Terminal positioning method, device, equipment and storage medium

Abstract

The present application provides a terminal positioning method, device, equipment and storage medium, the method comprising: obtaining the historical positioning result obtained by the most recent positioning of the terminal; determining the current search space when positioning the terminal at the current moment according to the historical positioning result; searching and positioning the terminal based on the current search space to obtain the positioning result of the terminal at the current moment. The present application determines the current search space at the current moment by the positioning result of the PSO algorithm at the previous moment, therefore, the scheme of the present application can reduce the complexity of the algorithm while ensuring the accuracy of the algorithm result, thereby realizing the rapid positioning of the terminal.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a terminal positioning method, device, equipment and storage medium. Background Art

[0002] Currently, wireless positioning technology has attracted more and more research. Wireless positioning technology is a technology used to determine the geographical location of a terminal. It can use the resources of a wireless communication network to directly or indirectly obtain the geographical location information of the terminal.

[0003] In the prior art, when locating a terminal, ranging methods such as TOA (time of arrival), TDOA (Time Difference of Arrival), AOA (Angle-of-Arrival), RSSI (Received Signal Strength Indication) and the like are usually used.

[0004] However, since the position of the terminal is uncertain, it may be stationary or moving, resulting in the problem of low positioning accuracy in existing terminal positioning methods. Summary of the invention

[0005] The present application provides a terminal positioning method, device, equipment and storage medium to solve the problems existing in the prior art.

[0006] In a first aspect, the present application provides a terminal positioning method, comprising:

[0007] Get the most recent historical positioning result of the terminal;

[0008] Determining, according to the historical positioning results, a current search space for positioning the terminal at a current moment;

[0009] The terminal is searched and located based on the current search space to obtain a positioning result of the terminal at the current moment.

[0010] In some embodiments, determining, according to the historical positioning result, a current search space for positioning the terminal at a current moment includes:

[0011] A space with the historical positioning result as the center position is determined as the current search space.

[0012] In some embodiments, the current search space is smaller than or equal to a historical search space, where the historical search space is a search space used when the terminal is most recently positioned.

[0013] In some embodiments, searching and locating the terminal based on the current search space to obtain a positioning result of the terminal at the current moment includes:

[0014] Get the historical search parameters used when locating the terminal most recently;

[0015] Determine the current search parameter corresponding to the current moment according to the historical search parameter;

[0016] The terminal is searched and located according to the current search space and the current search parameters to obtain a location result of the terminal at the current moment.

[0017] In some embodiments, the historical search parameters include the historical number of particles and the historical number of iterations, and the current search parameters include the current number of particles and the current number of iterations; the current number of particles is less than or equal to the historical number of particles, and the current number of iterations is less than or equal to the historical number of iterations.

[0018] In some embodiments, searching and locating the terminal according to the current search space and the current search parameter to obtain a positioning result of the terminal at the current moment includes:

[0019] Randomly generating a particle swarm in the current search space, initializing a particle parameter of each particle in the particle swarm, and determining a global optimal solution of the particle swarm according to the initialized particle parameter of each particle;

[0020] Iteratively executing the steps of updating the particle parameters of each particle according to the current number of particles, and updating the global optimal solution of the particle swarm according to the updated particle parameters, until the number of iterations reaches the current number of iterations.

[0021] In a second aspect, the present application provides a terminal positioning device, including: a memory, a transceiver, and a processor:

[0022] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations:

[0023] Get the most recent historical positioning result of the terminal;

[0024] Determining, according to the historical positioning results, a current search space for positioning the terminal at a current moment;

[0025] The terminal is searched and located based on the current search space to obtain a positioning result of the terminal at the current moment.

[0026] In some embodiments, determining, according to the historical positioning result, a current search space for positioning the terminal at a current moment includes:

[0027] A space with the historical positioning result as the center position is determined as the current search space.

[0028] In some embodiments, the current search space is smaller than or equal to a historical search space, where the historical search space is a search space used when the terminal is most recently positioned.

[0029] In some embodiments, searching and locating the terminal based on the current search space to obtain a positioning result of the terminal at the current moment includes:

[0030] Get the historical search parameters used when locating the terminal most recently;

[0031] Determine the current search parameter corresponding to the current moment according to the historical search parameter;

[0032] The terminal is searched and located according to the current search space and the current search parameters to obtain a location result of the terminal at the current moment.

[0033] In some embodiments, the historical search parameters include the historical number of particles and the historical number of iterations, and the current search parameters include the current number of particles and the current number of iterations; the current number of particles is less than or equal to the historical number of particles, and the current number of iterations is less than or equal to the historical number of iterations.

