A positioning method and device based on millimeter wave equipment

Abstract

The present invention provides a positioning method and device based on millimeter wave equipment, the method comprising the following steps: obtaining the number of targets to be measured and echo signals, and constructing a spectrum signal model based on the number of targets to be measured and the echo signals; calculating the sampling error value of the target to be measured and the phase difference of adjacent antennas based on the spectrum signal model; calculating the distance value from the target to be measured to the millimeter wave equipment based on the sampling error value, and calculating the angle of arrival of the target to be measured based on the phase difference; generating the positioning result of the target to be measured according to the distance value and the angle of arrival. The present invention is based on millimeter wave equipment, and utilizes the advantages of short wavelength and high resolution of millimeter waves. According to the situation of different numbers of targets, by establishing a quantitative analysis model of spectrum sampling points and signal frequency, the signal frequency is accurately calculated, thereby completing high-precision distance measurement; in the process of calculating the signal frequency, the measurement accuracy of the signal angle of arrival is improved, thereby achieving high-precision positioning of the target to be measured.

Description

Technical Field

[0001] The present invention relates to the field of wireless sensing technology, and in particular to a positioning method and device based on millimeter wave equipment. Background Art

[0002] Accurate target positioning technology is particularly important in daily applications, including security monitoring, virtual reality, and smart homes. At the same time, some industrial applications also require high-resolution positioning, such as robotic arms, conveyor belts, and subway train control systems. In combination with these applications, many target positioning technologies based on different devices have been born, including positioning based on wearable sensors and positioning based on visual signals. However, these positioning technologies all have certain defects. Sensor-based positioning requires the target to carry specific equipment, which is not convenient to use in scenarios such as security monitoring. Positioning based on visual signals can easily threaten the user's privacy and is not applicable to home scenarios and important work units. In addition, the camera is greatly affected by lighting conditions. In extreme lighting conditions, it will greatly interfere with the measurement results.

[0003] Recently, positioning technology based on wireless signals has gradually attracted everyone's attention. Wireless signals mainly include Wi-Fi signals, RFID and millimeter wave signals. In recent years, in addition to its common communication function, researchers have begun to explore the use of reflection, scattering and other phenomena of wireless signals to obtain the activity information contained in it and realize the perception of the target's motion state. The wavelength of millimeter wave signals is usually at the millimeter level. Due to the strong penetration and large bandwidth of millimeter wave signals, they have high signal resolution and the ability to penetrate smoke, and are less affected by the environment. Using electromagnetic wave signals to perceive human activities can effectively protect the privacy of personnel; in addition, electromagnetic waves can use the reflection signals of personnel to realize activity perception, and can achieve positioning and tracking without the target carrying specific equipment, and the scope of use is wider.

[0004] However, due to the influence of the bandwidth and sampling rate of the equipment, the existing positioning work based on wireless signals can usually only achieve centimeter accuracy, and it is difficult to achieve higher-precision positioning for universal targets. In the case of limited hardware conditions, improving the resolution of the signal still faces the following challenges:

[0005] (1) The resolution of ranging is limited. Based on the analysis theory of signal processing, the ranging resolution of the signal is inversely proportional to the bandwidth. The bandwidth of the common commercial millimeter-wave radar is usually around 4 GHz, and the calculated distance resolution is usually around 4 cm. Due to hardware limitations, it is not realistic to increase the distance resolution by increasing the bandwidth of the signal. The current resolution is still difficult to reach the millimeter level.

[0006] (2) Limited angular resolution. The existing method for calculating the signal arrival angle is based on the phase difference between the antennas in the antenna array, which is easily affected by phase noise.

[0007] (3) Positioning of multiple targets. Multiple targets may appear in the monitoring area at the same time, and the reflected signals may overlap with each other, affecting the accuracy of target positioning. Summary of the invention

[0008] The present invention provides a positioning method and device based on millimeter wave equipment, which are used to solve the defects of low distance resolution and poor positioning accuracy of millimeter wave equipment in the prior art, and realize high-precision positioning of a target to be measured.

