Positioning method, transmitting end, receiving end and computer-readable storage medium

Abstract

A positioning method, a transmitting end, a receiving end, and a computer-readable storage medium. The positioning method includes: sending at least two non-diffracting beams to the receiving end, each of the non-diffracting beams carrying corresponding first curve information for indicating the trajectory of the non-diffracting beam (S301); receiving feedback information corresponding to the at least two non-diffracting beams sent by the receiving end, the feedback information carrying second curve information (S302); determining a first position of the receiving end in a first preset coordinate system according to the second curve information of the at least two non-diffracting beams (S303). According to the curve information fed back by the receiving end, the non-diffracting beam where the receiving end is located is determined, and then the position of the receiving end is determined according to the curve information of at least two non-diffracting beams. The receiving end is positioned according to the characteristic that the peak intensity of the light field of the non-diffracting beam does not change with the propagation distance, so as to improve the positioning accuracy.

Description

Technical Field

[0001] Embodiments of the present application relate to the technical field of positioning, and in particular, to a positioning method, a sending end, a receiving end, and a computer-readable storage medium. Background Art

[0002] With the popularization of electronic products, the positioning function of electronic products has become more and more popular, and auxiliary functions such as tracking and navigation can be realized through positioning.

[0003] Currently, satellites, WiFi, Bluetooth, etc. are usually used to determine the position of a terminal. For example, the position of the terminal is estimated based on the distances from the terminal to multiple anchor nodes, or the position of the terminal is estimated based on the distance and angle from the terminal to a single anchor node, or the position of the terminal is estimated based on the angles between the terminal and multiple anchor nodes.

[0004] However, for the method of determining the position of the terminal based on the distance between the terminal and the anchor node, the ranging information of three or more anchor nodes is required. The positioning accuracy is limited by the number of anchor nodes, and the deployment cost of the anchor nodes is relatively high. For the method of determining the position of the terminal based on the angle measurement, it usually relies on an antenna array to measure the angle of signal transmission or reception. However, the signal angle measurement accuracy is generally relatively low. The accuracy of the angle depends on the signal beam width. A thin signal beam width requires a large-scale array or aperture to achieve, and the minimum beam angle cannot be less than the diffraction limit of 1.22λ / D radians (where λ is the signal wavelength and D is the antenna aperture). There is also the problem of sidelobe interference for small beams. Summary of the Invention

[0005] Embodiments of the present application disclose a positioning method, a sending end, a receiving end, and a computer-readable storage medium, which can determine the position of the terminal according to the curve information of the non-diffracting beam, so as to improve the positioning accuracy and reduce the positioning cost.

[0006] A first aspect of the present application discloses a positioning method, which is applied to a positioning system. The positioning system includes a sending end and a receiving end. The sending end is used to emit a non-diffracting beam, and the receiving end is used to receive the non-diffracting beam. The positioning method includes: sending at least two non-diffracting beams to the receiving end, and each non-diffracting beam carries corresponding first curve information, where the first curve information is used to indicate the trajectory of the non-diffracting beam where the sending end is located, and the receiving end determines the position of the receiving end according to the first curve information corresponding to at least two non-diffracting beams. In the embodiments of the present application, the receiving end determines the first curve information of the trajectory of the non-diffracting beam where the receiving end is located by receiving the first curve information carried by the non-diffracting beam sent by the sending end, and determines the first position of the receiving end by using the curve information corresponding to at least two non-diffracting beams. The present application performs positioning through the propagation characteristics of the non-diffracting beam, improves the positioning accuracy, and reduces the deployment cost of the sending end required for the receiving end to perform positioning.

[0007] In some alternative embodiments, the positioning method further includes: receiving, from the receiving end, feedback information corresponding to each non-diffracting beam, where the feedback information includes second curve information corresponding to each non-diffracting beam, the feedback information is generated by the receiving end based on the first curve information carried by the received non-diffracting beam, and the second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located; determining a first position of the receiving end based on the second curve information of at least two non-diffracting beams. In this way, the receiving end can determine its position based on the curve information of at least two non-diffracting beams, with simple operation, easy implementation, and relatively high positioning accuracy.

[0008] In some alternative embodiments, the feedback information further includes signal strength. Before determining the first position of the receiving end based on the curve information of at least two non-diffracting beams, the positioning method further includes: determining, based on the feedback information, second curve information corresponding to the strongest signal strength. In this way, the sending end determines one of the multiple non-diffracting beams by the strongest signal strength to improve the positioning accuracy. Further, the operation of the receiving end is reduced.

[0009] In some alternative embodiments, determining the first position of the receiving end based on the second curve information of at least two non-diffracting beams includes: determining curve equations of at least two non-diffracting beams where the receiving end is located based on at least two pieces of the second curve information; determining the first position of the receiving end based on the at least two curve equations. In this way, the sending end determines the curve equations of the trajectories of the non-diffracting beams where the receiving end is located based on the feedback information, and determines the first position of the receiving end through the at least two curve equations. This application performs positioning based on the propagation characteristics of non-diffracting beams, improving the positioning accuracy and reducing the deployment cost of the sending end.

[0010] In some alternative embodiments, the positioning system includes multiple sending ends, and the multiple sending ends are configured to send non-diffracting beams to the receiving end. In this way, one receiving end is positioned simultaneously by multiple sending ends to improve the positioning accuracy.

[0011] In some alternative embodiments, the positioning system includes multiple receiving ends, and each sending end is configured to send non-diffracting beams to the multiple receiving ends. In this way, one sending end sends non-diffracting beams to multiple receiving ends, and the sending end is positioned multiple times by the multiple receiving ends to improve the positioning accuracy.

[0012] In some alternative embodiments, if the number of non-diffracting beams sent from the sending end to the receiving end is greater than or equal to three, determining the first position of the receiving end according to the at least two curve equations specifically includes: forming an overdetermined system of equations with the curve equations of at least three non-diffracting beams; obtaining the solution of the overdetermined system of equations, and the solution is the coordinates of the receiving end in the first preset coordinate system; determining the first position according to the coordinates. In this way, by forming an overdetermined system of equations with at least three curve equations and solving the overdetermined system of equations, the positioning accuracy of the receiving end is improved.

[0013] In some alternative embodiments, the positioning method further includes: determining a weight according to the signal strength and a preset weight function, where the weight function is used to limit the influence degree of the signal strength; adjusting the first position according to the weight. In this way, by introducing the weight function, the role of non-diffracting beams corresponding to different signal strengths in the positioning process is adjusted to improve the positioning accuracy.

[0014] In some alternative embodiments, the positioning method further includes: obtaining the second position of the sending end; determining the positional relationship between the sending end and the receiving end according to the first position and the second position. Obtaining the third position of the receiving end in the second preset coordinate system, where the second preset coordinate system is established based on the third position of the receiving end; determining the fourth position of the sending end in the second preset coordinate system according to the positional relationship and the third position. In this way, the conversion of the positions of the receiving end and the sending end is realized through the positional relationship, so that the positioning method can adapt to different scenarios.

[0015] In some alternative embodiments, a transmitter is provided at the sending end, and the transmitter includes a spatial modulator. The positioning method further includes: adjusting the modulation range of the spatial modulator to increase the main lobe width of the non-diffracting beam. In this way, by increasing the main lobe width of the non-diffracting beam, the scanning range of the non-diffracting beam is increased to reduce the scanning time and improve the scanning and positioning efficiency.

[0016] In some alternative embodiments, a communication connection can be established between the sending end and the receiving end. Before sending at least two non-diffracting beams to the receiving end, the positioning method further includes: establishing a communication connection with the receiving end; determining the area where the receiving end is located according to the communication connection; determining the emission area of the at least two non-diffracting beams according to the area where the receiving end is located. In this way, by establishing a communication connection, the area where the receiving end is located is determined, and then the emission area of the non-diffracting beam is determined, that is, by initially positioning the receiving end to limit the scanning range of the non-diffracting beam to reduce the scanning time and improve the positioning efficiency.

[0017] The second aspect of the present application discloses a positioning method, which is applied to a positioning system. The positioning system includes a sending end and a receiving end. The sending end is used to emit non-diffracting beams, and the receiving end is used to receive non-diffracting beams. The positioning method includes: sending at least one non-diffracting beam to the receiving end, and each non-diffracting beam carries corresponding first curve information, where the first curve information is used to indicate the trajectory of the non-diffracting beam where the sending end is located; receiving feedback information corresponding to at least one non-diffracting beam sent by the receiving end, where the feedback information is generated by the receiving end based on the first curve information carried by the received non-diffracting wave, and the feedback information includes second curve information and first time information. The first time information includes the receiving time when the receiving end receives the non-diffracting beam and the sending time when the receiving end sends the feedback information. The second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located; obtaining second time information, where the second time information includes the second sending time when the sending end sends the non-diffracting beam and the second receiving time when the sending end receives the feedback information; determining a first position of the receiving end based on the first time information, the second time information, and the second curve information. In this way, by carrying time information in the feedback information, the sending end can achieve the positioning of the receiving end through at least one non-diffracting beam, reducing the difficulty of implementing the positioning of the receiving end.

[0018] In some optional embodiments, the feedback information further includes signal strength. After receiving the feedback information corresponding to at least one non-diffracting beam sent by the receiving end, the positioning method further includes: determining the second curve information and the first time information corresponding to the strongest signal strength according to the feedback information.

[0019] In some optional embodiments, determining the first position of the receiving end based on the first time information, the second time information, and the second curve information includes: determining the second curve information corresponding to the strongest signal strength; determining a curve equation corresponding to the trajectory of the non-diffracting beam where the receiving end is located according to the second curve information; determining a curve length parameter according to the curve equation, where the curve length parameter is used to represent the trajectory length between any point on the non-diffracting beam trajectory and the sending end; determining a transmission time according to the first time information and the second time information; obtaining a transmission distance according to the transmission time and preset speed information, where the speed information includes the propagation speed of the non-diffracting beam and the transmission speed of the feedback information; determining the first position of the receiving end according to the transmission distance, the curve length parameter, and the second curve information. In this way, in the embodiment of the present application, through the time information included in the feedback information, the positioning of the receiving end can be achieved through at least one non-diffracting beam.

[0020] In some alternative embodiments, the positioning system includes a plurality of transmitters, and the plurality of transmitters are configured to transmit non-diffracting beams to the receiver.

[0021] In some alternative embodiments, the positioning system includes a plurality of receivers, and each transmitter is configured to transmit non-diffracting beams to the plurality of receivers.

[0022] In some alternative embodiments, the number of non-diffracting beams transmitted from the transmitter to the receiver is greater than or equal to three. Determining the first position of the receiver based on the at least two second curve information specifically includes: forming an overdetermined system of equations with the curve equations of at least three of the non-diffracting beams; obtaining the solution of the overdetermined system of equations, and the solution is the coordinates of the receiver in the first preset coordinate system; determining the first position based on the coordinates.

[0023] In some alternative embodiments, the positioning method further includes: determining a weight based on the signal strength and a preset weight function, where the weight function is used to limit the influence degree of the signal strength; adjusting the first position according to the weight.

[0024] In some alternative embodiments, the positioning method further includes: obtaining the second position of the transmitter; determining the positional relationship between the transmitter and the receiver based on the first position and the second position; obtaining the third position of the receiver in the second preset coordinate system; determining the fourth position of the transmitter in the second preset coordinate system based on the positional relationship and the third position.

[0025] In some alternative embodiments, the transmitter is provided with a transmitter including a spatial modulator, and the positioning method further includes: adjusting the modulation range of the spatial modulator to increase the main lobe width of the non-diffracting beam.

[0026] In some alternative embodiments, a communication connection can be established between the transmitter and the receiver. Before transmitting at least two non-diffracting beams to the receiver, the positioning method further includes: establishing a communication connection with the receiver; determining the area where the receiver is located based on the communication connection; determining the emission area of the at least two non-diffracting beams based on the area where the receiver is located.