[0034] In some embodiments, searching and locating the terminal according to the current search space and the current search parameter to obtain a positioning result of the terminal at the current moment includes:

[0035] Randomly generating a particle swarm in the current search space, initializing a particle parameter of each particle in the particle swarm, and determining a global optimal solution of the particle swarm according to the initialized particle parameter of each particle;

[0036] Iteratively executing the steps of updating the particle parameters of each particle according to the current number of particles, and updating the global optimal solution of the particle swarm according to the updated particle parameters, until the number of iterations reaches the current number of iterations.

[0037] In a third aspect, the present application provides a terminal positioning device, including:

[0038] A result acquisition unit, used to acquire the historical positioning result obtained by the most recent positioning of the terminal;

[0039] A space determination unit, configured to determine a current search space when locating the terminal at a current moment according to the historical positioning result;

[0040] The terminal positioning unit is used to search and locate the terminal based on the current search space to obtain a positioning result of the terminal at a current moment.

[0041] In a fourth aspect, the present application provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the above method.

[0042] The terminal positioning method, device, equipment and storage medium provided by the present application include: obtaining the historical positioning result obtained by the most recent positioning of the terminal; determining the current search space when positioning the terminal at the current moment according to the historical positioning result; searching and positioning the terminal based on the current search space to obtain the positioning result of the terminal at the current moment. The present application determines the current search space at the current moment by the positioning result of the PSO algorithm at the previous moment. Therefore, the scheme of the present application can reduce the complexity of the algorithm while ensuring the accuracy of the algorithm result, thereby realizing the rapid positioning of the terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0044] Figure 1 A schematic diagram of a terminal positioning method provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of searching and locating a terminal based on the current search space to obtain a positioning result of the terminal at the current moment in an embodiment of the present application;

[0046] Figure 3 This is a schematic diagram of obtaining a positioning result of the terminal at the current moment by searching and locating the terminal through the PSO algorithm according to the current search space and the current search parameters in an embodiment of the present application;

[0047] Figure 4 This is a schematic diagram of positioning a terminal using a PSO algorithm in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of a terminal positioning device provided in an embodiment of the present application;

[0049] Figure 6 A schematic diagram of the structure of a terminal positioning device provided in an embodiment of the present application.

[0050] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments 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.

[0052] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "an" and "the" used in the embodiments of the present application are also intended to include plural forms, unless the context clearly indicates other meanings.

[0053] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0054] Existing wireless positioning technologies generally use multi-lateration positioning to measure indoor positioning of terminals. Common indoor positioning algorithms include TOA, TDOA, AOA, RSSI, etc. After obtaining the distance between the terminal and each base station, it is necessary to use an algorithm for positioning. Typical positioning algorithms usually include the least squares (LS) positioning algorithm, Chan algorithm, Taylor series expansion algorithm (Taylor algorithm) and PSO algorithm.

[0055] Specifically, assume that there are M base stations in the positioning system to locate the terminal. The terminal's position coordinates are (x, y), and the base station's position coordinates are (x i ,Y i ), 1≤i≤M, assuming that the time difference between the signal from M-1 base stations to the terminal and the signal from the serving base station (BS1) to the terminal is t i , i=2,3,…,M, according to the TDOA principle, we can calculate:

[0056] r i -r 1 =c·t i

[0057]

[0058] Note i -r 1 =r i1 , Linearizing the equation, we can get the equation:

[0059]

[0060] To solve the above equation, the LS algorithm, Chan algorithm and Taylor series expansion algorithm can be used.

[0061] The solution to LS is to eliminate r from the M-1 equations in equation (1) above. 1 Term, establish h = Z·v T ·(v·v T ) -1 Solve the relationship where h = [x, y].

[0062] The solution to the Taylor series is based on an initial position (x 0 ,y 0 ) Calculate r i , and then calculate h t and G t , and combined with the covariance matrix Q to calculate According to (x 0 +Δx,y 0 +Δy) to continue the calculation.

[0063] Chan's algorithm assumes that p = [x, y, r] T ,h c =G c p+ε c ,in,

[0064]

[0065]

[0066]

[0067] where Q is the covariance matrix of the TDOA measurement error (instead of the error ε c The covariance matrix of .

[0068] The PSO algorithm initializes some particles in a certain spatial area. Each particle has a fitness value determined by the optimized function, as well as the direction and distance of movement. Then the particles search in the solution space with the current optimal particle and finally determine the estimated value of the UE's position.

[0069] Among the above algorithms, the LS algorithm is a suboptimal algorithm and requires the construction of an available matrix. The Chan algorithm is a non-recursive algorithm for solving the above hyperbolic equations and uses a two-step maximum likelihood estimation (ML). The Taylor algorithm is a recursive algorithm that requires an initial estimated position and improves the estimated position by solving the local linear least squares (LS) solution of the TDOA measurement error in each recursion.

