Terminal positioning method, device, computer equipment and storage medium

Abstract

A terminal positioning method comprises: reading speed information; determining a plurality of initial positioning positions in a to-be-positioned area, and calculating trajectories corresponding to the initial positioning positions respectively according to the speed information; obtaining a base station position, and calculating theoretical channel state information of trajectory points in each trajectory according to the base station position; obtaining actual channel state information of trajectory points in each trajectory; and determining a target positioning position from the plurality of initial positioning positions according to the theoretical channel state information and the actual channel state information.

Description

Technical Field

[0001] The present application relates to a terminal positioning method, device, computer equipment and storage medium. Background Art

[0002] With the development of positioning technology, radio positioning technology for mobile terminals has emerged. Radio positioning technology refers to the measurement of characteristic parameters of received radio waves in wireless mobile communication networks, using the measured wireless signal data and adopting specific algorithms to estimate the geographical location of the mobile terminal, thereby providing accurate terminal location information and services.

[0003] Traditionally, the radio positioning of mobile terminals is mainly achieved through satellite positioning systems. This method requires a special positioning chip, and it is difficult to achieve accurate positioning when the signal is blocked indoors, and there is a risk of interference with the positioning signal. When the satellite positioning system is not available, the terminal can also be positioned by measuring the distance, distance difference or direction from the terminal to multiple base stations. However, in many cases, there is often only one terminal base station that can communicate. Currently, only rough positioning at the level of communication coverage can be achieved through a single base station, and there is still a lack of effective means to achieve accurate positioning of mobile terminals through a single base station. Summary of the invention

[0004] According to various embodiments disclosed in the present application, a terminal positioning method, apparatus, computer equipment and storage medium are provided. A terminal positioning method includes:

[0005] Read speed information;

[0006] Determine a plurality of initial positioning positions in the area to be positioned, and calculate trajectories corresponding to the initial positioning positions respectively according to the speed information;

[0007] Acquire the base station position, and calculate the theoretical channel state information of the trajectory points in each trajectory according to the base station position;

[0008] Obtaining actual channel state information of trajectory points in each trajectory; and

[0009] A target positioning position is determined from a plurality of the initial positioning positions according to the theoretical channel state information and the actual channel state information.

[0010] A terminal positioning device, comprising:

[0011] A reading module, used for reading speed information;

[0012] A trajectory determination module, used to determine a plurality of initial positioning positions in the area to be positioned, and calculate the trajectories corresponding to the initial positioning positions respectively according to the speed information;

[0013] A theoretical value calculation module, used to obtain the base station position and calculate the theoretical channel state information of the trajectory points in each trajectory according to the base station position;

[0014] An actual value calculation module, used to obtain actual channel state information of trajectory points in each trajectory; and

[0015] The positioning module is used to determine a target positioning position from a plurality of the initial positioning positions according to the theoretical channel state information and the actual channel state information.

[0016] A computer device includes a memory and one or more processors, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the one or more processors, the one or more processors perform the following steps:

[0017] Read speed information;

[0018] Determine a plurality of initial positioning positions in the area to be positioned, and calculate trajectories corresponding to the initial positioning positions respectively according to the speed information;

[0019] Acquire the base station position, and calculate the theoretical channel state information of the trajectory points in each trajectory according to the base station position;

[0020] Obtaining actual channel state information of trajectory points in each trajectory; and

[0021] A target positioning position is determined from a plurality of the initial positioning positions according to the theoretical channel state information and the actual channel state information.

[0022] A non-volatile computer-readable storage medium storing computer-readable instructions, wherein when the computer-readable instructions are executed by one or more processors, the one or more processors perform the following steps:

[0023] Read speed information;

[0024] Determine a plurality of initial positioning positions in the area to be positioned, and calculate trajectories corresponding to the initial positioning positions respectively according to the speed information;

[0025] Acquire the base station position, and calculate the theoretical channel state information of the trajectory points in each trajectory according to the base station position;

[0026] Obtaining actual channel state information of trajectory points in each trajectory; and

[0027] A target positioning position is determined from a plurality of the initial positioning positions according to the theoretical channel state information and the actual channel state information.

