution set for the two objective functions of communication performance and positioning performance. These solutions cannot be compared, that is, it is impossible to improve one of the optimization goals without weakening the other optimization goal. These solutions can also be called Pareto optimal solutions. Therefore, the purpose of this algorithm is to find as many Pareto optimal solutions as possible that meet the requirements without bias, and objectively select a solution from them as the final layout plan based on the construction requirements of the indoor network and actual engineering experience.

[0155] The optimization goals of the algorithm are as follows:

[0156]

[0157] The algorithm flow of NSGA-II is as follows Figure 5As shown in the figure, first, an initial parent population P0 with a population size of N is randomly generated, where each individual contains K nodes, representing a layout scheme, and a child population Q0 with a size of N is generated after binary tournament selection, simulated binary crossover and polynomial mutation operations. Then, the parent population P n and the offspring population Q n Merge to form a synthetic population R of size 2N n , sort all individuals according to their communication and positioning performance, and reclassify them according to their non-dominated levels, and calculate the crowding distance and sort the individuals of the same level. Then, select N individuals as the new parent population P according to their non-dominated levels and crowding distances. n+1 ; If the maximum number of iterations or the optimization goal is met at this time, the iteration is terminated and the Pareto front is obtained, otherwise the next iteration is performed until the requirements are met.

[0158] In summary, the above method provided by the application example of this application uses ray tracing technology to predict the propagation path of the signal indoors, and reduces the positioning error caused by multipath and non-line-of-sight propagation from the perspective of node layout; RSRP, SINR and average positioning error are used as evaluation indicators of the communication and navigation fusion network, and they are weighed and selected; the NSGA-II multi-objective optimization algorithm is used to iteratively solve the Pareto solution set, and then the communication and positioning performance are weighed according to the construction requirements and engineering experience of the indoor network, and the final layout plan is selected. The application example of this application is aimed at the problem that the indoor node layout of the communication and navigation fusion system needs to jointly consider the impact on communication services and positioning performance. This application uses ray tracing technology to predict the indoor signal propagation path, constructs the performance evaluation index of the communication and navigation fusion network, and proposes a method for indoor node layout of the communication and navigation fusion system based on NSGA-II. On the one hand, this method ensures communication performance, and on the other hand, it reduces the negative impact of multipath and non-line-of-sight propagation on indoor positioning. It is suitable for indoor environments of different scales, different complexities and different application scenarios, and improves the reliability of node layout planning.

[0159] The embodiment of the present application also provides a computer device (i.e., an electronic device), which may include a processor, a memory, a receiver, and a transmitter, wherein the processor is used to execute the indoor node layout method of the communication and conduction fusion system mentioned in the above embodiment, wherein the processor and the memory may be connected via a bus or other means, taking the bus connection as an example. The receiver may be connected to the processor and the memory via a wired or wireless manner. The computer device is communicatively connected to the indoor node layout device of the communication and conduction fusion system to receive real-time motion data from sensors in the wireless multimedia sensor network, and to receive original video sequences from the video acquisition device.

[0160] The processor may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0161] As a non-transient computer-readable storage medium, the memory can be used to store non-transient software programs, non-transient computer executable programs and modules, such as the program instructions / modules corresponding to the indoor node layout method of the communication and navigation fusion system in the embodiment of the present application. The processor executes various functional applications and data processing of the processor by running the non-transient software programs, instructions and modules stored in the memory, that is, realizing the indoor node layout method of the communication and navigation fusion system in the above method embodiment.

[0162] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0163] The one or more modules are stored in the memory, and when executed by the processor, the room-divided node layout method of the communication and conduction fusion system in the embodiment is performed.

[0164] In some embodiments of the present application, the user equipment may include a processor, a memory, and a transceiver unit, which may include a receiver and a transmitter. The processor, memory, receiver, and transmitter may be connected through a bus system. The memory is used to store computer instructions, and the processor is used to execute the computer instructions stored in the memory to control the transceiver unit to send and receive signals.

[0165] As an implementation method, the functions of the receiver and the transmitter in the present application can be considered to be implemented through a transceiver circuit or a dedicated chip for transceiver, and the processor can be considered to be implemented through a dedicated processing chip, a processing circuit or a general chip.

[0166] As another implementation method, it is possible to use a general-purpose computer to implement the server provided in the embodiment of the present application, that is, to store the program code for implementing the functions of the processor, receiver, and transmitter in a memory, and the general-purpose processor implements the functions of the processor, receiver, and transmitter by executing the code in the memory.