[0027] A third aspect of the present application discloses a positioning method, which is applied to a positioning system. The positioning system includes a transmitting end and a receiving end. The transmitting end is used to emit non-diffracting beams, and the receiving end is used to receive non-diffracting beams. The positioning method includes: receiving at least two non-diffracting beams sent by the transmitting and receiving end, each non-diffracting beam carrying corresponding first curve information, and the first curve information is used to indicate the trajectory of the non-diffracting beam where the transmitting end is located; determining second curve information according to the first curve information in the received non-diffracting beams, and the second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located; obtaining signal strength information of at least two non-diffracting beams, and the signal strength information includes the signal strength corresponding to each non-diffracting beam; judging and determining whether the signal strength is greater than a preset value; if the signal strength is greater than the preset value, obtaining the second curve information corresponding to the non-diffracting beam according to the signal strength; determining a first position of the receiving end according to the second curve information of at least two non-diffracting beams whose signal strength is greater than the preset value.

[0028] In some optional embodiments, the determining the first position of the receiving end according to the second curve information of at least two non-diffracting beams specifically includes: obtaining curve equations corresponding to at least two non-diffracting beams according to the second curve information; obtaining the first position of the receiving end according to at least two of the curve equations.

[0029] In some optional embodiments, the positioning system includes a plurality of transmitting ends, and the plurality of transmitting ends are used to send non-diffracting beams to the receiving end.

[0030] In some optional embodiments, the positioning system includes a plurality of receiving ends, and each transmitting end is used to send non-diffracting beams to the plurality of receiving ends.

[0031] In some optional embodiments, the transmitting end sends at least three non-diffracting beams to the receiving end, and the determining the first position of the receiving end according to at least two of the curve equations specifically includes: forming an overdetermined system of equations with the curve equations of at least three non-diffracting beams; obtaining the solution of the overdetermined system of equations, and the solution is the coordinate of the receiving end in a first preset coordinate system; determining the first position according to the coordinate.

[0032] In some optional embodiments, the positioning method further includes: determining a weight according to the signal strength and a preset weight function, and the weight function is used to limit the influence degree of the signal strength; adjusting the first position according to the weight.

[0033] In some alternative embodiments, the positioning method further includes: obtaining a second position of the sending end; determining a positional relationship between the sending end and the receiving end based on the first position and the second position; obtaining a third position of the receiving end in a second preset coordinate system, where the second preset coordinate system is established based on the third position of the receiving end; and determining a fourth position of the sending end in the second preset coordinate system based on the positional relationship and the third position.

[0034] In some alternative embodiments, a communication connection can be established between the sending end and the receiving end. Before sending at least two non-diffracting beams to the receiving end, the positioning method further includes: establishing a communication connection with the sending end; determining the area where the receiving end is located based on the communication connection; and determining the emission area of the at least two non-diffracting beams based on the area where the receiving end is located.

[0035] A sixth aspect of the present application discloses a sending end applied to a positioning system. The positioning system further includes a receiving end. The sending end is configured to emit non-diffracting beams, and the receiving end is configured to receive non-diffracting beams. The receiving end includes a processor and a memory; the memory is configured to store instructions; the processor is configured to call the instructions in the memory to cause the sending end to execute the positioning method in any possible implementation manner of the first aspect and the second aspect.

[0036] A seventh aspect of the present application discloses a receiving end applied to a positioning system. The positioning system further includes a sending end. The sending end is configured to emit non-diffracting beams, and the receiving end is configured to receive non-diffracting beams. The receiving end includes a processor and a memory; the memory is configured to store instructions; the processor is configured to call the instructions in the memory to cause the receiving end to execute the positioning method in any possible implementation manner of the third aspect.

[0037] An eighth aspect of the present application discloses a sending end applied to a positioning system. The positioning system further includes a receiving end. The sending end is configured to emit non-diffracting beams, and the receiving end is configured to receive non-diffracting beams. The sending end includes: a sending unit configured to send at least two non-diffracting beams to the receiving end, where each non-diffracting beam carries corresponding first curve information, and the first curve information is used to indicate the trajectory of the non-diffracting beam where the sending end is located; a receiving unit configured to receive feedback information corresponding to the at least two non-diffracting beams sent by the receiving end, where the feedback information is generated by the receiving end based on the first curve information carried by the received non-diffracting wave, and the feedback information includes second curve information, and the second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located; and a processor coupled to the sending unit and the receiving unit respectively, configured to determine a first position of the receiving end based on the curve information.

[0038] In some alternative embodiments, the feedback information further includes signal strength, and the processor is further configured to: determine, according to the feedback information, second curve information corresponding to the strongest signal strength.

[0039] In some alternative embodiments, the processor is further configured to: determine curve equations of at least two non-diffracting beam trajectories where the receiving end is located according to the second curve information; determine a first position of the receiving end according to the at least two curve equations.

[0040] In some alternative embodiments, the number of non-diffracting beams sent by the sending end to the receiving end is greater than or equal to three, and the processor is further configured to: form an overdetermined system of equations with the curve equations of at least three non-diffracting beams; obtain a solution of the overdetermined system of equations, where the solution is the coordinates of the receiving end in a first preset coordinate system; determine the first position according to the coordinates.

[0041] In some alternative embodiments, the processor is further configured to: determine a weight according to the signal strength and a preset weight function, where the weight function is used to limit the influence degree of the signal strength; adjust the first position according to the weight.

[0042] In some alternative embodiments, the processor is further configured to: obtain a second position of the sending end; determine a positional relationship between the sending end and the receiving end according to the first position and the second position; obtain a third position of the receiving end in a second preset coordinate system, where the second preset coordinate system is established based on the third position of the receiving end; determine a fourth position of the sending end in the second preset coordinate system according to the positional relationship and the third position.

[0043] In some alternative embodiments, the sending unit is provided with a non-diffracting beam transmitter, and the non-diffracting beam transmitter includes a spatial modulator, and the processor is further configured to: adjust a modulation range of the spatial modulator to increase a main lobe width of the non-diffracting beam.

[0044] In some alternative embodiments, the processor is further configured to: establish a communication connection with the receiving end;

[0045] determine an area where the receiving end is located according to the communication connection; determine an emission area of the at least two non-diffracting beams according to the area where the receiving end is located.

[0046] A seventh aspect discloses a transmitting end, which is applied to a positioning system. The positioning system further includes a receiving end. The transmitting end is configured to transmit a non-diffracting beam, and the receiving end is configured to receive the non-diffracting beam. The transmitting end includes: a transmitting unit configured to send at least one non-diffracting beam to the receiving end, and each non-diffracting beam carries corresponding first curve information, where the first curve information is used to indicate the trajectory of the non-diffracting beam where the transmitting end is located; a receiving unit configured to receive feedback information corresponding to at least one non-diffracting beam sent by the receiving end, where the feedback information is generated by the receiving end based on the first curve information carried by the received non-diffracting wave, and the feedback information includes curve information and first time information. The first time information includes the receiving time when the receiving end receives the non-diffracting beam and the sending time when the receiving end sends the feedback information. The second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located; a processor, coupled to the transmitting unit and the receiving unit respectively, configured to obtain second time information, where the second time information includes the sending time when the transmitting end sends the non-diffracting beam and the receiving time when the transmitting end receives the feedback information; and determine a first position of the receiving end based on the first time information, the second time information, and the second curve information.

[0047] In some alternative embodiments, the feedback information further includes a signal strength, and the processor is further configured to: determine the second curve information and the first time information corresponding to the strongest signal strength based on the feedback information.

[0048] In some alternative embodiments, the processor is further configured to: determine a curve equation of the trajectory of the non-diffracting beam where the receiving end is located based on the curve information; determine a curve length parameter based on the curve equation, where the curve length parameter is used to represent the trajectory length between any point on the trajectory of the non-diffracting beam and the transmitting end; determine a transmission time based on the first time information and the second time information; obtain a transmission distance based on the transmission time and preset speed information, where the speed information includes the propagation speed of the non-diffracting beam and the transmission speed of the feedback information; and determine the first position of the receiving end based on the transmission distance, the curve length parameter, and the second curve information.

[0049] In some alternative embodiments, the transmitting end sends at least three non-diffracting beams to the receiving end, and the processor is further configured to: form an overdetermined system of equations with the curve equations of at least three non-diffracting beams; obtain a solution of the overdetermined system of equations, where the solution is the coordinates of the receiving end in a first preset coordinate system; and determine the first position based on the coordinates.

[0050] In some alternative embodiments, the processor is further configured to: determine a weight according to the signal strength and a preset weight function, where the weight function is used to define the influence degree of the signal strength; adjust the first position according to the weight.

[0051] In some alternative embodiments, the processor is further configured to: obtain a second position of the sending end; determine the positional relationship between the sending end and the receiving end according to the first position and the second position; obtain a third position of the receiving end in a second preset coordinate system, where the second preset coordinate system is established based on the third position of the receiving end; determine a fourth position of the sending end in the second preset coordinate system according to the positional relationship and the third position.

[0052] In some alternative embodiments, the sending unit is provided with a transmitter, and the transmitter includes a spatial modulator. The processor is further configured to: adjust the modulation range of the spatial modulator to increase the main lobe width of the non-diffracting beam.

[0053] In some alternative embodiments, the sending end further includes a communication unit, and the communication unit is configured to establish a communication connection with the receiving end; the processor is further configured to: determine the area where the receiving end is located according to the communication connection; determine the emission area of the at least two non-diffracting beams according to the area where the receiving end is located.

[0054] A receiving end is disclosed in a eighth aspect, which is applied to a positioning system. The positioning system further includes a sending end, and the sending end is configured to emit non-diffracting beams. The receiving end is configured to receive non-diffracting beams. The receiving end includes: a receiving unit, configured to receive at least two non-diffracting beams sent by the sending end, and each non-diffracting beam carries corresponding first curve information, where the first curve information is used to indicate the trajectory of the non-diffracting beam where the sending end is located; a processor, coupled to the receiving unit, determines second curve information according to the first curve information in the received non-diffracting beams, where the second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located; is further configured to obtain signal strength information of at least two non-diffracting beams, where the signal strength information includes the signal strength corresponding to each non-diffracting beam; determine whether the signal strength is greater than a preset value; if the signal strength is greater than the preset value based on this, obtain the second curve information corresponding to the non-diffracting beam according to the signal strength; determine a first position of the receiving end according to the second curve information of at least two non-diffracting beams whose signal strength is greater than the preset value.

[0055] In some alternative embodiments, the processor is further configured to: obtain curve equations corresponding to at least two non-diffracting beams according to the second curve information; determine a first position of the receiving end according to at least two curve equations.

[0056] In some alternative embodiments, if the number of non-diffracting beams sent from the sending end to the receiving end is greater than or equal to three, the processor is further configured to: form an overdetermined system of equations with the curve equations of at least three of the non-diffracting beams; obtain the solution of the overdetermined system of equations, and the solution is the coordinate of the receiving end in the first preset coordinate system;

[0057] Determine the first position of the receiving end according to the coordinate.

[0058] In some alternative embodiments, the processor is further configured to: determine a weight according to the signal strength and a preset weight function, where the weight function is used to limit the influence degree of the signal strength; adjust the first position according to the weight.

[0059] In some alternative embodiments, the processor is further configured to: obtain the second position of the sending end; determine the positional relationship between the sending end and the receiving end according to the first position and the second position; obtain the third position of the receiving end in a second preset coordinate system, where the second preset coordinate system is established based on the third position of the receiving end; determine the fourth position of the sending end in the second preset coordinate system according to the positional relationship and the third position.

[0060] The ninth aspect of the present application discloses a computer-readable storage medium, and the computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, a positioning method according to any possible implementation manner of the first aspect to the third aspect is implemented.

[0061] For the technical effects brought by the second aspect to the ninth aspect, reference may be made to the relevant descriptions of the methods involved in the method part above, and details are not described herein again. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 is an environmental schematic diagram of a positioning system provided by an embodiment of the present application.

[0063] Figure 2 is a schematic structural diagram of a transmitter provided by an embodiment of the present application.

[0064] Figure 3A , 3B and 3C are schematic diagrams of non-diffracting beams provided by an embodiment of the present application.

[0065] Figure 4 is a flowchart of a positioning method provided by an embodiment of the present application.