[0028] The details of one or more embodiments of the present application are set forth in the following drawings and description. Other features and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 A diagram showing an application scenario of a terminal positioning method according to one or more embodiments;

[0031] Figure 2 is a schematic diagram of a process of a terminal positioning method according to one or more embodiments;

[0032] Figure 3 A schematic diagram of a process flow of a terminal positioning method in another or more embodiments;

[0033] Figure 4 is a schematic diagram of an area to be located in one or more embodiments;

[0034] Figure 5 is a block diagram of a terminal positioning device according to one or more embodiments;

[0035] Figure 6 is a block diagram of a computer device according to one or more embodiments. DETAILED DESCRIPTION

[0036] In order to make the technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0037] The terminal positioning method provided in this application can be applied to Figure 1In the application environment shown. The terminal 102 communicates with the base station 104 through the network. The terminal 102 can read the speed information of the terminal 102, and determine the area to be positioned according to the previous positioning position, and determine multiple initial positioning positions in the area to be positioned, so that the trajectory corresponding to the initial positioning position can be obtained according to the speed. The terminal 102 obtains the base station position, so that the theoretical channel state information of the trajectory points in each trajectory is calculated according to the base station position, and the actual channel state information of the trajectory points in each trajectory can also be obtained, so as to determine the target positioning position from multiple initial positioning positions according to the theoretical channel state information and the actual channel state information. The above-mentioned terminal positioning method uses the channel state information of the terminal during the communication between the terminal and the base station, combined with the movement direction and speed information provided by the inertial device of the terminal itself, and also combined with the actual channel state information of the trajectory a short distance before the terminal, to locate the terminal, thereby improving the accuracy of terminal positioning. The terminal 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers and portable wearable devices. The base station 104, i.e., a public mobile communication base station, is a form of radio station, which refers to a radio transceiver station that transmits information to mobile phone terminals through a mobile communication exchange center in a certain radio coverage area.

[0038] In one embodiment, Figure 2 As shown, a terminal positioning method is provided, which is applied to Figure 1 The terminal in is used as an example to illustrate, including the following steps:

[0039] S202: Read speed information.

[0040] Specifically, during the movement of the terminal, the speed information v may be read from an inertial device equipped with the terminal, wherein the speed information v may include movement direction and speed magnitude information.

[0041] S204: Determine a plurality of initial positioning positions in the area to be positioned, and calculate trajectories corresponding to the initial positioning positions according to the speed information.

[0042] Specifically, the area to be located may be all areas of the current position of the terminal determined based on the previous position of the terminal. The area to be located may be determined according to the movement direction and speed of the terminal, for example, a circular area with a radius determined by the speed and time interval with the previous position of the terminal as the center, wherein the time interval may be a time interval in which the terminal periodically reads the channel state information (CSI, Channel State Information) from the communication signal and the channel state information CSI is known, or the area to be located may be determined according to the rough positioning position obtained by the base station, that is, an area with the rough positioning position as the center and the positioning accuracy as the radius.

[0043] The initial positioning position may be a point where multiple terminals may appear at the current position determined in the area to be positioned according to the positioning accuracy, wherein the number of the initial positioning positions is greater than or equal to 2.

[0044] The trajectory is determined based on the current position and speed information. For example, assuming that the current position of the terminal P to be located is p N According to the velocity information v, the position trajectory points {p1,…,p N}, where p i =p N -v·Δt·(Ni), i=1,2,…,N.

[0045] The terminal can determine the corresponding trajectory according to each initial positioning position, and optionally, since the historical trajectories are the same, the positions of the first N-1 points can be set to be the same, so that subsequent theoretical channel state information and actual channel state information can be calculated or obtained only once, thereby reducing processing.

[0046] S206: Acquire the base station position, and calculate theoretical channel state information of the trajectory points in each trajectory according to the base station position.

[0047] Specifically, the location of the base station is fixed, that is, the accurate location of the base station has been determined when the base station is established, so when the terminal obtains the base station signal, the signal may include the location of the base station.

[0048] The theoretical channel state information refers to the theoretical phase value of the direct signal from the base station to each trajectory point on the trajectory.

[0049] S208: Acquire actual channel state information of trajectory points in each trajectory.

[0050] Specifically, the actual channel state information may be determined based on the channel state information historically received by the terminal, and the actual channel state information may be a phase measurement value.

[0051] S210: Determine a target positioning position from a plurality of initial positioning positions according to theoretical channel state information and actual channel state information.

[0052] Specifically, after the terminal obtains the theoretical channel state information and the actual channel state information of the trajectory points in each trajectory, it can calculate the score of the corresponding initial positioning position as the target positioning position according to the theoretical channel state information and the actual channel state information in each trajectory point, and finally determine the target positioning position according to the score.

[0053] The score may be obtained by balancing the theoretical channel state information and the actual channel state information of the trajectory point in the trajectory. Optionally, after obtaining the scores corresponding to each initial positioning position, a hologram may be constructed, and since a higher value will be shown in the hologram at the correct position, the precise position of the terminal may be determined through the hologram.