[0009] The present invention provides a positioning method based on millimeter wave equipment, the method comprising:

[0010] Acquiring the number of targets to be measured and echo signals, and constructing a spectrum signal model based on the number of targets to be measured and the echo signals;

[0011] Calculating a sampling error value of the target to be measured and a phase difference between adjacent antennas based on the spectrum signal model;

[0012] Based on the sampling error value, calculating the distance value from the target to be measured to the millimeter wave device, and based on the phase difference, calculating the angle of arrival of the target to be measured;

[0013] A positioning result of the target to be measured is generated according to the distance value and the angle of arrival.

[0014] According to a positioning method based on a millimeter wave device provided by the present invention, the building of a spectrum signal model based on the number of the targets to be measured and the echo signal specifically includes:

[0015] Extracting a target frequency band signal from the echo signal, and performing discrete sampling on the target frequency band signal to obtain a discrete target frequency band signal;

[0016] Performing discrete Fourier transform on the discrete target frequency band signal to obtain a processing result, and acquiring a peak sampling point corresponding to the discrete target frequency band signal based on the processing result;

[0017] A plurality of sampling point data within a preset distance of the peak sampling point are selected and combined with the processing result to establish a spectrum signal model.

[0018] According to a positioning method based on a millimeter wave device provided by the present invention, when the number of the target to be measured is single, the discrete target frequency band signal is expressed as:

[0019]

[0020] Wherein, n is the discrete time point of the discrete target frequency band signal, N is the number of sampling points of the signal, n=0, 1, ..., N-1; e is the base of the natural logarithm, and j is the imaginary unit;

[0021] is the amplitude of the signal, A0 and θ0 are both real numbers; is the normalized frequency of the signal, ranging from [0,1], δ is the sampling error, and δ is is a real number in the range, π is the circumference of a circle, and w[n] is Gaussian white noise.

[0022] According to a positioning method based on a millimeter wave device provided by the present invention, the discrete Fourier transform is performed on the discrete target frequency band signal to obtain a processing result, specifically:

[0023] The representation r[n] of the discrete target frequency band signal is subjected to discrete Fourier transform, and the processing result is as follows:

[0024]

[0025] Where m = k p -N+1,k p -N+2,…,k p ; W[k p -m] is the discrete Fourier transform result of w[n]; k p is the peak sampling point.

[0026] According to a positioning method based on a millimeter wave device provided by the present invention, the data of several sampling points within a preset distance of the peak sampling point are selected, and a spectrum signal model is established in combination with the processing result, specifically:

[0027] Select three points R[k p -1], R[k p ]、R[k p +1], establish a spectrum signal model, solve the model to obtain the complex amplitude of the discrete intermediate frequency signal and the normalized frequency

[0028] Wherein, the distance of the target to be measured is calculated based on the normalized frequency:

[0029] F s is the sampling rate of the mmWave device;

[0030] When the number of the targets to be measured is two, the discrete target frequency band signal is expressed as:

[0031] Where n is the discrete time point of the discrete target frequency band signal, N is the number of sampling points of the signal, n = 0, 1, ..., N-1; and is the unknown complex signal amplitude, and is the normalized frequency component of the signal, w[n] is Gaussian white noise;

[0032] Perform discrete Fourier transform on the discrete target frequency band signal t[n] to obtain a calculation result T[k]; obtain two peak sampling points k according to the calculation result p1 , k p2 ;

[0033] At the two peak sampling points k p1 , k p2 Select multiple sampling point data, combine the operation result T[k] to establish the spectrum signal model, and solve the unknown parameters A1, A2, θ1, θ2, δ1, δ2 through the model;

[0034] The distance of the target to be measured is calculated based on the two normalized frequencies f1 and f2.

[0035] According to a positioning method based on a millimeter wave device provided by the present invention, the phase difference between adjacent antennas is calculated based on the spectrum signal model, specifically comprising:

[0036] Acquire the complex signal amplitude in the discrete target frequency band signal model;

[0037] The phase difference between adjacent receiving antennas in the millimeter wave device is extracted according to the complex signal amplitude.