[0066] Figure 5 is a flowchart of a method for solving the position of a receiving end provided by an embodiment of the present application.

[0067] Figure 6It is a flowchart of a position conversion method provided by an embodiment of the present application.

[0068] Figure 7 It is a flowchart of a pre-positioning method provided by an embodiment of the present application.

[0069] Figure 8 It is a flowchart of another positioning method provided by an embodiment of the present application.

[0070] Figure 9 It is a flowchart of another receiving-end position solving method provided by an embodiment of the present application.

[0071] Figure 10 It is a flowchart of yet another positioning method provided by an embodiment of the present application.

[0072] Figure 11 It is a schematic diagram of a transmitting-end device provided by an embodiment of the present application.

[0073] Figure 12 It is a schematic diagram of a receiving-end device provided by an embodiment of the present application. Detailed implementation manners

[0074] For ease of understanding, some explanations of concepts related to the embodiments of the present application are exemplarily given for reference.

[0075] It should be noted that in the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims, and drawings of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0076] To facilitate understanding of the embodiments of the present application, first, in combination with Figure 1 briefly introduce the positioning system applicable to the embodiments of the present application. Figure 1 It is a schematic diagram of a positioning system 1 applicable to the embodiments of the present application. As Figure 1 shown, the positioning system 1 includes an anchor node 10, and the positioning system 1 further includes a user equipment 30 and a user equipment 40 located within the coverage range of the anchor node 10.

[0077] Optionally, the anchor node 10 can communicate with the user equipment 30 and the user equipment 40.

[0078] It should be understood that Figure 1Only two user equipments within the coverage of the anchor node 10 are taken as examples. Obviously, there may be more user equipments within the coverage of the anchor node 10, and the positioning system 1 may include more anchor nodes.

[0079] The user equipment in the embodiments of the present application may refer to a terminal device, an access terminal, a user unit, a user station, a mobile station, a mobile platform, a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent or a user device. The user equipment may also be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing devices connected to a wireless modem, a vehicle-mounted device, a wearable device, a user equipment in a 5G network or a user equipment in a future evolved public land mobile network (PLMN), etc. The embodiments of the present application do not limit this.

[0080] The anchor node in the embodiments of the present application may be a device for communicating with the user equipment. The anchor node may be a base station (node B, NB), an evolved base station (evolutional node B, eNB), a base station in the NR of a 5G mobile positioning system, a base station in a future mobile positioning system or an access node in a WiFi system, etc. The embodiments of the present application do not limit the specific technologies and specific device forms adopted by the anchor node. Unless otherwise specified, in the present application, the expressions of 5G system and NR system can be interchanged.

[0081] In the anchor node and the user equipment in the embodiments of the present application, one is a receiving end and the other is a sending end. That is, if the user equipment is the sending end, the anchor node is the receiving end; if the anchor node is the sending end, the user equipment is the receiving end. The sending end is provided with a non-diffracting beam transmitter, and the receiving end is provided with a non-diffracting beam receiver. The non-diffracting beam transmitter is used to transmit non-diffracting beams, and the non-diffracting beam receiver is used to receive non-diffracting beams. The receiving end can generate corresponding feedback information based on the received non-diffracting beams and send the feedback information to the sending end.

[0082] Common waves, such as electromagnetic waves, sound waves, etc., will have diffraction phenomena. During the propagation process, waves will be accompanied by divergence phenomena. The degree of divergence is related to the wavelength. Therefore, even if lenses, antenna arrays, etc. are used to constrain the beam, there will still be a limit to divergence that cannot be broken through, that is, the so-called minimum divergence angle of 1.22λ / D, where λ is the wavelength and D is the aperture of the lens or antenna (array). If conventional electromagnetic waves, sound waves, etc. are used for positioning, due to the existence of diffraction, the measurement accuracy of positioning parameters will be limited. For example, the measurement of the signal arrival angle or the emission angle, the accuracy error is greater than the minimum divergence angle. For example, for electromagnetic waves with λ = 1 cm and the antenna array size of 10 cm, the angle error will be greater than 0.12 radians. The measurement error of the parameters will lead to calculation errors in the positioning results.

[0083] In addition, during the propagation process of waves, they may be blocked by obstacles. Due to the diffraction effect, waves have the ability to bypass obstacles, but this ability is related to the wavelength. If the size of the obstacle is significantly larger than the wavelength, it is very difficult for the wave to bypass, and thus it will be reflected, or there will be a large attenuation when penetrating the obstacle, resulting in a non-line-of-sight phenomenon, that is, the signal strength, angle, time, etc. information of the positioning measurement will all have extremely large errors, seriously affecting the accuracy of the positioning results.

[0084] To solve the above problems, this application provides a method for positioning using non-diffracting beams. Non-diffracting beams are special solutions of the wave equation, and it includes many types, such as Bessel beams, Airy beams, Mathieu beams, Weber beams, etc.

[0085] Among them, the main lobe of the non-diffracting beam propagates along a specific curve, and the energy of the main lobe during the propagation process remains unchanged all the time, that is, there is no diffusion and no diffraction.

[0086] Furthermore, Bessel beams propagate in a straight line. Similarly, Mathieu beams and Weber beams can be obtained respectively based on the elliptic cylindrical coordinate system and the parabolic coordinate system, which also satisfy the non-diffracting propagation characteristics and can also achieve curved propagation. Based on different coordinate system transformations, in fact, different non-diffracting beam solutions can be obtained, so there are infinitely many types of non-diffracting beams.

[0087] It can be understood that a non-diffracting beam transmitter at a sending end can transmit the same type of non-diffracting beam to multiple receiving ends, or can transmit multiple types of non-diffracting beams to multiple receiving ends. Of course, it can also be that multiple non-diffracting beam transmitters simultaneously transmit one or more types of non-diffracting beams to a receiving end, which is not limited here.

[0088] In an embodiment of the present application, the positioning system 1 includes multiple transmitters. The non-diffracting beam transmitters of the multiple transmitters can send non-diffracting beams to a receiver. In this way, positioning is achieved through the cooperation of the multiple transmitters and the receiver to improve the positioning accuracy. For example, the anchor node is a transmitter with a known position, and the user equipment is a receiver. The non-diffracting beam is sent from the anchor node to the user equipment to position the user equipment.

[0089] In an embodiment of the present application, the positioning system 1 includes multiple receivers. Multiple transmitters can send non-diffracting beams to the multiple receivers. In this way, positioning is achieved through the cooperation of the transmitters and the multiple receivers to improve the positioning accuracy. For example, the anchor node is a receiver with a known position, and the user equipment is a transmitter. The non-diffracting beam is emitted from the user equipment to the anchor node to position the anchor node. The position relationship between the user equipment and the anchor node is determined based on the initially positioned position and the position of the user equipment. The position of the user equipment is determined based on the known position of the anchor node and the position relationship, thereby achieving the positioning of the user equipment.

[0090] There are many methods to generate non-diffracting beams. For example, Bessel beams can be generated by inputting a Gaussian beam into an axicon. The width of the Gaussian beam is 2R, the refractive index of the axicon is n, and the angle between the conical surface of the prism and the plane is α. Then, Bessel beams can be generated within the focal depth distance of R / [(n - 1)α]. The role of the axicon is to generate spatial phase modulation for the Gaussian beam. Therefore, there are other methods to achieve spatial phase modulation, such as based on liquid crystals or metasurfaces. The liquid crystal or metasurface spatial modulator consists of multiple units on a plane. Each unit generates an additional phase for the incident wave. The additional phase of each unit is adjustable, thus achieving spatial phase modulation. The spatial phase modulator can be transmissive or reflective, that is, the incident light can pass through the spatial phase modulator or be reflected by the spatial phase modulator to achieve modulation. Among them, the method of adjusting the phase of liquid crystals is to apply different voltages to the units to change the refractive index of the units. The metasurface achieves the addition of phase through nanostructured units, and the phase of each unit is changed by methods such as micromachined movement, thermal or electrical excitation of phase change materials.

[0091] Please refer to Figure 2 , which is a schematic diagram of a non-diffracting beam transmitter provided by the present application.

[0092] The non-diffracting beam transmitter 2 includes an incident beam generator 21 and a spatial modulator 22. The incident beam generator 21 is used to generate a conventional beam, such as a Gaussian beam. The beam generated by the incident beam generator 21 is incident on the spatial modulator 22. The spatial modulator 22 adjusts the corresponding phase or amplitude at multiple wavefront positions according to the preset settings, thereby achieving spatial modulation to generate a non-diffracting beam with a desired propagation trajectory. For example, a straight trajectory, a curved trajectory, etc.

[0093] In an embodiment of the present application, since the main lobe width of the non-diffracting beam is limited, the scanning range of the trajectory of each non-diffracting beam is small. In one embodiment, K adjacent modulation units of the spatial modulator 22 are set to the same modulation. For example, 10 modulation units are modulated at the same phase value, and the main lobe width of the non-diffracting beam is increased by reducing the modulation accuracy. Specifically, all the modulation units of the spatial modulator can be set to the same phase value, and then the main lobe width of the non-diffracting beam reaches the maximum.

[0094] Of course, it can be understood that the main lobe width of the non-diffracting beam can also be increased by other means.

[0095] In this way, by increasing the main lobe width of the non-diffracting beam, the scanning range of each non-diffracting beam is increased, the time for the non-diffracting beam to scan to the receiving end is reduced, and the positioning efficiency is improved.

[0096] In an embodiment of the present application, the spatial modulator is divided into two or more sub-unit arrays, and the input beam is spatially modulated respectively to form two or more non-diffracting beams, so that a transmitting end can simultaneously transmit multiple non-diffracting beams. By simultaneously positioning a receiving end with multiple non-diffracting beams, the positioning accuracy and efficiency are improved.

[0097] There is a non-diffracting solution to the wave equation of the non-diffracting beam, and the peak intensity of the light field does not change with the propagation distance. To generate a non-diffracting beam represented by a specific equation, the wavefront of the beam can be modulated, that is, on the plane where the spatial modulator is located, the phase and amplitude of the beam after modulation on the plane are equal to the phase and amplitude in the wave equation. In theory, to generate a non-diffracting beam, wavefront modulation needs to be carried out on an infinite plane. In practice, it can only be based on a finite plane. Therefore, the generated non-diffracting beams are all approximate, that is, they can maintain good non-diffracting characteristics within a certain distance. Generally, the non-diffracting propagation distance is related to the aperture of the spatial modulator, the wavelength, etc. The larger the aperture and the shorter the wavelength, the farther the non-diffracting propagation distance. For a spatial modulator with an aperture of 10 square centimeters, millimeter-wave signals can achieve non-diffracting propagation from several meters to dozens of meters, and terahertz and light can achieve non-diffracting propagation from hundreds of meters to dozens of kilometers. This propagation distance can meet the positioning applications in various scenarios.

[0098] In addition, non-diffracting beams with arbitrary propagation trajectories can be generated by the caustic method. For a two-dimensional curve, the tangent line of the propagation trajectory curve has an intersection point on the axis of the spatial modulator, and the phase of this point can be obtained through a specific formula. For a three-dimensional curve, it can be decomposed into two two-dimensional curves for calculation, that is, the projection curves of the three-dimensional curve on two perpendicular planes XOZ and YOZ. The phases φ(x) and φ(y) on the x-axis and y-axis in the projection planes are calculated respectively. For the phase on the XOY plane, it can be obtained by φ(x,y) = φ(x) + φ(y). Therefore, by only performing phase modulation on each unit of the spatial modulator, beams with arbitrary curve propagation trajectories can be obtained.

[0099] Please refer to Figure 3A , Figure 3B and Figure 3C , which are respectively the propagation schematic diagrams of three non-diffracting beams. As Figure 3A shown, the trajectory of the non-diffracting beam is a curve, and non-diffracting beams with a curve trajectory can be set to bypass obstacles between the anchor node and the user equipment. As Figure 3B shown, the non-diffracting beam has a self-healing property, that is, it can recover the signal after passing through small obstacles, alleviating the occlusion problem. As Figure 3C shown, the non-diffracting beam has a main lobe of a super-diffracting beam, which can improve the parameter measurement accuracy including the angle.