[0070] The former Chan algorithm is characterized by small amount of calculation, but high positioning accuracy in an environment where the noise follows Gaussian distribution. However, in a non-line-of-sight environment, the positioning accuracy of the Chan algorithm decreases. Moreover, the Chan algorithm has excellent estimation performance when the TDOA measurement error is relatively small, but as the TDOA measurement error increases, the performance of the algorithm decreases rapidly. And in an NLOS (NonLine of Sight) environment, the positioning accuracy of the Chan algorithm decreases. The Taylor algorithm is characterized by large amount of calculation, and can be applied to various channel environments. When the initial position is close to the actual position, accurate calculation results can be obtained. However, if the initial position is not selected well, the algorithm will be difficult to converge, and in practical applications, the initial position is difficult to determine. Therefore, this also limits the improvement of the positioning accuracy of the Taylor series expansion method.

[0071] Therefore, some improved algorithms use a method combining the LS algorithm and the Taylor series, that is, using the LS algorithm to determine the initial position of a UE, and then using the Taylor series algorithm to locate the UE more accurately. However, the LS algorithm here is a suboptimal algorithm. Some improved algorithms also use a method combining the Chan algorithm and the Taylor series, that is, using the Chan algorithm to determine the initial position of a UE, and then using the Taylor series algorithm to locate the UE more accurately. However, the accuracy of the Chan algorithm here is affected by factors such as the usage scenario and whether the scenario matches the modeling. Therefore, it will also affect the accuracy of the Taylor series algorithm results, making it difficult for the Taylor algorithm to converge.

[0072] Moreover, the state of the mobile terminal may be stationary or moving, which cannot be predicted in advance. Therefore, the existing terminal positioning method has the problem of low positioning accuracy.

[0073] The main idea of ​​the present application is: for the situation that the state of the terminal cannot be predicted in advance, the PSO algorithm that is not affected by the channel environment is a better choice. On the one hand, the position estimation result of the PSO algorithm at the previous moment can be used as the initial position of the terminal positioning using the PSO algorithm at the current moment, which can well avoid the above-mentioned problems of the Chan algorithm; on the other hand, particle parameters and iteration parameters with smaller parameter complexity than the PSO algorithm at the previous moment can be used, which can reduce the complexity of the algorithm and reduce the algorithm delay.

[0074] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0075] It can be understood that the processing steps of the terminal positioning method in the present application can be implemented by a network device.

[0076] In the present application, the network device may be a base station, specifically a base station (Base Transceiver Station, BTS) and / or a base station controller in Global System of Mobile communication (GSM) or Code Division Multiple Access (CDMA), or a base station (NodeB, NB) and / or a radio network controller (Radio Network Controller, RNC) in Wideband Code Division Multiple Access (WCDMA), or an evolved base station (Evolutional Node B, eNB or eNodeB) in Long Term Evolution (LTE), or a relay station or access point, or a base station (gNB) in a future 5G network, etc. The embodiments of the present application are not limited here.

[0077] In addition, the terminal device can be a wireless terminal or a wired terminal. The wireless terminal can be a device that provides voice and / or other business data connectivity to users, a handheld device with wireless connection function, or other processing equipment connected to a wireless modem. The wireless terminal can communicate with one or more core network devices via a radio access network (Radio Access Network, referred to as RAN). The wireless terminal can be a mobile terminal, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal. For example, it can be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges language and / or data with the radio access network. For another example, the wireless terminal can also be a personal communication service (Personal Communication Service, referred to as PCS) phone, a cordless phone, a Session Initiation Protocol (Session Initiation Protocol, referred to as SIP) phone, a wireless local loop (Wireless Local Loop, referred to as WLL) station, a personal digital assistant (Personal Digital Assistant, referred to as PDA) and other devices. The wireless terminal may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, a remote terminal, an access terminal, a user terminal, a user agent, a user device or user equipment, without limitation herein. Optionally, the terminal device may also be a smart watch, a tablet computer, or other device.

[0078] Figure 1 A schematic diagram of a terminal positioning method provided in an embodiment of the present application, such as Figure 1 As shown, the method mainly includes the following steps:

[0079] S100, obtaining the historical positioning result obtained by the most recent positioning of the terminal;

[0080] Among them, the historical positioning result obtained by the most recent positioning of the terminal can be the historical positioning result obtained by positioning the terminal by the PSO algorithm at the previous moment. Specifically, the PSO algorithm can be used to search for the position of the terminal in the search space corresponding to the previous moment, thereby obtaining the historical positioning result.

[0081] S200, determining a current search space for positioning the terminal at the current moment according to historical positioning results;

[0082] After obtaining the most recent historical positioning result, the current search space for positioning the terminal at the current moment may be determined according to the historical positioning result. That is, at the current moment, the position search for the terminal may be performed based on the current search space.

[0083] S300: Search and locate the terminal based on the current search space to obtain the positioning result of the terminal at the current moment.

[0084] After determining the current search space for positioning the terminal at the current moment, the PSO algorithm may be used to search and position the terminal in the current search space, thereby obtaining a positioning result of the terminal at the current moment.