[0038] The present invention also provides a positioning device based on a millimeter wave device, the device comprising:

[0039] A model building module, used to obtain the number of targets to be measured and the echo signals, and build a spectrum signal model based on the number of targets to be measured and the echo signals;

[0040] A first calculation module, used for calculating the sampling error value of the target to be measured and the phase difference of adjacent antennas based on the spectrum signal model;

[0041] A second calculation module is used to calculate the distance value from the target to be measured to the millimeter wave device based on the sampling error value, and calculate the angle of arrival of the target to be measured based on the phase difference;

[0042] The result generating module is used to generate the positioning result of the target to be measured according to the distance value and the wave arrival angle.

[0043] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a positioning method based on a millimeter wave device as described above is implemented.

[0044] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described positioning methods based on millimeter wave devices.

[0045] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned positioning methods based on millimeter wave devices.

[0046] The present invention provides a positioning method and device based on millimeter wave equipment. The present invention is based on millimeter wave equipment, utilizes the advantages of short wavelength and high resolution of millimeter waves, and aims at different numbers of targets. By establishing a quantitative analysis model of spectrum sampling points and signal frequency, the signal frequency is accurately calculated, thereby completing high-precision distance measurement; in the process of calculating the signal frequency, the measurement accuracy of the signal wave arrival angle is improved, thereby achieving high-precision target positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 This is one of the flow charts of the positioning method based on millimeter wave equipment provided by the present invention;

[0049] Figure 2 This is the second flow chart of the positioning method based on millimeter wave equipment provided by the present invention;

[0050] Figure 3 This is the third flow chart of the positioning method based on millimeter wave equipment provided by the present invention;

[0051] Figure 4 This is a fourth flow chart of the positioning method based on millimeter wave equipment provided by the present invention;

[0052] Figure 5 is a schematic diagram of spectrum sampling error provided by the present invention;

[0053] Figure 6 is a CDF diagram of positioning error using different methods provided by the present invention;

[0054] Figure 7 is a CDF diagram of the AoA calculation error using different methods provided by the present invention;

[0055] Figure 8 is a schematic diagram of the structure of a positioning device based on a millimeter wave device provided by the present invention;

[0056] Fig. 9 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] Combine the following Figure 1-Figure 4 The millimeter wave device-based positioning method of the present invention is described.

[0059] Figure 1 This is one of the flow charts of the positioning method based on the millimeter radar wave device provided in an embodiment of the present invention.

[0060] like Figure 1 , 4 As shown, a positioning method based on a millimeter wave device provided in an embodiment of the present invention includes the following steps:

[0061] Step 110, obtain the number of targets to be measured and the echo signals, and construct a spectrum signal model based on the number of targets to be measured and the echo signals. Specifically, the millimeter wave device transmits a detection signal to the target to be measured, and then receives the echo signal reflected by the target to be measured. In actual use, the millimeter wave radar realizes high-precision target positioning by transmitting a linear frequency modulation signal and receiving the reflected signal of the target. The millimeter wave device extracts the intermediate frequency signal from the echo signal, and then discretely samples the intermediate frequency signal to obtain an intermediate frequency discrete signal. According to theoretical analysis, the frequency of the intermediate frequency discrete signal read by the millimeter wave device is proportional to the distance from the target to the device. Therefore, as long as the frequency of the intermediate frequency signal is obtained, the distance from the target to the device can be calculated, thereby realizing the positioning of the target.

[0062] In the present invention, for different numbers of detection targets, the millimeter wave device processes the echo signal differently and constructs a spectrum signal model for calculating the sampling error and the phase difference.

[0063] Step 120: Calculate the sampling error value of the target to be measured and the phase difference between adjacent antennas based on the spectrum signal model.

[0064] A common method for extracting the frequency of a signal is to perform a discrete Fourier transform on the target frequency band signal to obtain the signal's spectrum. The peaks in the spectrum represent the frequency components contained in the signal. In this way, the spectrum resolution of the FMCW signal is:

[0065] Δd=c / 2B,

[0066] Where B is the bandwidth of the signal. Therefore, the distance resolution of the millimeter wave device is inversely proportional to the bandwidth.

[0067] The maximum bandwidth of common commercial millimeter wave devices is 4 GHz. Considering the bandwidth loss problem in actual application scenarios, the distance resolution is usually about 4 cm, so millimeter wave devices cannot achieve high-precision positioning.