[0100] As Figure 4 shown, it is a flowchart of a positioning method provided by an embodiment of the present application, which is applied to a positioning system.

[0101] It can be understood that for the positioning scenario of the user equipment, most often only the coordinates of the user equipment in the X-axis and Y-axis directions in the preset coordinate system are required, and less attention is paid to the height of the user equipment. Therefore, in the embodiment of the present application, the positioning method is used to determine the position of the user equipment in a two-dimensional coordinate system, or a special three-dimensional coordinate system with the Z-axis direction being 0. Of course, the present application only takes determining the coordinates of the user equipment in the X-axis and Y-axis directions as an example. The positioning method provided by the present application can also be used to determine the position of the user equipment in a three-dimensional coordinate system, that is, the positioning method of the present application can obtain the height information where the user equipment is located.

[0102] Furthermore, the position of the user equipment is not limited to the coordinates in the coordinate system, but can also be longitude and latitude information, the relative position with a preset object, etc. Here, the type of the position of the user equipment is not limited, and a suitable position type can be selected according to the actual application.

[0103] In an embodiment of the present application, the positioning method includes:

[0104] Step S301: Send at least two non-diffracting beams to the receiving end. Each non-diffracting beam carries corresponding first curve information, and the first curve information is used to indicate the trajectory of the non-diffracting beam.

[0105] Furthermore, the non-diffracting beam is emitted by the transmitting end, and the first curve information is also used to indicate the trajectory of the non-diffracting beam where the transmitting end is located.

[0106] It can be understood that at least two non-diffracting beams have at least two beam trajectories, and each beam trajectory corresponds to a curve equation. For example, Bessel beam, Airy beam, Mathieu beam, Weber beam, and each beam corresponds to a beam trajectory. Of course, due to different parameter settings such as the emission angle, the curve trajectories of the same type of beam can also correspond to multiple ones. For example, the curve trajectories of two Bessel beams sent at emission angles of 30 degrees and 60 degrees respectively are different.

[0107] In one embodiment, the incident wave generator at the transmitting end can send the non-diffracting beam and the curve information corresponding to the non-diffracting beam to the spatial modulator for spatial modulation and then send it to the receiving end. The receiving end uses the non-diffracting beam receiver to demodulate the non-diffracting beam to obtain the corresponding first curve information.

[0108] In one embodiment, the receiving end can obtain the curve equation corresponding to the non-diffracting beam according to the first curve information, and obtain the position of the receiving end in the preset coordinate system according to at least two of the curve equations.

[0109] Exemplarily, the at least two curve equations determined according to the first curve information are respectively: y = x 2 and y 2 = 3x + 4; thus, the values of x and y can be determined through mathematical calculations. Of course, some additional values can be excluded according to the scenario in the calculation process, such as values that do not conform to physical common sense, which will not be elaborated here.

[0110] In this way, in this application, the transmitting end only needs to send at least two non-diffracting beams to the receiving end. The receiving end determines the curve equations corresponding to at least two non-diffracting beams according to the curve information, and the two curve equations include two unknowns, that is, the coordinates of the receiving end in the preset coordinate system. Then, the values of these two unknowns can be determined through mathematical calculations, and this value is the position coordinate of the receiving end in the preset coordinate system. This positioning method locates the receiving end based on the propagation characteristics of the non-diffracting beam to improve the positioning accuracy. And this positioning method requires a small number of transmitting ends to be deployed, that is, only one transmitting end is needed to achieve positioning, which can save the deployment cost of the transmitting end.

[0111] It can be understood that in this embodiment and the following various embodiments, the curve equations are all in the preset coordinate system, that is, the curve equations are formed based on the preset coordinate system.

[0112] It can be understood that the curve equation can be the trajectory equation of the non-diffracting beam, or other equations corresponding to the non-diffracting beam, such as the trajectory length equation. Thus, the receiving end obtains the corresponding equation according to the curve information and determines the position of the receiving end according to the corresponding equation.

[0113] It can be understood that in another embodiment, the positioning method further includes:

[0114] Step S302: Receive the feedback information corresponding to at least two non-diffracting beams sent by the receiving end, where the feedback information carries second curve information.

[0115] Among them, the feedback information is generated by the receiving end according to the first curve information carried by the non-diffracting beam searched by the transmitting end received by the receiving end. The second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located.

[0116] Specifically, after the non-diffracting beam receiver of the receiving end receives the non-diffracting beam signal, it records the first curve information. The receiving end generates corresponding feedback information according to the first curve information. The feedback information includes the second curve information and sends the feedback information to the transmitting end.

[0117] In one embodiment, for the first curve information and the second curve information of the same non-diffracting beam, the first curve information and the second curve information can be the same content. For example, both the first curve information and the second curve information are the identification value "110", where 110 is used to indicate a curve equation of a Mathieu beam stored in the transmitting end. Of course, the first curve information and the second curve information can also be different contents. For example, the first curve information is the identification value "120" and the second curve information is curve equation A, but the trajectories of the non-diffracting beams indicated by the first curve information and the second curve information are the same.

[0118] Optionally, the receiving end determines the one with the strongest signal strength among the signals of multiple beams of the same type received, and generates feedback information corresponding to the non-diffracting beam. For example, when the receiving end receives multiple Mathieu beams, it generates feedback information only based on the Mathieu beam with the strongest signal.

[0119] Optionally, the feedback information further includes the signal strength, and the positioning method further includes:

[0120] Determine the second curve information corresponding to the strongest signal strength according to the feedback information.

[0121] For example, when the receiving end receives multiple feedback information of multiple Airy beams, it performs positioning by determining the Airy beam with the strongest signal strength to improve the positioning accuracy.

[0122] Specifically, for each non-diffracting beam received by the receiving end, record the signal intensity of the non-diffracting beam, generate feedback information based on the signal intensity and the first curve information carried by the non-diffracting beam. After the sending end receives the feedback information, determine the corresponding signal intensities of multiple identical non-diffracting beams according to the second curve information in the feedback information, and determine the non-diffracting beam with the strongest signal intensity among multiple identical types of non-diffracting beams through comparison as the positioning basis.

[0123] Step S303: Determine the first position of the receiving end in the first preset coordinate system according to the second curve information of the at least two non-diffracting beams.

[0124] Specifically, the second curve information can be the indication information of the non-diffracting beam, which is used to indicate the curve equation corresponding to the trajectory of the non-diffracting beam where the receiving end is located, such as the curve trajectory equation and the curve length equation. At least two equations can be obtained through the curve information of at least two non-diffracting beams, and the position of the receiving end can be obtained by solving these two equations. Of course, the position of the receiving end can also be determined by setting the content of the second curve information. For example, the second curve information is the trajectory equation corresponding to the non-diffracting beam. Of course, it can also be solved based on other methods of the second curve information.

[0125] It can be understood that this embodiment only takes the position in the first preset coordinate system as an example. During the process of positioning the receiving end, the receiving end can be positioned through other types of relative positions.

[0126] In this way, the embodiment of the present application utilizes the characteristics that the non-diffracting beam's wave equation has non-diffracting solutions and the peak intensity of the light field does not change with the propagation distance, that is, the curve trajectory of the non-diffracting beam remains unchanged during propagation. The sending end emits non-diffracting beams, and after the receiving end receives the non-diffracting beams, generates feedback information and sends the feedback information to the sending end. The receiving end determines the trajectory of the non-diffracting beam where the receiving end is located through the curve information in the feedback information, and determines the position of the receiving end according to the curve information. The present application can utilize non-diffracting waves to achieve a narrow main lobe beam beyond the diffraction limit, thereby improving the positioning accuracy. By sending at least two non-diffracting beams from one sending end, the positioning of the receiving end can be realized, and the positioning cost can be saved.

[0127] In an embodiment of the present application, please refer to Figure 5 , step S303 specifically includes:

[0128] Step S3031: Determine the curve equations of the trajectories of at least two non-diffracting beams where the receiving end is located according to the second curve information.

[0129] Specifically, the second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located. Each non-diffracting beam corresponds to a curve equation, and this curve equation represents the trajectory of the non-diffracting beam. That is, there is an association relationship between the second curve information and the curve equation. Based on the second curve information and the association relationship, the curve equation of the trajectory of the non-diffracting beam where the receiving end is located can be determined.

[0130] For example, the curve equation of the non-diffracting beam is: zcosθ - xsinθ = a(xcosθ + zsinθ) 2 , when θ = θ1 and the receiving end receives the non-diffracting beam with the strongest intensity, the receiving end is located on the curve trajectory of the non-diffracting beam with the curve equation zcosθ1 - xsinθ1 = a(xcosθ1 + zsinθ1) 2 , for example, θ1 can be 30 degrees.

[0131] Step S3032, determine the first position of the receiving end in the first preset coordinate system according to the curve equations of the at least two non-diffracting beams.

[0132] Exemplarily, taking the user equipment to be located in the preset coordinate system as an example, where the preset coordinate system is a two-dimensional coordinate system XY. Assume the coordinates of the user equipment in the preset coordinate system are (x, y). By using the curve information, the curve equation one of the two non-diffracting beams where the user equipment is located is f(x,y) = 0, and the curve equation two is g(x,y). Here, the curve equation one and the curve equation two are the curve equations based on the preset coordinate system XY. Based on the two curve equations, two unknowns x and y can be calculated to determine the position coordinates of the user equipment, and further determine the position of the user equipment in the preset coordinate system.

[0133] Certainly, the preset coordinate system can also be a three-dimensional coordinate system XYZ. Then assume the coordinates of the user equipment in the preset coordinate system are (x, y, z). z can be set to 0. By using the curve information, the curve equation one of the two non-diffracting beams where the user equipment is located is f(x,y,0) = 0, and the curve equation two is g(x,y,0). Here, the curve equation one and the curve equation two are the equations based on the preset coordinate system XYZ. Based on the two curve equations, two unknowns x and y can be calculated to determine the position coordinates of the user equipment, and further determine the position of the user equipment in the preset coordinate system.

[0134] It can be understood that if the positioning method also needs to obtain the height of the user device, it is assumed that the coordinates of the user device in the preset coordinate system are (x, y, z). At least three non-diffracting beam curve equations where the user device is located are determined through curve information. For example, the first curve equation is f(x, y, z) = 0, the second curve equation is g(x, y, z), and the third curve equation is h(x, y, z). Among them, the first curve equation, the second curve equation, and the third curve equation are equations based on the preset coordinate system XYZ. Based on the three curve equations, three unknowns x, y, and z can be calculated to obtain the position coordinates of the user device, and then the position of the user device in the preset coordinate system can be determined.

[0135] In this way, in the embodiment of the present application, by using the characteristic that the wave equation of the non-diffracting beam has a non-diffracting solution and the peak intensity of the optical field does not change with the propagation distance, that is, the curve trajectory of the non-diffracting beam hardly changes during the propagation process. The transmitting end emits the non-diffracting beam, and after the receiving end receives the non-diffracting beam, feedback information is generated and sent to the receiving end. The receiving end determines the trajectory of the non-diffracting beam where the receiving end is located through the feedback information, and determines the position of the receiving end according to the curve equation corresponding to the trajectory. The present application can use the non-diffracting wave to realize a narrow main lobe beam beyond the diffraction limit, thereby improving the positioning accuracy. By sending at least two non-diffracting beams from one transmitting end, the positioning of the receiving end can be realized, and the positioning cost can be saved.

[0136] Furthermore, if there is an obstacle between the receiving end and the transmitting end, a non-diffracting beam with a curved trajectory can be selected so that the trajectory of the non-diffracting beam bypasses the obstacle and reaches the receiving end.

[0137] Among them, the non-diffracting beam transmitter of a single transmitting end can generate various types of non-diffracting beams. By sending different non-diffracting beams multiple times from the transmitting end to detect the position of the receiving end, the effect of positioning a user device through multiple anchor nodes can be achieved, thereby reducing the deployment cost of the transmitting end. And because the main lobe width of the non-diffracting beam is very small, even exceeding the diffraction limit, higher positioning accuracy can be achieved. For example, if the wavelength λ of the non-diffracting beam is 1 cm and the aperture size of the spatial modulator is 10 cm, the positioning angle accuracy can reach within 0.01 radians.