[0085] In the PSO algorithm positioning process of the prior art, there is no correlation between the search spaces at different times, which means that the prior art needs to spend a certain amount of time to determine the search space at each time, resulting in increased algorithm complexity and slower positioning speed.

[0086] The solution of this embodiment mainly determines the current search space at the current moment through the PSO algorithm positioning result at the previous moment. Therefore, the solution of this embodiment can reduce the complexity of the algorithm while ensuring the accuracy of the algorithm result, thereby realizing rapid positioning of the terminal.

[0087] In some embodiments, determining a current search space for positioning a terminal at a current moment based on historical positioning results includes: S210, determining a space with the historical positioning results as a center position as the current search space.

[0088] Specifically, when determining the current search space at the current moment by using the PSO algorithm positioning result at the previous moment, the historical positioning result obtained by the PSO algorithm at the previous moment can be used as the center position of the current search space, so that the current search space can be quickly determined and the complexity of the algorithm can be reduced.

[0089] Optionally, when determining the current search space, the space with the historical positioning result as the center position can be a square space, a circular space, etc. The present application does not limit the shape of the search space.

[0090] Optionally, for the initial moment (i.e., T=0) when the PSO algorithm is used to locate the terminal, when the search space is first determined, the maximum space formed by the lines between the base stations can be used as the search space corresponding to the initial moment, or the circumscribed circle of each base station can be used as the search space corresponding to the initial moment.

[0091] In some embodiments, the current search space is smaller than or equal to the historical search space, where the historical search space is the search space used when the terminal is most recently positioned.

[0092] Specifically, when determining the current search space at the current moment by using the PSO algorithm positioning result at the previous moment, the current search space may be less than or equal to the search space when the terminal was positioned at the previous moment. That is to say, in the process of continuously positioning the terminal using the PSO algorithm in this embodiment, the search space is continuously reduced, thereby helping to reduce the complexity of the algorithm.

[0093] Figure 2 This is a schematic diagram of searching and locating the terminal based on the current search space in an embodiment of the present application to obtain the positioning result of the terminal at the current moment, such as Figure 2 As shown, the processing flow mainly includes the following steps:

[0094] S310, obtaining historical search parameters used when locating the terminal most recently;

[0095] S320, determining the current search parameter corresponding to the current moment according to the historical search parameter;

[0096] S330: Search and locate the terminal according to the current search space and the current search parameters to obtain the positioning result of the terminal at the current moment.

[0097] Optionally, the historical search parameters include the historical number of particles and the historical number of iterations, and the current search parameters include the current number of particles and the current number of iterations; the current number of particles is less than or equal to the historical number of particles, and the current number of iterations is less than or equal to the historical number of iterations.

[0098] Specifically, when positioning the terminal by the PSO algorithm, in addition to determining the current search space at the current moment by the positioning result of the PSO algorithm at the previous moment, this embodiment also includes updating the search parameters of the PSO algorithm. The search parameters specifically include the number of particles and the number of iterations, and accordingly, the update of the search parameters includes the update of the number of particles and the update of the number of iterations.

[0099] In addition, in the PSO algorithm positioning process of the prior art, the search parameters at different times are not correlated, which increases the complexity of the algorithm. The solution of this embodiment mainly determines the current search parameters corresponding to the current moment through the historical search parameters used by the PSO algorithm at the previous moment, and since the current number of particles is less than or equal to the historical number of particles, the current number of iterations is less than or equal to the historical number of iterations, that is, in the process of using the PSO algorithm to continuously locate the terminal, the search parameters of this embodiment are continuously reduced, which helps to reduce the complexity of the algorithm.

[0100] In some embodiments, searching and locating the terminal according to the current search space and the current search parameters to obtain the positioning result of the terminal at the current moment includes:

[0101] S331, randomly generating a particle swarm in the current search space, initializing the particle parameters of each particle in the particle swarm, and determining the global optimal solution of the particle swarm according to the initialized particle parameters of each particle;

[0102] S332, iteratively executing the steps of updating the particle parameters of each particle according to the current number of particles, and updating the global optimal solution of the particle swarm according to the updated particle parameters, until the number of iterations reaches the current number of iterations.

[0103] Among them, particle parameters include particle speed and position.

[0104] Specifically, Figure 3 This is a schematic diagram of obtaining the positioning result of the terminal at the current moment by searching and locating the terminal through the PSO algorithm according to the current search space and the current search parameters in the embodiment of the present application, as shown in FIG. Figure 3 As shown, the process includes the following steps:

[0105] S331a, randomly generating a particle swarm in the current search space, and randomly initializing the speed and position of each particle;

[0106] S331b, evaluating according to the initialized particle speed and particle position to obtain the global optimal solution of the particle swarm;

[0107] S332a, determining whether the number of iterations of the iterative process reaches the current number of iterations;

[0108] S332b, if not reached, it means that the algorithm end condition is not met at present, so the speed and position of each particle are updated;

[0109] S332c, evaluating the function fitness value of each particle according to the updated particle parameters;

[0110] S332d, updating the historical optimal position of each particle according to the evaluation result;

[0111] S332e. Update the global optimal position of the particle swarm according to the updated historical optimal position of each particle.