[0068] An important reason for the ranging error is the sampling error of the spectrum. Due to frequency sampling, there is a difference between the observed signal frequency and the actual signal frequency, which produces a frequency error δ, resulting in errors in the ranging result.

[0069] The present invention calculates the sampling error which is ignored in the prior art.

[0070] Step 130: Calculate the distance value from the target to be measured to the millimeter wave device based on the sampling error value, and calculate the angle of arrival of the target to be measured based on the phase difference.

[0071] Frequency estimation of the intermediate frequency discrete signal is the key to achieving accurate target ranging. The present invention obtains a more accurate frequency calculation value by sampling the error value, thereby obtaining a more accurate distance value, which refers to the distance from the target to be measured to the millimeter wave device.

[0072] Step 140: Generate a positioning result of the target to be measured according to the distance value and the angle of arrival.

[0073] Further, such as Figure 2 As shown, a spectrum signal model is constructed based on the number of targets to be measured and the echo signal, which specifically includes the following steps:

[0074] Step 210: extract the target frequency band signal from the echo signal, and perform discrete sampling on the target frequency band signal to obtain a discrete target frequency band signal. The intermediate frequency discrete signal of the present invention is the target frequency band signal.

[0075] Specifically, when there is only a single target to be measured in the environment, theoretically there is only one frequency component in the intermediate frequency signal extracted by the millimeter wave device, and the discrete target frequency band signal can be expressed as:

[0076]

[0077] Wherein, n is the discrete time point of the discrete target frequency band signal, N is the number of sampling points of the signal, n=0, 1, ..., N-1; e is the base of the natural logarithm, and j is the imaginary unit;

[0078] is the amplitude of the signal, A0 and θ0 are both real numbers; is the normalized frequency of the signal, ranging from [0,1], δ is the sampling error, and δ is is a real number in the range, π is the circumference of a circle, and w[n] is Gaussian white noise.

[0079] like Figure 5 , 6 As shown, traditional frequency estimation schemes usually only estimate k p In the present invention, a more accurate frequency estimation result is obtained by designing a spectrum peak reconstruction algorithm.

[0080] Step 220: Perform discrete Fourier transform on the discrete target frequency band signal to obtain a processing result, and obtain a peak sampling point corresponding to the discrete target frequency band signal based on the processing result.

[0081] Specifically, by performing DFT on r[n], the peak sampling point k in the spectrum can be obtained. p In the original signal r[n], there are three real unknowns: A0, θ0 and δ. The DFT calculation results of r[n] are as follows:

[0082]

[0083] Where m = k p -N+1,k p -N+2,…,k p ; W[k p -m] is the discrete Fourier transform result of w[n]; k p is the peak sampling point.

[0084] Step 230: Select a number of sampling point data within a preset distance of the peak sampling point, and establish a spectrum signal model in combination with the processing results.

[0085] Furthermore, three points near the peak sampling point are selected:

[0086] R[k p -1], R[k p ]、R[k p +1], establish a spectrum signal model, solve the model to obtain the complex amplitude of the discrete intermediate frequency signal and the normalized frequency

[0087] Among them, the distance of the target to be measured is calculated based on the normalized frequency:

[0088] F s is the sampling rate of the mmWave device.

[0089] Specifically, since the result of DFT operation is a complex number, the real part and the imaginary part on both sides of the above formula should be equal. Therefore, each DFT sampling point can provide two real equations.

[0090] In order to solve the three unknown real numbers, at least two sampling points are needed. In theory, using more sampling points for estimation will result in more accurate estimation results. However, sampling points with lower amplitudes are easily affected by noise and have larger errors. According to the spectrum calculation formula, the distance from the peak point k is p Closer sampling points usually have higher amplitudes. Therefore, three points R[k p -1],R[k p ],R[k p +1] to establish a spectrum reconstruction nonlinear equation group, that is, the spectrum signal model in the present invention.

[0091] Finally, the common nonlinear equation solving algorithm Levenberg-Marquardt is used to solve the unknown parameters and obtain the complex amplitude of the signal. and the normalized frequency Then, calculate the distance to the target based on the frequency of the signal:

[0092]

[0093] where F s is the sampling rate of the mmWave device.

[0094] Compared with traditional distance measurement methods, more accurate frequency information is obtained, which means higher precision distance information is obtained.