[0138] In an embodiment of the present application, if the position of the receiving end in a transition coordinate system is known, such as (0, 0, 0), the position of the receiving end in the preset coordinate system can be obtained through the positioning method, and the position relationship is determined by the positions of the receiving end and the transmitting end in the preset coordinate system. Based on the position relationship and the position of the receiving end in the transition coordinate system, the position of the transmitting end in the transition coordinate system is determined. Specifically, please refer to Figure 6 , the positioning method further includes:

[0139] Step S401: Obtain the second position of the sending end in the first preset coordinate system.

[0140] In one embodiment, the sending end may be located at the center of the first preset coordinate system, such as (0, 0, 0). Of course, in other embodiments, the sending end may also be located at other positions in the first preset coordinate system.

[0141] Step S402: Determine the positional relationship between the sending end and the receiving end based on the first position and the second position.

[0142] For example, if the coordinates of the sending end and the receiving end in the first preset coordinate system are (0, 0, 0) and (200, 300, 0) respectively, the sending end can reach the receiving end by translating along the X-axis, Y-axis or Z-axis, and this translation process can be the positional relationship between the sending end and the receiving end.

[0143] Of course, the positional relationship between the sending end and the receiving end can also be established by other means, such as a mapping relation table, etc.

[0144] Step S403: Obtain the third position of the receiving end in the second preset coordinate system.

[0145] The second preset coordinate system is established based on the third position of the receiving end, such as taking the position of the receiving end as the coordinate origin.

[0146] For example, the position coordinates of the receiving end in the real scenario, that is, the second preset coordinate system is a coordinate system known and applied to the real scenario.

[0147] Step S404: Determine the fourth position of the sending end in the second preset coordinate system based on the positional relationship and the third position.

[0148] Exemplarily, the anchor node is the receiving end, the user equipment is the sending end, the position of the anchor node is fixed and known, then the sending end can send a non-diffracting beam, and through the above positioning method, the position of the anchor node in the preset coordinate system can be obtained, the positional relationship between the anchor node and the user equipment can be established based on the positions of the sending end and the receiving end in the preset coordinate system, and based on the known position of the anchor node in the transition coordinate system, the position of the user equipment in the transition coordinate system can be determined.

[0149] In this way, the sending end sends a non-diffracting beam to the receiving end. The sending end determines the trajectory of the non-diffracting beam where the receiving end is located according to the second curve information in the feedback information sent by the receiving end, and then determines the position of the receiving end through this trajectory. In this positioning method, the non-diffracting beam transmitter can be set on the user equipment to be located, or can also be set on an anchor node with a known position, and the position of the user equipment can be obtained through the above method. If the receiving end is an anchor node, after obtaining the position of the anchor node, the true position of the user equipment can be determined according to the position relationship between the anchor node and the user equipment.

[0150] In an embodiment of the present application, the anchor node is a base station. A communication connection can be established between the base station and the user equipment. For example, the base station sends broadcast information to the user equipment to be located to enable the user equipment to establish a communication connection with the base station. For example, if the user equipment initially accesses the base station, the approximate area of the user equipment to be located can be determined through the initial access process. The base station, as the sending end, sends a non-diffracting beam to this area to reduce the scanning duration of the sending end, reduce the positioning time, and improve the positioning efficiency.

[0151] Please refer to Figure 7 , the positioning method further includes the steps of:

[0152] Step S501: Send broadcast information to the receiving end to establish a communication connection with the receiving end.

[0153] Specifically, the base station sends broadcast information to the user equipment to enable the user equipment to initially access the base station.

[0154] It can be understood that in other embodiments, the sending end and the receiving end can establish a communication connection through other means, not limited to sending broadcast information.

[0155] Step S502: Determine the area where the receiving end is located according to the communication connection.

[0156] For example, through the communication connection established between the base station and the user equipment, the cell or tracking area where the user equipment is located is determined, and this cell or tracking area is the area where the user equipment is located.

[0157] Step S503: Determine the emission area of the at least two non-diffracting beams according to the area where the receiving end is located.

[0158] So that the sending end sends a non-diffracting beam to this emission area to reduce the time of positioning scanning.

[0159] It can be understood that the present application only takes the base station and the user equipment as examples. It can be understood that the receiving end and the sending end can also pre-position the receiving end through other means to limit the approximate position of the receiving end, and then limit the emission range of the non-diffracting beam to reduce the time of positioning scanning.

[0160] Understandably, there are various types of non-diffracting beam trajectories. For example, the trajectory of a Bessel beam is a straight line trajectory, and the trajectories of Mathieu beams and Weber beams have extended bending directions. Therefore, different types of non-diffracting beams can be selected according to different positional relationships or environmental states between the transmitter and the receiver.

[0161] For example, if there are no obstacles between the transmitter and the receiver and the general area of the receiver is known, the transmitter can directly send a non-diffracting beam with a straight line trajectory to achieve fast positioning and reduce the difficulty of positioning. If there are many obstacles between the transmitter and the receiver, a non-diffracting beam with a curved trajectory can be selected so that the non-diffracting beam can bend in different orientations to bypass the obstacles.

[0162] In one embodiment, the positioning method further includes:

[0163] Determining the environmental parameters of the transmitter and the receiver;

[0164] Determining the type of non-diffracting beam according to the environmental parameters.

[0165] In one embodiment of the present application, the user equipment to be positioned only needs to determine the coordinates in the X direction and Y direction in the preset coordinate system, or the coordinates in the X direction, Y direction and Z direction. That is, the position coordinates of the user equipment to be positioned include two or three unknowns. However, when the transmitter sends at least two non-diffracting beams to the receiver, such as 3, 4, or 5 beams, then based on the non-diffracting beams, more than two curve equations can be determined. The number of curve equations is greater than the number of unknowns, and a system of overdetermined equations is formed by combining multiple curve equations.

[0166] In one embodiment, for a system of overdetermined equations, assuming there are n equations and k unknowns, where n and k are both positive integers and n > k, P systems of equations each containing only k equations can be constructed. Each system of equations contains different equations, and P solutions are obtained respectively, and then the arithmetic mean is calculated to obtain the final solution. This solution is the position coordinate of the receiver.

[0167] Of course, the system of overdetermined equations can also be solved by other methods, such as the Newton method.

[0168] Thus, the positioning method further includes:

[0169] Combining the curve equations of at least three non-diffracting beams to form a system of overdetermined equations;

[0170] Obtaining the solution of the system of overdetermined equations, and this solution is the first position of the receiver in the first preset coordinate system.

[0171] Thus, by setting the number of non-diffracting beams to be greater than the number of receiving-end position coordinates, for example, greater than 2, and forming an overdetermined system of equations from the curve equations of multiple non-diffracting beams, the position coordinates of the receiving end are obtained by solving the overdetermined system of equations. By forming the overdetermined system of equations, as many non-diffracting beams as possible are used to locate the receiving end, so as to improve the positioning accuracy.

[0172] In one embodiment of the present application, the transmitter can send multiple non-diffracting beams to the receiver each time. However, the signal intensities of different non-diffracting beams received by the receiver are usually different, and non-diffracting beams with different signal intensities have different degrees of influence on the positioning of the receiver. Thus, a weight function a(P) is introduced, and a(P) is used to represent the degree of influence of the signal intensity on the positioning of the receiver. Then, a new weight equation a(P)f(x, y, z)=0 can be obtained, where f(x, y, z) is the curve equation of the non-diffracting beam. For example, when P<P0, a(P)=0, otherwise a(P)=P, that is, when the signal intensity is less than a specific value, the curve equation of the non-diffracting beam has a low correlation with the positioning accuracy of the receiving end. If the weight function a(P) is 0, this curve equation can be ignored when solving the position coordinates of the receiving end.

[0173] In other embodiments, for example, during the solution process of the overdetermined system of equations, the following equation is formed: To obtain the minimum value that satisfies this equation, and then obtain the position coordinates of the receiving end with the minimum error, where is the weight, P ij is the received signal intensity, and f(x, y, z) is the curve equation of the non-diffracting beam.

[0174] In another embodiment, assuming that the signal intensity range of the non-diffracting beam is (-100dBm, -30dBm), the weight function can be set as (Q + 100) / 10, where Q is the signal intensity. For example, when Q is -85dBm, the weight is 1.5. By introducing this weight into the corresponding curve equation of the overdetermined system of equations, the solution accuracy of the receiving-end position is improved.

[0175] Specifically, in one embodiment of the present application, forming the overdetermined system of equations from the curve equations of at least three non-diffracting beams specifically includes:

[0176] Determining the weight according to the signal intensity and a preset weight function, and the weight function is used to limit the influence degree of the signal intensity;

[0177] Constructing at least three weight equations:

[0178] P(q)f(x, y, z)=0, where P(q) is the weight function, q is the signal intensity, and f(x, y, z) is the curve equation corresponding to the signal intensity;

[0179] An overdetermined system of equations is formed based on at least three of the weight equations.

[0180] In this way, by introducing a weight function, non-diffracting beams with different signal strengths can have different degrees of influence on the positioning process.

[0181] Of course, in other embodiments, the weight function can also be used to represent the degree of influence on the positioning result. For example, if the receiving end receives three non-diffracting beams, the curve equations corresponding to the three non-diffracting beams can be pairwise combined into two groups of equations. The weight of each non-diffracting beam is determined through the weight function, and the solutions of the two groups of equations are obtained through the weights and the solutions of the two groups of equations.

[0182] For example, if the solutions of the two groups of equations are (200, 300) and (201, 304) respectively, and the weights of the two different non-diffracting beams in the two groups of equations are 0.4 and 0.6 respectively, then (0.4×200 + 0.6×201) = 200.6 and (0.4×300 + 0.6×304) = 302.4. Then the coordinates of the receiving end after adjustment based on the weights are (200.6, 302.4).

[0183] Therefore, in one embodiment, the positioning method further includes:

[0184] Determining a weight according to the signal strength and a preset weight function, where the weight function is used to limit the degree of influence of the signal strength;

[0185] Adjusting the first position according to the weight.

[0186] As Figure 8 shown, it is a flowchart of a positioning method provided by an embodiment of the present application, which is applied to a positioning system. Specifically, the positioning method includes:

[0187] Step S601: Send at least one non-diffracting beam to the receiving end, where the non-diffracting beam carries first curve information, and the first curve information is used to indicate the trajectory of the non-diffracting beam.

[0188] Wherein, when the sending end sends a non-diffracting beam to the receiving end, the emission time of the non-diffracting beam is recorded.

[0189] In one embodiment, the curve information is sequence information, such as 00, 01, and each sequence information is used to represent the curve equation of the corresponding non-diffracting beam trajectory.

[0190] In one embodiment, the curve information is the curve equation corresponding to the non-diffracting beam, and the sending end or the receiving end can determine the curve equation corresponding to the non-diffracting beam by analyzing the curve information.

[0191] Step S602: Receive at least one piece of feedback information corresponding to the non-diffracting beam sent by the receiving end. The feedback information carries second curve information and first time information.

[0192] Among them, the feedback information is generated by the receiving end based on the first curve information carried by the received non-diffracting wave. The second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located.

[0193] The first time information includes the beam reception time and the feedback transmission time. The beam reception time is the time when the receiving end receives the non-diffracting beam, and the feedback transmission time is the time when the receiving end sends the feedback information.

[0194] Specifically, after the non-diffracting beam receiver of the receiving end receives the non-diffracting beam signal, it records the first curve information, the reception time of the non-diffracting beam, and the transmission time of the feedback information. The receiving end generates feedback information based on the first curve information, the reception time of the non-diffracting beam, and the transmission time of the feedback information, and sends the feedback information to the receiving end.

[0195] Optionally, the receiving end determines the one with the strongest signal strength among the signals of multiple beams of the same type received, and generates feedback information corresponding to that beam. For example, when the receiving end receives multiple Mathieu beams, it generates feedback information only based on the beam with the strongest signal.