[0112] The above processing is an iterative processing, until the number of iterations reaches the current number of iterations, it means that the end condition of the algorithm has been met and the processing can be stopped. Therefore, through the above iterative processing, the positioning result of the terminal at the current moment can be obtained accurately and quickly.

[0113] In some embodiments, specific application scenarios of the present application solution are explained.

[0114] Figure 4 FIG. 1 is a schematic diagram of positioning a terminal by using a PSO algorithm in an embodiment of the present application, as shown in FIG. Figure 4 As shown in the figure, at the initial moment (T=0) when the PSO algorithm is used to locate the terminal, the terminal position search can be performed in a larger initial search space A0. The search parameters used in the search process include the number of particles P0 and the number of iterations K0, and the positioning result R0 at the initial moment is obtained, that is, the positioning position (x0, y0) of the terminal.

[0115] At the next moment (T=1), the new search space A1 can be determined with the positioning result R0 at the initial moment as the center position, and the search space A1 can be less than or equal to the search space A0, that is, A1≤A0. In addition, the search parameters used in the search process include the number of particles P1 and the number of iterations K1, where P1≤P0, K1≤K0, and the positioning result R1 obtained at T=1 includes the positioning position (x1, y1) of the terminal.

[0116] By analogy, at the nth time (T=n), the new search space An can be determined with the positioning result Rn-1 (i.e. (xn-1, yn-1)) at the n-1th time as the center position, and the search space An can be less than or equal to the search space An-1, i.e. An≤An-1. In addition, the search parameters used in the search process include the number of particles Pn and the number of iterations Kn, where Pn≤Pn-1, Kn≤Kn-1, and the positioning result Rn obtained at the time T=n includes the positioning position (xn, yn) of the terminal.

[0117] Thus, through the above processing flow, while ensuring the performance of the PSO algorithm (ie, the accuracy of the positioning result), the search range of the PSO algorithm can be significantly reduced, and since the search parameters are smaller, the complexity of the algorithm can also be reduced.

[0118] It can be understood that the above processing process belongs to a two-dimensional positioning process. If the actual situation is to perform three-dimensional positioning on the terminal, the positioning result Ri of the terminal includes the positioning position (xi, yi, zi), i = 1, 2, 3..., n.

[0119] In some embodiments, the historical positioning result obtained by the most recent positioning of the terminal specifically includes the terminal being located in an inner area or an outer area of ​​the historical search space.

[0120] Among them, when the terminal is located in the inner area of ​​the historical search space, if the PSO algorithm uses the standard predetermined number of particles and iterations for search at each moment, and the size of the search area is the same each time, the complexity of the algorithm will be relatively high, and the performance of the algorithm will not be significantly improved. This is because the location area of ​​the terminal to be located is relatively ideal.

[0121] Therefore, by adopting a search space A with a gradually decreasing range, and combining a gradually decreasing number of particles K and number of iterations P, that is, Ai≤Ai-1, Ki≤Ki-1, Pi≤Pi-1, the complexity of the algorithm can be reduced while ensuring the performance of the PSO algorithm.

[0122] In addition, when the terminal is located in the outer area of ​​the historical search space, since the position of the terminal to be located is difficult to meet the established requirements for the search of the PSO algorithm, a suitable initial position can be used as the center position of the search area of ​​the PSO algorithm for search to improve the search performance of the PSO algorithm. Considering other classic algorithms, such as the Chan algorithm, they cannot work effectively in this case, and the Chan algorithm is greatly affected by the channel environment. Therefore, when the terminal is located by the PSO algorithm in this embodiment, after a positioning position is obtained by the algorithm at a certain moment, when the terminal is located at a subsequent moment, the positioning position result of the PSO algorithm at the previous moment can be used as the center position of the PSO algorithm at the current moment to set the current search space. In addition, by adopting a search space A with a gradually decreasing range, and combining the gradually decreasing number of particles K and the number of iterations P, that is, Ai≤Ai-1, Ki≤Ki-1, Pi≤Pi-1, the complexity of the algorithm can be reduced while ensuring the performance of the PSO algorithm.

[0123] It should be understood that, although the various steps in the flowcharts in the above-described embodiments are sequentially displayed according to the indications of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and they can be executed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily to be carried out sequentially, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0124] In some embodiments, a terminal positioning device is provided. Figure 5 A schematic diagram of a terminal positioning device provided in an embodiment of the present application, such as Figure 5 As shown, the device comprises:

[0125] The result acquisition unit 100 is used to acquire the historical positioning result obtained by the most recent positioning of the terminal;

[0126] A space determination unit 200, configured to determine a current search space when positioning the terminal at a current moment according to historical positioning results;

[0127] The terminal positioning unit 300 is used to search and locate the terminal based on the current search space to obtain the positioning result of the terminal at the current moment.