[0167] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the indoor node layout method of the aforementioned communication and conduction fusion system are implemented. The computer-readable storage medium can be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the technical field.

[0168] It should be understood by those skilled in the art that the exemplary components, systems and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software or a combination of the two. Whether it is specifically performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier.

[0169] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0170] In the present application, features described and / or illustrated for one embodiment may be used in the same manner or in a similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0171] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the embodiments of the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for indoor node layout of a communication and conduction fusion system, characterized in that: include: Based on the WallMan tool in the preset network planning simulation software WinProp, the indoor scene corresponding to the communication and navigation fusion system is modeled to obtain the indoor scene model; Determine antenna placement points and test points in the indoor scene model, and perform grid processing on the indoor scene model; predict the indoor signal propagation path of the indoor scene corresponding to the communication and navigation fusion system based on ray tracing to obtain multipath information; Generate a corresponding communication and navigation fusion network evaluation index according to the evaluation indexes corresponding to the communication network and the positioning network of the communication and navigation fusion system; Taking the communication-conductance fusion network evaluation index as the objective function of the multi-optimization algorithm, and solving the objective function based on the multi-path information to obtain the optimal layout solution of the indoor nodes of the communication-conductance fusion system; The generating corresponding communication and navigation fusion network evaluation index according to the evaluation indexes corresponding to the communication network and the positioning network of the communication and navigation fusion system respectively comprises: Obtaining the wireless signal strength RSRP corresponding to the communication network of the communication-conductor fusion system and the ratio SINR of the signal received by the receiver to all interference and noise power, so as to construct a standard composed of the RSRP and SINR, and determining the ratio of the number of the test points that meet the standard to the total number of test points as the communication performance evaluation index of the communication network; And, obtaining an average value of positioning errors of all test points corresponding to the positioning network of the communication-guidance fusion system, and determining the average value as a positioning performance evaluation index of the positioning network; Determining the communication performance evaluation index and the positioning performance evaluation index as communication-conductivity fusion network evaluation index; using the communication-conductivity fusion network evaluation index as the objective function of a multi-optimization algorithm, and solving the objective function based on the multi-path information to obtain the optimal layout scheme of the indoor nodes of the communication-conductivity fusion system, including: Using the communication-conductance fusion network evaluation index as the objective function of the multi-optimization algorithm; The objective function is multi-optimized based on the NSGA-II algorithm, and Pareto front surface data is obtained by iterative solution based on the multi-path information; According to the preset indoor network construction requirements and engineering experience data, select the optimal layout plan of indoor nodes from the Pareto front surface data; The method of using the communication-conductance fusion network evaluation index as the objective function of the multi-optimization algorithm includes: With the goal of solving the maximum value of the communication performance evaluation index, constructing the first objective function of the multi-optimization algorithm; And, constructing a second objective function of the multi-optimization algorithm with the goal of solving the minimum value of the positioning performance evaluation index; The objective function of the multi-optimization algorithm is generated according to the preset constraints, the first objective function and the second objective function, wherein the constraints are: stP1, P2...P k ∈Ceiling;P1,P2...P k They represent different parent populations respectively.

2. The indoor node layout method of the communication and conduction fusion system according to claim 1 is characterized in that: The method of predicting the indoor signal propagation path of the indoor scene corresponding to the communication-conductance fusion system based on the ray tracing method to obtain multipath information includes: Construct antenna patterns based on the Aman tool, and determine the corresponding working parameters of the communication network and the positioning network of the communication and navigation fusion system; Applying the 3D ray tracing method corresponding to the ProMan tool, the indoor signal propagation path of the indoor scene corresponding to the communication and positioning network is predicted according to the antenna radiation pattern and the corresponding working parameters of the communication network and the positioning network, so as to obtain multipath information; wherein the multipath information includes: the propagation path and path parameters of the signal in the communication and positioning fusion system from the antenna placement point to the test point.

3. The indoor node layout method of the communication and conduction fusion system according to claim 1 is characterized in that: The generating corresponding communication and navigation fusion network evaluation index according to the evaluation indexes corresponding to the communication network and the positioning network of the communication and navigation fusion system respectively comprises: Obtaining the wireless signal strength RSRP corresponding to the communication network of the communication-conductor fusion system and the ratio SINR of the signal received by the receiver to all interference and noise power, so as to construct a standard composed of the RSRP and SINR, and determining the ratio of the number of the test points that meet the standard to the total number of test points as the communication performance evaluation index of the communication network; And, obtaining an average value of positioning errors of all test points corresponding to the positioning network of the communication-guidance fusion system, and determining the average value as a positioning performance evaluation index of the positioning network; The communication performance evaluation index and the positioning performance evaluation index are determined as communication-guidance fusion network evaluation indexes.