[0196] Optionally, the sending end sets a preset signal strength value. When the signal strength is less than the preset signal strength value, the information of the non-diffracting beam corresponding to the signal strength is directly discarded. When the signal strength is greater than the preset signal strength value, the non-diffracting beam corresponding to the signal strength is used as the basis for the positioning process.

[0197] Optionally, the feedback information further includes the signal strength. After the non-diffracting beam receiver of the receiving end receives the non-diffracting beam signal, it records the curve information and sends the feedback information to the sending end through the feedback information. The positioning method further includes:

[0198] Determine the curve information corresponding to the strongest signal strength based on the feedback information.

[0199] For example, when the receiving end receives multiple pieces of feedback information of multiple Airy beams, by determining the Airy beam with the strongest signal strength, the positioning accuracy can be improved.

[0200] Among them, the positioning accuracy of the non-diffracting beam with the strongest signal strength is relatively high. Therefore, if the receiving end receives multiple non-diffracting beams of the same type, the non-diffracting beam with the strongest signal strength is selected as the basis for positioning calculation.

[0201] Step S603: Obtain second time information, where the second time information includes the beam transmission time and the feedback reception time.

[0202] The beam transmission time is the time when the transmitting end sends the non-diffracting beam, and the feedback reception time is the time when the transmitting end receives the feedback information of the non-diffracting beam.

[0203] Optionally, the transmitting end records the time when sending the non-diffracting beam and receiving the feedback information.

[0204] Step S604: Determine the first position of the receiving end in the first preset coordinate system based on the first time information, the second time information, and the second curve information.

[0205] Specifically, based on the implementation information, the transmission time of the non-diffracting beam and the feedback information can be determined. The transmission speed can be determined through the transmission medium of the non-diffracting beam and the feedback message. Based on the transmission speed and the transmission time, the trajectory length between the receiving end and the transmitting end can be determined. Through the second curve information and the trajectory length, the first position of the receiving end in the first preset coordinate system can be determined by data calculation.

[0206] In this way, in this embodiment, the feedback information carrying time information is used to determine the transmission distance through the time information and the preset transmission medium, determine the curve length parameter through the curve equation, construct a distance equation based on the curve length parameter, the trajectory length of the feedback information, and the transmission distance, and the position of the receiving end in the first preset coordinate system can be obtained based on the distance equation and the curve equation.

[0207] In this embodiment, the position of the receiving end in the first preset coordinate system can be determined by the transmitting end sending at least one non-diffracting beam.

[0208] Please refer to Figure 9 , in an embodiment of the present application, step S604 specifically includes:

[0209] Step S6041: Determine the curve equation of at least one non-diffracting beam trajectory where the receiving end is located based on the second curve information.

[0210] Optionally, the receiving end can save the mapping relationship table between the second curve information and the curve equation, and the receiving end can look up the curve equation corresponding to the second curve information based on the mapping relationship table.

[0211] Step S6042: Determine the curve length parameter based on the curve equation, where the curve length parameter is used to represent the trajectory length between any point on the non-diffracting beam trajectory and the transmitting end.

[0212] Exemplarily, the transmitting end is located at the coordinate origin, and a curve equation in a two-dimensional coordinate system is y 2= 2px, then the trajectory length of any point on this curve trajectory is L = (p / 2) * {[(2x / p) 1 / 2 *(1 + 2x / p)] + ln[(2x / p) 1 / 2 +(1 + 2x / p) 1 / 2}, and this length is also the distance between any point on this curve trajectory and the coordinate origin.

[0213] That is, through mathematical calculation, the distance of any point on the curve trajectory from the origin of the preset coordinate system can be obtained according to the curve equation.

[0214] Of course, the above embodiments only take a two-dimensional coordinate system as an example. It can be understood that this application is not limited to a two-dimensional coordinate system and can also be applied to a three-dimensional coordinate system.

[0215] Step S6043, determine the transmission time according to the first time information and the second time information.

[0216] Exemplarily, assume that the beam transmission time is T1, the beam reception time is T2, the feedback transmission time is T3, and the feedback reception time is T4. Thus, the propagation time of the non-diffracting beam is: T2 - T1; the propagation time of the feedback information is T4 - T3.

[0217] If the feedback information transmission and the non-diffracting beam propagation are the same beam, then the beam propagation time is T2 - T1 + T4 - T3.

[0218] If the feedback information transmission and the non-diffracting beam propagation are different beams, for example, the feedback information is transmitted through sound waves and the non-diffracting beam is transmitted through electromagnetic waves, then the sound wave propagation time is T4 - T3, and the electromagnetic wave propagation time is T2 - T1.

[0219] Step S6044, obtain the transmission distance according to the transmission time and the preset speed information, where the speed information includes the propagation speed of the non-diffracting beam and the propagation speed of the feedback information.

[0220] Exemplarily, the propagation time of the non-diffracting beam is: T2 - T1; the propagation time of the feedback information is T4 - T3. If both the non-diffracting beam and the feedback information are transmitted through electromagnetic waves, then the propagation speeds are the same and are V, and the transmission distance is V(T2 - T1 + T4 - T3); if the non-diffracting beam is an electromagnetic wave with a transmission speed of V1 and the feedback information is transmitted through sound waves with a propagation speed of V2, then the transmission distance is V1(T2 - T1) + V2(T4 - T3).

[0221] Step S6045, determine the first position of the receiving end in the first preset coordinate system according to the transmission distance, the curve length parameter, and the second curve information.

[0222] In one embodiment, the feedback information propagates along a straight line, and the sending end is located at the origin of the first preset coordinate system. Then, the propagation distance of the feedback information, that is, the distance between the receiving end and the sending end, is the coordinates of the receiving end in the first preset coordinate system;

[0223] Then the distance equation is: where S is the transmission distance and g(x, y, z) is the curve length parameter.

[0224] In another embodiment, the feedback information returned by the receiving end is carried by a non-diffracting signal. The curve length parameter h(x, y, z) of the non-diffracting beam trajectory from the receiving end to the sending end can be obtained through the curve equation of the non-diffracting beam trajectory;

[0225] Then the distance equation is: S = g(x, y, z) + h(x, y, z).

[0226] Of course, this application only takes the feedback information transmitted in a straight line and the feedback information transmitted through a non-diffracting beam as examples. It can be understood that in other embodiments, the corresponding transmission method of the feedback information can be selected according to the actual scenario.

[0227] In one embodiment, it is only used to locate the position of the receiving end in a two-dimensional coordinate system. The curve equation is y = x 2 , and the feedback information propagates along a straight line. Then the distance equation is S = (x 2 + y 2 ) 1 / 2 + g(x, y, z), where g(x, y, z) is the distance from any point on the curve trajectory obtained based on the curve equation to the origin. S is the transmission distance. Then, to locate the position of the receiving end in the two-dimensional coordinate system, z is 0. Then the distance equation contains only one unknown, and the corresponding value of x can be obtained. The value of y can be obtained through the value of x and the curve equation, and then the position of the receiving end in the preset coordinate system can be obtained.

[0228] In one embodiment of this application, the positioning system includes multiple sending ends. Then, the multiple sending ends can send non-diffracting beams to the same receiving end. The multiple sending ends can respectively obtain the position coordinates of the receiving end in the first preset coordinate system through the positioning method of the above embodiments, and improve the positioning accuracy by calculating the average value of the multiple position coordinates. Of course, the multiple sending end coordinate systems can also be set in one coordinate system through methods such as coordinate transformation. By forming an overdetermined system of equations with the curve equations or distance equations determined by the multiple receiving ends, the position coordinates of the receiving end in the first preset coordinate system can be obtained by solving the overdetermined system of equations.

[0229] In an embodiment of the present application, the user equipment is the transmitter, the anchor node is the receiver, the positioning system includes multiple receivers, the user equipment as the transmitter sends non-diffracting beams to the multiple receivers, and the positioning method of the above embodiment is used to obtain the positions of the receivers, and the position of the movement is obtained based on the position relationship between the transmitter and the receivers and coordinate transformation. By setting multiple receivers, the positioning accuracy is improved.

[0230] In an embodiment of the present application, the method includes:

[0231] Adjust the modulation range of the spatial modulator to increase the main lobe width of the non-diffracting beam.

[0232] It can be understood that due to the limited main lobe width of the non-diffracting beam, the scanning range of the trajectory of each non-diffracting beam is small. In an embodiment, K adjacent modulation units of the spatial modulator are set to the same modulation. For example, 10 modulations are modulated with the same phase value, and the main lobe width of the non-diffracting beam is increased by reducing the modulation accuracy. Specifically, all modulation units of the spatial modulator can be set to the same phase value, and the main lobe width of the non-diffracting beam reaches the maximum.

[0233] Of course, it can be understood that the main lobe width of the non-diffracting beam can also be increased by other means.

[0234] In this way, by increasing the main lobe width of the non-diffracting beam, the scanning range of each non-diffracting beam is increased, the time for the non-diffracting beam to reach the receiver is reduced, and the positioning efficiency is improved.

[0235] In an embodiment of the present application, the method further includes:

[0236] Control the transmitter so that the transmitter simultaneously sends non-diffracting beam signals;

[0237] The spatial modulator is divided into two or more sub-unit arrays, and the input beams are spatially modulated respectively to form two or more non-diffracting beams and transmit them simultaneously. To enable the non-diffracting beam transmitter to simultaneously send multiple non-diffracting beams.

[0238] Optionally, the user equipment to be located only needs to determine the coordinates in the X direction and Y direction of the preset coordinate system, or the coordinates in the X direction, Y direction, and Z direction. That is, the position coordinates of the user equipment to be located include two or three unknowns. However, when the sending end sends at least two non-diffracting beams to the receiving end, such as 3, 4, or 5 beams, then based on the non-diffracting beams, more than two curve equations can be determined. The number of curve equations is greater than the number of unknowns, and the multiple curve equations form an overdetermined system of equations. In this way, by setting the number of non-diffracting beams to be greater than the number of position coordinates of the receiving end, such as greater than 2, and forming an overdetermined system of equations through the curve equations of multiple non-diffracting beams, the position coordinates of the receiving end can be obtained by solving the overdetermined system of equations. By forming the overdetermined system of equations, as many non-diffracting beams as possible are used to locate the receiving end to improve the positioning accuracy.

[0239] Optionally, the sending end can send multiple non-diffracting beams to the receiving end each time. However, the signal intensities of different non-diffracting beams received by the receiving end are usually different, and the non-diffracting beams with different signal intensities have different degrees of influence on the positioning of the receiving end. In this way, a weight function a(P) is introduced, and a(P) is used to represent the influence degree of the signal intensity on the positioning of the receiving end. Then, a new weight equation a(P)f(x,y,z)=0 can be obtained, where f(x,y,z) is the curve equation of the non-diffracting beam. In this way, by introducing the weight function, the influence of the signal intensity on the curve equation used in the positioning process is improved to improve the positioning accuracy.

[0240] Of course, in other embodiments, the weight function can also be used to represent the influence degree of the positioning result. For example, if the receiving end receives three non-diffracting beams, the curve equations corresponding to the three non-diffracting beams can be pairwise combined into two groups of equations. The weight of each non-diffracting beam is determined through the weight function, and the solutions of the two groups of equations are obtained through the weights and the solutions of the two groups of equations.

[0241] Therefore, in one embodiment, the positioning method further includes:

[0242] Determining a weight according to the signal intensity and a preset weight function, where the weight function is used to limit the influence degree of the signal intensity;

[0243] Adjusting the first position according to the weight.

[0244] Please refer to Figure 10 , as Figure 10 shown, which is a flowchart of a positioning method provided by an embodiment of the present application and is applied to a positioning system. The execution subject of the positioning method in this embodiment is the receiving end. Specifically, the positioning method includes:

[0245] Step 701, receiving at least two non-diffracting beams sent by the sending and receiving end, where the non-diffracting beams carry first curve information.

[0246] In an embodiment of the present application, the first curve information is the curve equation corresponding to the non-diffracting beam, and the receiving end obtains the curve equation corresponding to the non-diffracting beam by analyzing the first curve information;

[0247] In an embodiment of the present application, the first curve information is the identification information corresponding to the non-diffracting beam, such as sequence information, and the receiving end obtains the corresponding curve equation through a preset correspondence table and the identification information.