[0128] For the specific definition of the terminal positioning device, please refer to the definition of the terminal positioning method above, which will not be repeated here. Each unit in the above terminal positioning device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above units can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above units.

[0129] Therefore, by determining the current search space at the current moment through the PSO algorithm positioning result at the previous moment, the complexity of the algorithm can be reduced while ensuring the accuracy of the algorithm result, thereby achieving rapid positioning of the terminal.

[0130] In some embodiments, the space determination unit 200 is further used to determine a space with the historical positioning result as the center position as the current search space.

[0131] Specifically, when determining the current search space at the current moment by using the PSO algorithm positioning result at the previous moment, the historical positioning result obtained by the PSO algorithm at the previous moment can be used as the center position of the current search space, so that the current search space can be quickly determined and the complexity of the algorithm can be reduced.

[0132] In some embodiments, the current search space is smaller than or equal to the historical search space, where the historical search space is the search space used when the terminal is most recently positioned.

[0133] Specifically, when determining the current search space at the current moment by using the PSO algorithm positioning result at the previous moment, the current search space may be less than or equal to the search space when the terminal was positioned at the previous moment. That is to say, in the process of continuously positioning the terminal using the PSO algorithm in this embodiment, the search space is continuously reduced, thereby helping to reduce the complexity of the algorithm.

[0134] In some embodiments, the terminal positioning unit 300 is also used to: obtain the historical search parameters used when the terminal was positioned most recently; determine the current search parameters corresponding to the current moment based on the historical search parameters; search and locate the terminal based on the current search space and the current search parameters to obtain the positioning result of the terminal at the current moment.

[0135] In some embodiments, the historical search parameters include the historical number of particles and the historical number of iterations, and the current search parameters include the current number of particles and the current number of iterations; the current number of particles is less than or equal to the historical number of particles, and the current number of iterations is less than or equal to the historical number of iterations.

[0136] Specifically, when positioning the terminal by the PSO algorithm, in addition to determining the current search space at the current moment by the positioning result of the PSO algorithm at the previous moment, this embodiment also includes updating the search parameters of the PSO algorithm. The search parameters specifically include the number of particles and the number of iterations, and accordingly, the update of the search parameters includes the update of the number of particles and the update of the number of iterations.

[0137] In addition, in the PSO algorithm positioning process of the prior art, the search parameters at different times are not correlated, which increases the complexity of the algorithm. The solution of this embodiment mainly determines the current search parameters corresponding to the current moment through the historical search parameters used by the PSO algorithm at the previous moment, and since the current number of particles is less than or equal to the historical number of particles, the current number of iterations is less than or equal to the historical number of iterations, that is, in the process of using the PSO algorithm to continuously locate the terminal, the search parameters of this embodiment are continuously reduced, which helps to reduce the complexity of the algorithm.

[0138] In some embodiments, the terminal positioning unit 300 is also used to: randomly generate a particle swarm in the current search space, initialize the particle parameters of each particle in the particle swarm, and determine the global optimal solution of the particle swarm based on the initialized particle parameters of each particle; iteratively execute the steps of updating the particle parameters of each particle according to the current number of particles, and updating the global optimal solution of the particle swarm according to the updated particle parameters, until the number of iterations reaches the current number of iterations.

[0139] The above processing is an iterative processing, until the number of iterations reaches the current number of iterations, it means that the end condition of the algorithm has been met and the processing can be stopped. Therefore, through the above iterative processing, the positioning result of the terminal at the current moment can be obtained accurately and quickly.

[0140] In some embodiments, a terminal positioning device is provided. Figure 6 A schematic diagram of the structure of a terminal positioning device provided in an embodiment of the present application, such as Figure 6As shown, the terminal positioning device includes: a memory 112, a transceiver 113, and a processor 111:

[0141] The memory 112 is used to store computer programs; the transceiver 113 is used to send and receive data under the control of the processor 111; the processor 111 is used to read the computer program in the memory 112 and perform the following operations:

[0142] Obtain the historical positioning result obtained by the most recent positioning of the terminal; determine the current search space when positioning the terminal at the current moment based on the historical positioning result; search and locate the terminal based on the current search space to obtain the positioning result of the terminal at the current moment.

[0143] Therefore, by determining the current search space at the current moment through the PSO algorithm positioning result at the previous moment, the complexity of the algorithm can be reduced while ensuring the accuracy of the algorithm result, thereby achieving rapid positioning of the terminal.

[0144] In some embodiments, the processor 111 calls the program stored in the memory 112 and is further configured to execute: determining a space with the historical positioning result as the center position as the current search space.