[0095] Furthermore, the present invention determines the number of targets to be measured, and processes the target frequency band signals respectively according to whether the number is single or multiple.

[0096] When the number of targets to be measured is two, the discrete target frequency band signal is expressed as:

[0097]

[0098] Where n is the discrete time point of the discrete target frequency band signal, N is the number of sampling points of the signal, n = 0, 1, ..., N-1; and is the unknown complex signal amplitude, and is the normalized frequency component of the signal, w[n] is Gaussian white noise;

[0099] Perform discrete Fourier transform on the discrete target frequency band signal t[n] to obtain the operation result T[k]; obtain two peak sampling points k according to the operation result p1 , k p2 ;

[0100] At the two peak sampling points k p1 , k p2 Select multiple sampling point data, combine the calculation result T[k] to establish the spectrum signal model, and solve the unknown parameters A1, A2, θ1, θ2, δ1, δ2 through the model;

[0101] The distance of the target to be measured is calculated based on the two normalized frequencies f1 and f2.

[0102] In actual application scenarios, multiple targets may appear at the same time, and multiple frequency components will exist in the signal at the same time. Different frequency components may be aliased, affecting the estimation of each component parameter. In order to deal with these complex situations, a multi-frequency component estimation scheme is proposed.

[0103] To understand this, first consider a signal with two frequency components:

[0104]

[0105] in, and is the unknown complex signal amplitude, and is the normalized frequency component of the signal, N is the number of sampling points of the signal, and w[n] is Gaussian white noise.

[0106] According to the derivation of single target distance measurement, the DFT operation result T[k] of t[n] is calculated to obtain the frequency component k of the signal p1 ,k p2 In the two-frequency component signal, there are 6 unknown parameters: A1, A2, θ1, θ2, δ1, δ2.

[0107] In a single-frequency component signal, the information of three DFT sampling points is used to calculate the unknown parameters. In a two-frequency component signal, let k p1 ≤k p2 , then use T[k p1 -1] to T[k p2 +1] to solve the unknown parameters. The number of sampling points in this part is not less than 3, which is enough to solve the 6 unknown parameters of the two components.

[0108] If the signal contains more frequency components, use the above method to solve it in a nonlinear system of equations. In order to solve a system of equations containing u frequency components, that is, 3u unknown parameters, at least 3u nonlinear equations are required, that is, The information of each sampling point.

[0109] like Figure 3 As shown, in step 120, the phase difference between adjacent antennas is calculated based on the spectrum signal model, which specifically includes the following steps:

[0110] Step 310, obtaining the complex signal amplitude in the discrete target frequency band signal model;

[0111] Step 320: Extract the phase difference between adjacent linear receiving antennas in the millimeter wave device according to the complex signal amplitude.

[0112] Specifically, in order to obtain the two-dimensional coordinates of the target, the angle of arrival (AoA) of the signal needs to be known. The linear receiving antenna array of the millimeter wave device is used to solve the AoA.

[0113] The spacing between antennas in a linear array is d0. Considering that the distance from the target to the device is d>>d0, the reflected signals can be approximately considered parallel when they reach each antenna. The phase difference between adjacent antennas can be expressed as:

[0114]

[0115] Where λ is the wavelength of the signal and θ is the AoA of the signal. According to the above formula, AoA can be solved according to the phase difference of different antennas.

[0116] like Figure 3 , 7 As shown in the figure, in practical applications, due to the influence of random noise and multi-target reflection, directly using phase difference to solve AoA usually has large errors. It is observed that the initial phase of each frequency component can be extracted through DFT. In the signal modeling of a single target, ignoring the influence of frequency deviation δ and Gaussian white noise w[n], the phase of its DFT sampling point is as follows:

[0117]

[0118] where k p is the peak point of DFT, and θ0 is the initial phase of the corresponding frequency component. According to the above formula, if the influence of frequency deviation δ is ignored, the initial phase of each antenna can be extracted based on the sampling point information of DFT.

[0119] But in most cases, the frequency deviation δ≠0. At this time, the phase corresponding to the peak point in the DFT spectrum is as follows:

[0120] angle(R[k p ])=θ0+angle(F(δ)),

[0121] in

[0122] Due to the influence of F(δ), the phase of the DFT peak point no longer corresponds to the initial phase of the antenna. Therefore, using the phase of the DFT peak point to calculate AoA will result in a large system error.