[0248] For example, the receiving end locally stores a mapping relationship table, and the first curve information can be 01, where 01 represents curve equation one: zcosθ - xsinθ = a(xcosθ + zsinθ) 2 。

[0249] Step 702, determine the second curve information according to the first curve information in the received non-diffracting beam, where the second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located.

[0250] Step 703, obtain the signal intensities of at least two of the non-diffracting beams.

[0251] Step 704, determine whether the signal intensity is greater than a preset value.

[0252] The preset value can be set according to the environmental conditions between the receiving end and the sending end, such as -70 dBm.

[0253] In another embodiment of the present application, the preset value is a signal intensity range. For example, non-diffracting beams with signal intensities between -10 dBm and 10 dBm all meet the requirements.

[0254] If the signal intensity is greater than the preset value, execute step 705, and obtain the corresponding second curve information according to the signal intensity.

[0255] For example, the preset value is -70 dBm. If the signal intensity is less than -70 dBm, then discard the second curve information; if the signal intensity is greater than -70 dBm, determine the corresponding second curve information according to the signal intensity, and obtain the corresponding curve equation according to the second curve information.

[0256] Step 706, determine the first position of the receiving end in the first preset coordinate system according to the second curve information of at least two non-diffracting beams.

[0257] The second curve information in this embodiment is the second curve information corresponding to the non-diffracting beam with a signal intensity greater than the preset value.

[0258] In an embodiment, the sending end is located at the origin in the preset coordinate system.

[0259] If the signal strength is less than a preset value, step 707 is executed to discard the second curve information.

[0260] In this way, the receiving end receives at least two non-diffracting beams sent by the sending end, determines the curve equation corresponding to the non-diffracting beam through the curve information, and determines the position of the receiving end in the preset coordinate system based on the curve equation, so as to locate the receiving end.

[0261] Optionally, the user equipment to be located only needs to determine the coordinates in the X direction and Y direction or the coordinates in the X direction, Y direction and Z direction in the preset coordinate system, that is, the position coordinates of the user equipment to be located include two or three unknowns. However, when the sending end sends at least two non-diffracting beams to the receiving end, such as 3, 4, or 5 beams, more than two curve equations can be determined based on the non-diffracting beams. The number of curve equations is greater than the number of unknowns, and a system of overdetermined equations is formed by multiple curve equations. In this way, by setting the number of non-diffracting beams to be greater than the number of position coordinates of the receiving end, such as greater than 2, and forming a system of overdetermined equations through the curve equations of multiple non-diffracting beams, the position coordinates of the receiving end are obtained by solving the system of overdetermined equations. By forming a system of overdetermined equations, as many non-diffracting beams as possible are used to locate the receiving end to improve the positioning accuracy.

[0262] Optionally, the sending end can send multiple non-diffracting beams to the receiving end each time. However, the signal strengths of different non-diffracting beams received by the receiving end are usually different, and non-diffracting beams with different signal strengths have different degrees of influence on the positioning of the receiving end. In this way, a weight function a(P) is introduced, and a(P) is used to represent the degree of influence of the signal strength on the positioning of the receiving end. Then a new weight equation a(P)f(x,y,z)=0 can be obtained, where f(x,y,z) is the curve equation of the non-diffracting beam. In this way, by introducing the weight function, the influence of the signal strength on the curve equation used in the positioning process is enhanced to improve the positioning accuracy.

[0263] As Figure 11 shown, it is a schematic diagram of the sending end provided by the embodiment of the present application. The sending end 110 includes a memory 1101, a processor 1102, and computer-readable instructions stored in the memory 1101 and executable on the processor 1102, such as a positioning program. When the processor 1102 executes the computer-readable instructions, the steps in the above-mentioned positioning method embodiment are implemented.

[0264] In this embodiment, the sending end 110 further includes a sending unit 1103 and a receiving unit 1104. The processor 1102 is respectively coupled to the sending unit 1103 and the receiving unit 1104. The sending unit 1103 is used to send non-diffracting beams to the receiving end, and the receiving unit 1104 is used to receive the feedback information sent by the receiving end.

[0265] Further, the sending end 110 further includes a communication unit 1105, and the communication unit 1105 is configured to establish a communication connection with the receiving end.

[0266] Those skilled in the art can understand that the illustration Figure 11 is merely an example of the sending end 110, and does not constitute a limitation on the sending end 110. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the sending end 110 may further include input / output devices, network access devices, buses, etc.

[0267] The so-called processor 1102 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor 1102 may also be any conventional processor, etc. The processor 1102 is the control center of the sending end 110, and connects all parts of the entire sending end 110 through various interfaces and lines.

[0268] The memory 1101 can be used to store the computer-readable instructions. The processor 1102 realizes various functions of the sending end 110 by running or executing the computer-readable instructions or modules stored in the memory 1101, and by invoking the data stored in the memory 1101. The memory 1101 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function, etc.; the data storage area can store data created according to the use of the sending end 110, etc. In addition, the memory 1101 may include a hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one magnetic disk storage device, flash memory device, read-only memory (ROM), random access memory (RAM), or other non-volatile / volatile storage devices.

[0269] If the modules integrated in the sending end 110 are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-described embodiment methods of this application, it can also be completed by instructing relevant hardware through computer-readable instructions. The computer-readable instructions can be stored in a computer-readable storage medium. When the computer-readable instructions are executed by a processor, the steps of the above-described method embodiments can be implemented. Among them, the computer-readable instructions include computer-readable instruction codes, and the computer-readable instruction codes can be in the form of source code, object code, executable files, or some intermediate forms, etc. The computer-readable medium can include: any entity or device that can carry the computer-readable instruction codes, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memories, read-only memories (ROMs), random access memories (RAMs), etc.

[0270] As Figure 12 shown, it is a schematic diagram of the receiving end provided by the embodiment of this application. The receiving end 120 includes a memory 1201, a processor 1202, and computer-readable instructions stored in the memory 1201 and executable on the processor 1202, such as a positioning program. When the processor 1202 executes the computer-readable instructions, the steps in the above-described positioning method embodiment are implemented.

[0271] In this embodiment, the receiving end 120 further includes a sending unit 1203 and a receiving unit 1204. The processor 1202 is respectively coupled to the sending unit 1203 and the receiving unit 1204. The receiving unit 1203 is used to receive the non-diffracting beam sent by the sending end, and the sending unit 1104 is used to send feedback information to the sending end.

[0272] Furthermore, the receiving end 120 further includes a communication unit 1205, and the communication unit 1205 is used to establish a communication connection with the receiving end.

[0273] Those skilled in the art can understand that the schematic Figure 12 is only an example of the receiving end 120 and does not constitute a limitation on the receiving end 120. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the receiving end 120 may further include input / output devices, network access devices, buses, etc.

[0274] The so-called processor 1202 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor 122 may also be any conventional processor, etc. The processor 1202 is the control center of the receiving end 120, and connects various parts of the entire receiving end 120 through various interfaces and lines.

[0275] The memory 1201 can be used to store the computer-readable instructions. The processor 1202 realizes various functions of the receiving end 120 by running or executing the computer-readable instructions or modules stored in the memory 1201, and by calling the data stored in the memory 1201. The memory 1201 may mainly include a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function, etc.; the data storage area can store data created according to the use of the receiving end 110, etc. In addition, the memory 1101 may include a hard disk, memory, plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, at least one magnetic disk storage device, flash device, Read-Only Memory (ROM), Random Access Memory (RAM), or other non-volatile / volatile storage devices.

[0276] If the modules integrated in the receiving end 120 are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of this application, computer-readable instructions can also be used to instruct relevant hardware to complete. The computer-readable instructions can be stored in a computer-readable storage medium. When the computer-readable instructions are executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer-readable instructions include computer-readable instruction codes, and the computer-readable instruction codes can be in the form of source code, object code, executable files, or some intermediate forms, etc. The computer-readable medium can include: any entity or device capable of carrying the computer-readable instruction codes, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memories, read-only memories (ROMs), random access memories (RAMs), etc.

[0277] This embodiment also provides a computer storage medium, in which computer instructions are stored. When the computer instructions run on an electronic device, the electronic device is caused to execute the above relevant method steps to implement the positioning method in the above embodiment.

[0278] In addition, an embodiment of this application also provides a device, which may specifically be a chip, component, or module. The device may include a processor and a memory connected to each other; among them, the memory is used to store computer execution instructions. When the device runs, the processor can execute the computer execution instructions stored in the memory, so that the chip executes the positioning method in the above method embodiments.

[0279] Among them, the device and computer storage medium provided in this embodiment are both used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be elaborated here.

[0280] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0281] In several embodiments provided by this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the module or unit is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling, direct coupling, or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical, or other forms.

[0282] The unit described as a separated component may or may not be physically separated. The component displayed as a unit may be a physical unit or multiple physical units, that is, it can be located in one place, or it can also be distributed to multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0283] In addition, each functional unit in various embodiments of this application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0284] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiments of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs and other various media that can store program codes.

[0285] As described above, it is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any change or replacement within the technical scope disclosed in this application should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claimed rights.

Claims

1. A positioning method, characterized in that, the positioning method includes: Sending at least two non-diffracting beams to a receiving end, each of the non-diffracting beams carrying corresponding first curve information, and the first curve information is used to indicate the trajectory of the non-diffracting beam where the sending end is located; Receiving feedback information corresponding to each of the non-diffracting beams from the receiving end, the feedback information being generated by the receiving end based on the first curve information carried by each of the received non-diffracting beams, and the feedback information includes second curve information, and the second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located; Determining a first position of the receiving end based on at least two pieces of the second curve information.

2. The positioning method according to claim 1, characterized in that, the feedback information further includes signal strength, and before determining the first position of the receiving end based on at least two pieces of the second curve information, the positioning method further includes: Determining the second curve information corresponding to the strongest signal strength based on the feedback information.

3. The positioning method according to claim 2, characterized in that, the positioning method further includes: Determining a weight based on the signal strength and a preset weight function, and the weight function is used to limit the influence degree of the signal strength; Adjusting the first position according to the weight.

4. The positioning method according to claim 1, characterized in that, determining the first position of the receiving end based on at least two pieces of the second curve information includes: Determining curve equations corresponding to the trajectories of at least two non-diffracting beams where the receiving end is located based on the second curve information; Determining the first position of the receiving end based on the at least two curve equations.

5. The positioning method according to claim 4, characterized in that, if the number of non-diffracting beams sent to the receiving end is greater than or equal to three, determining the first position of the receiving end based on the at least two curve equations includes: Forming an overdetermined system of equations with the curve equations of at least three non-diffracting beams; Obtaining a solution of the overdetermined system of equations, and the solution is the coordinates of the receiving end in a first preset coordinate system; Determining the first position of the receiving end based on the coordinates.

6. The positioning method according to claim 1, characterized in that, the positioning method further includes: Obtaining a second position of the sending end; Determining the positional relationship between the sending end and the receiving end based on the first position and the second position; Obtaining a third position of the receiving end in a second preset coordinate system, where the second preset coordinate system is established based on the third position of the receiving end; Determining a fourth position of the sending end in the second preset coordinate system based on the positional relationship and the third position.

7. The positioning method according to claim 1, characterized in that, the sending end is provided with a non-diffracting beam transmitter, and the non-diffracting beam transmitter includes a spatial modulator, and the positioning method further includes: Adjusting the modulation range of the spatial modulator to increase the main lobe width of the non-diffracting beam.

8. The positioning method according to claim 1, characterized in that, Before sending at least two non-diffracting beams to the receiving end, the positioning method further includes: Establishing a communication connection with the receiving end; Determining the area where the receiving end is located according to the communication connection; Determining the emission area of the at least two non-diffracting beams according to the area where the receiving end is located.