[0145] Specifically, when determining the current search space at the current moment by using the PSO algorithm positioning result at the previous moment, the historical positioning result obtained by the PSO algorithm at the previous moment can be used as the center position of the current search space, so that the current search space can be quickly determined and the complexity of the algorithm can be reduced.

[0146] In some embodiments, the current search space is smaller than or equal to the historical search space, where the historical search space is the search space used when the terminal is most recently positioned.

[0147] Specifically, when determining the current search space at the current moment by using the PSO algorithm positioning result at the previous moment, the current search space may be less than or equal to the search space when the terminal was positioned at the previous moment. That is to say, in the process of continuously positioning the terminal using the PSO algorithm in this embodiment, the search space is continuously reduced, thereby helping to reduce the complexity of the algorithm.

[0148] In some embodiments, the processor 111 calls the program stored in the memory 112 and is also used to execute: obtaining the historical search parameters used when the terminal was most recently positioned; determining the current search parameters corresponding to the current moment based on the historical search parameters; searching and locating the terminal based on the current search space and the current search parameters, and obtaining the positioning result of the terminal at the current moment.

[0149] In some embodiments, the historical search parameters include the historical number of particles and the historical number of iterations, and the current search parameters include the current number of particles and the current number of iterations; the current number of particles is less than or equal to the historical number of particles, and the current number of iterations is less than or equal to the historical number of iterations.

[0150] Specifically, when positioning the terminal by the PSO algorithm, in addition to determining the current search space at the current moment by the positioning result of the PSO algorithm at the previous moment, this embodiment also includes updating the search parameters of the PSO algorithm. The search parameters specifically include the number of particles and the number of iterations, and accordingly, the update of the search parameters includes the update of the number of particles and the update of the number of iterations.

[0151] In addition, in the PSO algorithm positioning process of the prior art, the search parameters at different times are not correlated, which increases the complexity of the algorithm. The solution of this embodiment mainly determines the current search parameters corresponding to the current moment through the historical search parameters used by the PSO algorithm at the previous moment, and since the current number of particles is less than or equal to the historical number of particles, the current number of iterations is less than or equal to the historical number of iterations, that is, in the process of using the PSO algorithm to continuously locate the terminal, the search parameters of this embodiment are continuously reduced, which helps to reduce the complexity of the algorithm.

[0152] In some embodiments, the processor 111 calls the program stored in the memory 112 and is also used to execute: randomly generating a particle swarm in the current search space, initializing the particle parameters of each particle in the particle swarm, and determining the global optimal solution of the particle swarm based on the particle parameters after each particle is initialized; iteratively executing the steps of updating the particle parameters of each particle according to the current number of particles, and updating the global optimal solution of the particle swarm according to the updated particle parameters, until the number of iterations reaches the current number of iterations.

[0153] The above processing is an iterative processing, until the number of iterations reaches the current number of iterations, it means that the end condition of the algorithm has been met and the processing can be stopped. Therefore, through the above iterative processing, the positioning result of the terminal at the current moment can be obtained accurately and quickly.

[0154] In the above terminal positioning device, the memory and the processor are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The memory stores computer-executable instructions for implementing the data access control method, including at least one software function unit that can be stored in the memory in the form of software or firmware. The processor executes various functional applications and data processing by running the software programs and units stored in the memory.

[0155] The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory is used to store programs, and the processor executes the programs after receiving the execution instructions. Furthermore, the software programs and units in the above-mentioned memory may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0156] The processor may be an integrated circuit chip having the ability to process signals. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The disclosed methods, steps and logic block diagrams in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0157] In some embodiments, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the following steps are implemented:

[0158] Obtain the historical positioning result obtained by the most recent positioning of the terminal; determine the current search space when positioning the terminal at the current moment based on the historical positioning result; search and locate the terminal based on the current search space to obtain the positioning result of the terminal at the current moment.

[0159] In this embodiment, the current search space at the current moment is determined by the PSO algorithm positioning result at the previous moment, which can reduce the complexity of the algorithm while ensuring the accuracy of the algorithm result, thereby realizing rapid positioning of the terminal.

[0160] In some embodiments, when the computer-executable instructions are executed by the processor, they are further used to implement: determining a space with the historical positioning results as the center position as the current search space.

[0161] In some embodiments, the current search space is smaller than or equal to the historical search space, where the historical search space is the search space used when the terminal is most recently positioned.

[0162] In some embodiments, the computer execution instructions, when executed by the processor, are also used to implement: obtaining the historical search parameters used when the terminal was most recently positioned; determining the current search parameters corresponding to the current moment based on the historical search parameters; searching and locating the terminal based on the current search space and the current search parameters, and obtaining the positioning result of the terminal at the current moment.