4. The indoor node layout method of the communication and conduction fusion system according to claim 1 is characterized in that: The multi-optimization of the objective function based on the NSGA-II algorithm and the iterative solution based on the multi-path information to obtain the Pareto front surface data include: Iterative steps: initialize the parent population, and the number of nodes in each individual in the parent population is the target number; perform binary tournament selection, simulated binary crossover and polynomial mutation processing on each parent population to generate a child population with the same size as the parent population; merge the parent population and the child population to obtain a synthetic population; perform non-dominated sorting on all the individuals according to the objective function of the multi-optimization algorithm, and reclassify all the individuals according to the non-dominated level of the individuals, and calculate the crowding distance of the individuals belonging to the same level and sort the individuals; According to the results of reclassification and sorting, the target number of individuals are selected from all the individuals as the new parent population; if the new parent population meets the maximum number of iterations or the optimization goal, the iteration is terminated to obtain the Pareto front surface data, otherwise, the iteration step is returned to perform the next iteration.

5. A room node layout device for a communication and conduction fusion system, characterized in that: The indoor node layout device of the communication and navigation fusion system is used to perform: modeling the indoor scene corresponding to the communication and navigation fusion system based on the WallMan tool in the preset network planning simulation software WinProp to obtain an indoor scene model; determining antenna placement points and test points in the indoor scene model, and performing grid processing on the indoor scene model; The indoor node layout device of the communication and conduction fusion system also includes: A signal propagation path prediction module is used to predict the indoor signal propagation path of the indoor scene corresponding to the communication and guidance fusion system based on ray tracing to obtain multipath information; A network performance evaluation index construction module, used to generate corresponding communication and navigation fusion network evaluation indexes according to the evaluation indexes corresponding to the communication network and the positioning network of the communication and navigation fusion system; A room node layout module, used to use the communication-conductance fusion network evaluation index as the objective function of the multi-optimization algorithm, and solve the objective function based on the multi-path information to obtain the optimal layout solution of the room nodes of the communication-conductance fusion system; The generating corresponding communication and navigation fusion network evaluation index according to the evaluation indexes corresponding to the communication network and the positioning network of the communication and navigation fusion system respectively comprises: Obtaining the wireless signal strength RSRP corresponding to the communication network of the communication-conductor fusion system and the ratio SINR of the signal received by the receiver to all interference and noise power, so as to construct a standard composed of the RSRP and SINR, and determining the ratio of the number of the test points that meet the standard to the total number of test points as the communication performance evaluation index of the communication network; And, obtaining an average value of positioning errors of all test points corresponding to the positioning network of the communication-guidance fusion system, and determining the average value as a positioning performance evaluation index of the positioning network; Determining the communication performance evaluation index and the positioning performance evaluation index as communication-conductivity fusion network evaluation index; using the communication-conductivity fusion network evaluation index as the objective function of a multi-optimization algorithm, and solving the objective function based on the multi-path information to obtain the optimal layout scheme of the indoor nodes of the communication-conductivity fusion system, including: Using the communication-conductance fusion network evaluation index as the objective function of the multi-optimization algorithm; The objective function is multi-optimized based on the NSGA-II algorithm, and Pareto front surface data is obtained by iterative solution based on the multi-path information; According to the preset indoor network construction requirements and engineering experience data, select the optimal layout plan of indoor nodes from the Pareto front surface data; The method of using the communication-conductance fusion network evaluation index as the objective function of the multi-optimization algorithm includes: With the goal of solving the maximum value of the communication performance evaluation index, constructing the first objective function of the multi-optimization algorithm; And, constructing a second objective function of the multi-optimization algorithm with the goal of solving the minimum value of the positioning performance evaluation index; The objective function of the multi-optimization algorithm is generated according to the preset constraints, the first objective function and the second objective function, wherein the constraints are: stP1, P2...P k ∈Ceiling;P1,P2...P k They represent different parent populations respectively.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for indoor node layout of the communication and conduction fusion system according to any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for indoor node layout of a communication and conduction fusion system as described in any one of claims 1 to 4 is implemented.

Images