9. A positioning method Characterized in that The positioning method includes: Sending at least one non-diffracting beam to the receiving end, each non-diffracting beam carrying corresponding first curve information, and the first curve information is used to indicate the trajectory of the non-diffracting beam where the sending end is located; Receiving feedback information corresponding to each non-diffracting beam from the receiving end, the feedback information being generated by the receiving end according to the first curve information carried by the received non-diffracting wave, the feedback information including second curve information and first time information, the first time information including the receiving time when the receiving end receives the non-diffracting beam and the sending time when the receiving end sends the feedback information, and the second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located; Obtaining second time information, the second time information including the sending time when the sending end sends the non-diffracting beam and the receiving time when the sending end receives the feedback information; Determining a first position of the receiving end according to the first time information, the second time information and the second curve information.

10. The positioning method according to claim 9 Characterized in that The feedback information further includes signal strength. After receiving the feedback information corresponding to each non-diffracting beam from the receiving end, the positioning method further includes: Determining second curve information and first time information corresponding to the strongest signal strength according to the feedback information.

11. The positioning method according to claim 10 Characterized in that The positioning method further includes: Determining a weight according to the signal strength and a preset weight function, and the weight function is used to limit the influence degree of the signal strength; Adjusting the first position according to the weight.

12. The positioning method according to claim 9 Characterized in that The determining the first position of the receiving end according to the first time information, the second time information and the second curve information includes: Determining a curve equation corresponding to the trajectory of the non-diffracting beam where the receiving end is located according to the second curve information; Determining a curve length parameter according to the curve equation, and the curve length parameter is used to represent the trajectory length between any point on the non-diffracting beam trajectory and the sending end; Determining a transmission time according to the first time information and the second time information; Obtaining a transmission distance according to the transmission time and preset speed information, and the speed information includes the propagation speed of the non-diffracting beam and the transmission speed of the feedback information; Determining the first position of the receiving end according to the transmission distance, the curve length parameter and the second curve information.

13. The positioning method according to claim 9 Characterized in that The positioning method is applied to a sending end, and the positioning method further includes: Obtaining a second position of the sending end; Determine the positional relationship between the transmitter and the receiver based on the first position and the second position; Obtain a third position of the receiver in a second preset coordinate system, where the second preset coordinate system is established based on the third position of the receiver; Determine a fourth position of the transmitter in the second preset coordinate system based on the positional relationship and the third position.

14. The positioning method according to claim 9, characterized in that, The transmitter is provided with a transmitter, and the transmitter includes a spatial modulator. The positioning method further includes: Adjust the modulation range of the spatial modulator to increase the main lobe width of the non-diffracting beam.

15. The positioning method according to claim 9, characterized in that, Before sending at least one non-diffracting beam to the receiver, the positioning method further includes: Establish a communication connection with the receiver; Determine the area where the receiver is located based on the communication connection; Determine the emission area of the at least two non-diffracting beams based on the area where the receiver is located.

16. A positioning method, characterized in that, The positioning method includes: Receive at least two non-diffracting beams sent by the transceiver. Each non-diffracting beam carries corresponding first curve information, and the first curve information is used to indicate the trajectory of the non-diffracting beam where the transmitter is located; Determine second curve information based on the first curve information in the received non-diffracting beams, where the second curve information is used to indicate the trajectory of the non-diffracting beam where the receiver is located; Obtain signal strength information of at least two non-diffracting beams, where the signal strength information includes the signal strength corresponding to each non-diffracting beam; Judge whether the signal strength is greater than a preset value; If the signal strength is greater than the preset value, obtain the second curve information of the non-diffracting beam corresponding to the signal strength; Determine a first position of the receiver based on the second curve information of at least two non-diffracting beams with signal strength greater than the preset value.

17. The positioning method according to claim 16, characterized in that, The determining the first position of the receiver based on the second curve information of at least two non-diffracting beams includes: Obtain curve equations corresponding to at least two non-diffracting beams based on the second curve information; Obtain the first position of the receiver based on at least two curve equations.

18. The positioning method according to claim 17, characterized in that, If the number of non-diffracting beams sent to the receiver is greater than or equal to three, the determining the first position of the receiver based on at least two curve equations includes: Form an overdetermined system of equations with the curve equations of at least three non-diffracting beams; Obtain the solution of the overdetermined system of equations, and the solution is the coordinates of the receiver in the first preset coordinate system; Determine the first position of the receiver based on the coordinates.

19. The positioning method according to claim 16, characterized in that, The positioning method further includes: Determine weights based on the signal strength and a preset weight function, where the weight function is used to limit the influence degree of the signal strength; Adjust the first position according to the weights.

20. The positioning method according to claim 16, It is characterized in that the positioning method further includes: obtaining a second position of the sending end; determining the positional relationship between the sending end and the receiving end according to the first position and the second position; obtaining a third position of the receiving end in a second preset coordinate system, where the second preset coordinate system is established based on the third position of the receiving end; determining a fourth position of the sending end in the second preset coordinate system according to the positional relationship and the third position.

21. A sending end, It is characterized in that the sending end includes: a sending unit, configured to send at least two non-diffracting beams to a receiving end, and each non-diffracting beam carries corresponding first curve information, where the first curve information is used to indicate the trajectory of the non-diffracting beam where the sending end is located; a receiving unit, configured to receive feedback information corresponding to each non-diffracting beam from the receiving end, where the feedback information is generated by the receiving end according to the first curve information carried by each received non-diffracting wave, and the feedback information includes second curve information, where the second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located; a processor, coupled to the sending unit and the receiving unit respectively, and configured to determine a first position of the receiving end according to at least two pieces of the second curve information.

22. The sending end according to claim 21, It is characterized in that the feedback information further includes a signal strength, and the processor is further configured to: determine the second curve information corresponding to the strongest signal strength according to the feedback information.

23. The sending end according to claim 22, It is characterized in that the processor is further configured to: determine a weight according to the signal strength and a preset weight function, where the weight function is used to limit the influence degree of the signal strength; adjust the first position according to the weight.

24. The sending end according to claim 21, It is characterized in that the processor is further configured to: determine curve equations of the trajectories of at least two non-diffracting beams where the receiving end is located according to the second curve information; determine the first position of the receiving end according to the at least two curve equations.

25. The sending end according to claim 24, It is characterized in that if the number of non-diffracting beams sent by the sending end to the receiving end is greater than or equal to three, the processor is further configured to: form an overdetermined system of equations with the curve equations of at least three non-diffracting beams; obtain a solution of the overdetermined system of equations, where the solution is the coordinates of the receiving end in a first preset coordinate system; determine the first position of the receiving end according to the coordinates.

26. The sending end according to claim 21, It is characterized in that the processor is further configured to: obtain a second position of the sending end; determine the positional relationship between the sending end and the receiving end according to the first position and the second position; obtain a third position of the receiving end in a second preset coordinate system, where the second preset coordinate system is established based on the third position of the receiving end; determine a fourth position of the sending end in the second preset coordinate system according to the positional relationship and the third position.

27. The sending end according to claim 21, It is characterized in that the sending unit is provided with a non-diffracting beam transmitter, the non-diffracting beam transmitter includes a spatial modulator, and the processor is further configured to: adjust the modulation range of the spatial modulator to increase the main lobe width of the non-diffracting beam.

28. The sending end according to claim 21, It is characterized in that the processor is further configured to: establish a communication connection with the receiving end; determine the area where the receiving end is located according to the communication connection; determine the emission areas of the at least two non-diffracting beams according to the area where the receiving end is located.

29. A sending end, It is characterized in that the sending end includes: a sending unit configured to send at least one non-diffracting beam to a receiving end, each non-diffracting beam carrying corresponding first curve information, and the first curve information is used to indicate the trajectory of the non-diffracting beam where the sending end is located; a receiving unit configured to receive feedback information corresponding to each non-diffracting beam from the receiving end, the feedback information being generated by the receiving end according to the first curve information carried by the received non-diffracting wave, the feedback information including second curve information and first time information, the first time information including the receiving time when the receiving end receives the non-diffracting beam and the sending time when the receiving end sends the feedback information, and the second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located; a processor respectively coupled to the sending unit and the receiving unit, configured to obtain second time information, the second time information including the sending time when the sending end sends the non-diffracting beam and the receiving time when the sending end receives the feedback information; and further configured to determine the first position of the receiving end according to the first time information, the second time information and the second curve information.

30. The sending end according to claim 29, It is characterized in that the feedback information further includes signal strength, and the processor is further configured to: determine the second curve information and the first time information corresponding to the strongest signal strength according to the feedback information.

31. The sending end according to claim 30, It is characterized in that the processor is further configured to: determine a weight according to the signal strength and a preset weight function, and the weight function is used to limit the influence degree of the signal strength; adjust the first position according to the weight.

32. The sending end according to claim 29, It is characterized in that the processor is further configured to: determine the curve equation of the trajectory of the non-diffracting beam where the receiving end is located according to the second curve information; determine a curve length parameter according to the curve equation, and the curve length parameter is used to represent the trajectory length between any point on the non-diffracting beam trajectory and the sending end; determine the transmission time according to the first time information and the second time information; obtain a transmission distance according to the transmission time and preset speed information, and the speed information includes the propagation speed of the non-diffracting beam and the transmission speed of the feedback information; determine the first position of the receiving end according to the transmission distance, the curve length parameter and the second curve information.

33. The sending end according to claim 29, It is characterized in that the processor is further configured to: obtain a second position of the sending end; determine the positional relationship between the sending end and the receiving end according to the first position and the second position; obtain a third position of the receiving end in a second preset coordinate system, where the second preset coordinate system is established based on the third position of the receiving end; determine a fourth position of the sending end in the second preset coordinate system according to the positional relationship and the third position.

34. The sending end according to claim 29, it is characterized in that the sending unit is provided with a transmitter, and the transmitter includes a spatial modulator, and the processor is further configured to: adjust the modulation range of the spatial modulator to increase the main lobe width of the non-diffracting beam.

35. The sending end according to claim 29, it is characterized in that the sending end further includes a communication unit, and the communication unit is configured to establish a communication connection with the receiving end; the processor is further configured to: determine the area where the receiving end is located according to the communication connection; determine the emission area of the at least two non-diffracting beams according to the area where the receiving end is located.

36. A receiving end, it is characterized in that the receiving end includes: a receiving unit, configured to receive at least two non-diffracting beams sent by the sending and receiving end, and each non-diffracting beam carries corresponding first curve information, and the first curve information is used to indicate the trajectory of the non-diffracting beam where the sending end is located; a processor, coupled to the receiving unit, configured to determine second curve information according to the first curve information in the received non-diffracting beam, where the second curve information is used to indicate the trajectory of the non-diffracting beam where the receiving end is located; is further configured to obtain signal strength information of at least two non-diffracting beams, where the signal strength information includes the signal strength corresponding to each non-diffracting beam; determine whether the signal strength is greater than a preset value; if the signal strength is greater than the preset value, obtain the second curve information corresponding to the non-diffracting beam of the signal strength; determine the first position of the receiving end according to the second curve information of at least two non-diffracting beams whose signal strength is greater than the preset value.

37. The receiving end according to claim 36, it is characterized in that the processor is further configured to: obtain curve equations corresponding to at least two non-diffracting beams according to the second curve information; determine the first position of the receiving end according to at least two curve equations.

38. The receiving end according to claim 37, it is characterized in that if the number of non-diffracting beams sent by the sending end to the receiving end is greater than or equal to three, the processor is further configured to: form an overdetermined system of equations with the curve equations of at least three non-diffracting beams; obtain the solution of the overdetermined system of equations, and the solution is the coordinates of the receiving end in the first preset coordinate system; determine the first position of the receiving end according to the coordinates.

39. The receiving end according to claim 36, it is characterized in that the processor is further configured to: determine weights according to the signal strength and a preset weight function, and the weight function is used to limit the influence degree of the signal strength; adjust the first position according to the weights.

40. The receiving end according to claim 36, wherein, the processor is further configured to: obtain a second position of the sending end; determine a positional relationship between the sending end and the receiving end according to the first position and the second position; obtain a third position of the receiving end in a second preset coordinate system, where the second preset coordinate system is established based on the third position of the receiving end; determine a fourth position of the sending end in the second preset coordinate system according to the positional relationship and the third position.

41. A computer-readable storage medium, wherein, the computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the positioning method according to any one of claims 1 to 20 is implemented.

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