[0163] In some embodiments, the historical search parameters include the historical number of particles and the historical number of iterations, and the current search parameters include the current number of particles and the current number of iterations; the current number of particles is less than or equal to the historical number of particles, and the current number of iterations is less than or equal to the historical number of iterations.

[0164] In some embodiments, when the computer execution instructions are executed by the processor, they are also used to implement: randomly generating a particle swarm in the current search space, initializing the particle parameters of each particle in the particle swarm, and determining the global optimal solution of the particle swarm based on the initialized particle parameters of each particle; iteratively executing the steps of updating the particle parameters of each particle based on the current number of particles, and updating the global optimal solution of the particle swarm based on the updated particle parameters, until the number of iterations reaches the current number of iterations.

[0165] In some embodiments, a computer program product is provided, including a computer program, which implements the steps of the method embodiments of the present application when executed by a processor.

[0166] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0167] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the application disclosed herein. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0168] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A terminal positioning method, characterized in that: include: Get the historical positioning results obtained from the most recent PSO positioning of the terminal; Determining, according to the historical positioning results, a current search space for positioning the terminal at a current moment; Get the historical search parameters used when locating the terminal most recently; Determine the current search parameter corresponding to the current moment according to the historical search parameter; The terminal is searched and located according to the current search space and the current search parameters to obtain a location result of the terminal at the current moment.

2. The method according to claim 1, characterized in that The determining, according to the historical positioning result, a current search space for positioning the terminal at a current moment includes: A space with the historical positioning result as the center position is determined as the current search space.

3. The method according to claim 2, characterized in that The current search space is smaller than or equal to the historical search space, where the historical search space is the search space when the terminal is most recently positioned.

4. The method according to claim 1, characterized in that: The historical search parameters include the historical number of particles and the historical number of iterations, and the current search parameters include the current number of particles and the current number of iterations; the current number of particles is less than or equal to the historical number of particles, and the current number of iterations is less than or equal to the historical number of iterations.

5. The method according to claim 4, characterized in that The searching and locating the terminal according to the current search space and the current search parameter to obtain a positioning result of the terminal at a current moment includes: Randomly generate a particle swarm in the current search space, initialize the particle parameters of each particle in the particle swarm, and determine the global optimal solution of the particle swarm according to the initialized particle parameters of each particle; Iteratively executing the steps of updating the particle parameters of each particle according to the current number of particles, and updating the global optimal solution of the particle swarm according to the updated particle parameters, until the number of iterations reaches the current number of iterations.

6. A terminal positioning device, characterized in that: include: Memory, transceiver, processor: Memory for storing computer programs; a transceiver, for transmitting and receiving data under the control of the processor; A processor is configured to read the computer program in the memory and perform the following operations: Get the historical positioning results obtained from the most recent PSO positioning of the terminal; Determining, according to the historical positioning results, a current search space for positioning the terminal at a current moment; Get the historical search parameters used when locating the terminal most recently; Determine the current search parameter corresponding to the current moment according to the historical search parameter; The terminal is searched and located according to the current search space and the current search parameters to obtain a location result of the terminal at the current moment.

7. The device according to claim 6, characterized in that The determining, according to the historical positioning result, a current search space for positioning the terminal at a current moment includes: A space with the historical positioning result as the center position is determined as the current search space.

8. The device according to claim 7, characterized in that The current search space is smaller than or equal to the historical search space, where the historical search space is the search space when the terminal is most recently positioned.

9. The device according to claim 6, characterized in that The historical search parameters include the historical number of particles and the historical number of iterations, and the current search parameters include the current number of particles and the current number of iterations; the current number of particles is less than or equal to the historical number of particles, and the current number of iterations is less than or equal to the historical number of iterations.

10. The device according to claim 9, characterized in that The searching and locating the terminal according to the current search space and the current search parameter to obtain a positioning result of the terminal at a current moment includes: Randomly generate a particle swarm in the current search space, initialize the particle parameters of each particle in the particle swarm, and determine the global optimal solution of the particle swarm according to the initialized particle parameters of each particle; Iteratively executing the steps of updating the particle parameters of each particle according to the current number of particles, and updating the global optimal solution of the particle swarm according to the updated particle parameters, until the number of iterations reaches the current number of iterations.

11. A terminal positioning device, characterized in that: include: A result acquisition unit is used to obtain the historical positioning result obtained by the most recent PSO positioning of the terminal; A space determination unit, configured to determine a current search space when locating the terminal at a current moment according to the historical positioning result; The terminal positioning unit is used to obtain the historical search parameters used when the terminal was positioned most recently; determine the current search parameters corresponding to the current moment based on the historical search parameters; search and locate the terminal based on the current search space and the current search parameters to obtain the positioning result of the terminal at the current moment.

12. A processor-readable storage medium, characterized in that: The processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the method according to any one of claims 1 to 5.

13. A computer program product, characterized in that The method comprises a computer program, which implements the method according to any one of claims 1 to 5 when the computer program is executed by a processor.

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