[0123] In order to reduce the generation of system errors and improve the accuracy of AoA calculation, it is necessary to accurately calculate the initial phase θ0 corresponding to each frequency component. In the previous introduction, while solving the parameter δ of each frequency component, its complex amplitude was also obtained. Therefore, the initial phase of each frequency component has been solved. Therefore, the parameter information obtained by spectrum reconstruction can be directly used to directly obtain the initial phase of each frequency component, and the solution results of each receiving antenna can be used to obtain a more accurate AoA, thus realizing the de-distortion measurement of AoA.

[0124] The millimeter wave device-based positioning device provided by the present invention is described below. The millimeter wave device-based positioning device described below and the millimeter wave device-based positioning method described above can refer to each other.

[0125] The present invention is based on millimeter wave equipment and takes advantage of the short wavelength and high resolution of millimeter waves. Aiming at the situation of different numbers of targets, the present invention establishes a quantitative analysis model of spectrum sampling points and signal frequencies, designs and implements a spectrum peak reconstruction algorithm, thereby completing high-precision distance measurement; and improves the measurement accuracy of the signal arrival angle through the amplitude information of the signal, thereby realizing a high-precision target positioning system.

[0126] like Figure 8 As shown, an embodiment of the present invention provides a positioning device based on a millimeter wave device, which includes the following modules: a model building module 810, a first calculation module 820, a second calculation module 830 and a result generation module 840.

[0127] Specifically, the model construction module 810 is used to obtain the number of targets to be measured and the echo signal, and to construct a spectrum signal model based on the number of targets to be measured and the echo signal. The first calculation module 820 is used to calculate the sampling error value of the target to be measured and the phase difference between adjacent antennas based on the spectrum signal model. The second calculation module 830 is used to calculate the distance value from the target to be measured to the millimeter wave device based on the sampling error value, and calculate the angle of arrival of the target to be measured based on the phase difference. The result generation module 840 is used to generate the positioning result of the target to be measured based on the distance value and the angle of arrival.

[0128] Fig. 9An example of a physical structure diagram of an electronic device is shown in FIG. Fig. 9 As shown, the electronic device may include: a processor 910, a communication interface 920, a memory 930 and a communication bus 940, wherein the processor 910, the communication interface 920 and the memory 930 communicate with each other through the communication bus 940. The processor 910 may call the logic instructions in the memory 930 to execute a positioning method based on a millimeter wave device, the method comprising the following steps: obtaining the number of targets to be measured and the echo signal, and constructing a spectrum signal model based on the number of targets to be measured and the echo signal; calculating the sampling error value of the target to be measured and the phase difference of adjacent antennas based on the spectrum signal model; calculating the distance value from the target to be measured to the millimeter wave device based on the sampling error value, and calculating the wave arrival angle of the target to be measured based on the phase difference; generating the positioning result of the target to be measured according to the distance value and the wave arrival angle.

[0129] In addition, the logic instructions in the above-mentioned memory 930 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0130] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute a positioning method based on a millimeter wave device provided by the above methods, and the method includes the following steps: obtaining the number of targets to be measured and echo signals, and constructing a spectrum signal model based on the number of targets to be measured and the echo signals; calculating the sampling error value of the target to be measured and the phase difference between adjacent antennas based on the spectrum signal model; calculating the distance value from the target to be measured to the millimeter wave device based on the sampling error value, and calculating the angle of arrival of the target to be measured based on the phase difference; generating a positioning result of the target to be measured based on the distance value and the angle of arrival.

[0131] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute a positioning method based on a millimeter wave device provided by the above-mentioned methods, the method comprising the following steps: obtaining the number of targets to be measured and echo signals, and constructing a spectrum signal model based on the number of targets to be measured and the echo signals; calculating the sampling error value of the target to be measured and the phase difference between adjacent antennas based on the spectrum signal model; calculating the distance value from the target to be measured to the millimeter wave device based on the sampling error value, and calculating the angle of arrival of the target to be measured based on the phase difference; generating a positioning result of the target to be measured according to the distance value and the angle of arrival.

[0132] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0133] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A positioning method based on millimeter wave equipment, characterized in that: The method comprises: Acquiring the number of targets to be measured and echo signals, and constructing a spectrum signal model based on the number of targets to be measured and the echo signals; Calculating a sampling error value of the target to be measured and a phase difference between adjacent antennas based on the spectrum signal model; Based on the sampling error value, calculating the distance value from the target to be measured to the millimeter wave device, and based on the phase difference, calculating the angle of arrival of the target to be measured; Generating a positioning result of the target to be measured according to the distance value and the angle of arrival; The constructing of a spectrum signal model based on the number of the targets to be measured and the echo signal specifically includes: Extracting a target frequency band signal from the echo signal, and performing discrete sampling on the target frequency band signal to obtain a discrete target frequency band signal; Performing discrete Fourier transform on the discrete target frequency band signal to obtain a processing result, and acquiring a peak sampling point corresponding to the discrete target frequency band signal based on the processing result; Selecting a number of sampling point data within a preset distance of the peak sampling point, and combining the processing results to establish a spectrum signal model; When the number of the target to be measured is single, the discrete target frequency band signal is expressed as: ； in, is the discrete time point of the discrete target frequency band signal, is the number of sampling points of the signal, ; is the base of natural logarithms, is an imaginary unit; is the amplitude of the signal, and are all real numbers, is the initial phase of the corresponding frequency component; is the normalized frequency of the signal, ranging from , is the sampling error, for Real numbers in the range, is the circumference of a circle, is Gaussian white noise.

2. The positioning method based on millimeter wave equipment according to claim 1, characterized in that: The discrete Fourier transform is performed on the discrete target frequency band signal to obtain a processing result, specifically: Representation of the discrete target frequency band signal Discrete Fourier transform is performed, and the processing results are as follows: ； in, ; yes The discrete Fourier transform result of ; is the peak sampling point; The selecting of a plurality of sampling point data within a preset distance of the peak sampling point and combining the processing result to establish a spectrum signal model is specifically as follows: Pick three points , establish a spectrum signal model, solve the model to obtain the complex amplitude of the discrete target frequency band signal and the normalized frequency ; Wherein, the distance of the target to be measured is calculated based on the normalized frequency: , is the sampling rate of the mmWave device.

3. A positioning device based on millimeter wave equipment, characterized in that: The device comprises: A model building module, used to obtain the number of targets to be measured and the echo signals, and build a spectrum signal model based on the number of targets to be measured and the echo signals; A first calculation module, used for calculating the sampling error value of the target to be measured and the phase difference of adjacent antennas based on the spectrum signal model; A second calculation module is used to calculate the distance value from the target to be measured to the millimeter wave device based on the sampling error value, and calculate the angle of arrival of the target to be measured based on the phase difference; A result generating module, used for generating a positioning result of the target to be measured according to the distance value and the wave arrival angle; The constructing of a spectrum signal model based on the number of the targets to be measured and the echo signal specifically includes: Extracting a target frequency band signal from the echo signal, and performing discrete sampling on the target frequency band signal to obtain a discrete target frequency band signal; Performing discrete Fourier transform on the discrete target frequency band signal to obtain a processing result, and acquiring a peak sampling point corresponding to the discrete target frequency band signal based on the processing result; Selecting a number of sampling point data within a preset distance of the peak sampling point, and combining the processing results to establish a spectrum signal model; When the number of the target to be measured is single, the discrete target frequency band signal is expressed as: ； in, is the discrete time point of the discrete target frequency band signal, is the number of sampling points of the signal, ; is the base of natural logarithms, is an imaginary unit; is the amplitude of the signal, and are all real numbers, is the initial phase of the corresponding frequency component; is the normalized frequency of the signal, ranging from , is the sampling error, for Real numbers in the range, is the circumference of a circle, is Gaussian white noise.

4. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, a positioning method based on a millimeter wave device as described in claim 1 or 2 is implemented.

5. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, a positioning method based on a millimeter wave device as claimed in claim 1 or 2 is implemented.

6. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, a positioning method based on a millimeter wave device as claimed in claim 1 or 2 is implemented.

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