[0054] The terminal positioning method in this embodiment utilizes the channel state information of the terminal during the communication between the terminal and the base station, combined with the movement direction and speed information provided by the inertial device of the terminal itself, and also combined with the actual channel state information of the trajectory of a short distance before the terminal, to locate the terminal, thereby improving the accuracy of terminal positioning.

[0055] In one of the embodiments, trajectories corresponding to the initial positioning positions are calculated based on the speed information, including: obtaining a reading interval of the channel state information; and calculating trajectory points before the initial positioning position based on the speed information and the reading interval, and obtaining the trajectory corresponding to the initial positioning position based on the calculated trajectory points and the initial positioning position.

[0056] Specifically, the channel state information reading interval may be pre-stored in the terminal and determined according to the properties of the positioning device of the terminal.

[0057] For example, assuming that the current location of terminal P, that is, the initial positioning location is p N According to the velocity information v, the position trajectory points {p1,…,p N}, where p i =p N -v·Δt·(Ni), i=1,2,…,N.

[0058] In the above embodiment, the track point before the initial positioning position is calculated according to the speed information and the reading interval.

[0059] In one embodiment, calculating the theoretical channel state information of the trajectory points in each trajectory according to the base station position includes: calculating the theoretical channel state information of the trajectory points in each trajectory according to the following formula, that is, at p i Theoretical phase value of the direct signal on the position trajectory:

[0060]

[0061] Among them, f i is the communication signal frequency, |P BS -p i | indicates that in p i Position terminal and base station P BS distance.

[0062] In one of the embodiments, a target positioning position is determined from multiple initial positioning positions based on theoretical channel state information and actual channel state information, including: constructing a target search function based on the theoretical channel state information and actual channel state information; obtaining a hologram of the area to be positioned based on the target search function; and determining the target positioning position from multiple initial positioning positions based on the hologram.

[0063] Optionally, constructing a target search function according to the theoretical channel state information and the actual channel state information includes: constructing the following target search function according to the theoretical channel state information and the actual channel state information, wherein, for a position p(x, y) in the area to be located, it is assumed to be the current position p of the terminal P N , then the target search function corresponding to the position p(x, y) is:

[0064]

[0065] Among them, p(x, y) is the initial positioning position, OSF p(x，y) is the target search function at the initial positioning position, i = 1, 2, 3, ... N, N is the number of trajectory points in the corresponding trajectory, ∠CSI i is the actual channel state information, ∠CSI i，d is the theoretical channel state information.

[0066] Among them, in the area to be positioned, the target search function OSFp(x, y) is calculated for each point in the area, that is, the initial positioning position, with a certain granularity, and then the hologram of the area to be positioned can be constructed. Among them, [x min ,x max ]、[y min ,y max ] represents the range of the x-axis direction and the y-axis direction in the area to be positioned. In other embodiments, the area to be positioned can also be a three-dimensional space. Here, only two-dimensional space is used as an example.

[0067] Finally, the server finds the point corresponding to the maximum value in the hologram, which is the estimated position of the terminal, that is, the target positioning position.

[0068] In the above embodiment, not only can accurate positioning be achieved in a single base station environment, but also the influence of signal multipath propagation effect can be overcome.

[0069] In one of the embodiments, determining a plurality of initial positioning positions in the area to be positioned includes: determining the area to be positioned and a position sampling granularity, and obtaining a plurality of initial positioning positions according to the area to be positioned and the position sampling granularity.

[0070] Specifically, the sampling granularity is related to the positioning accuracy. The higher the positioning accuracy, the finer the sampling granularity. The terminal can determine the sampling granularity according to the preset positioning accuracy, and then divide the area to be positioned according to the sampling granularity to obtain multiple initial positioning positions.

[0071] In this embodiment, the positioning accuracy is fully taken into consideration, so that the positioning is more accurate.

[0072] Specifically, see Figure 3 As shown, Figure 3 FIG. 4 is a flow chart of a terminal positioning method in another embodiment. In this embodiment, the terminal positioning method specifically includes the following steps:

[0073] First, the terminal obtains speed information v, interval Δt and actual channel state information CSI.

[0074] Secondly, the terminal determines the area to be positioned [x min ,x max ]、[y min ,y max ] and the position sampling granularity Δl, where m=0, n=0, specifically as Figure 4 As shown, the area to be positioned is divided according to the position sampling granularity, thereby obtaining multiple initial positioning positions.

[0075] Third, get the initial positioning position x = x min +mΔl,y=y min +nΔl.

[0076] Fourth, combine the velocity information to obtain the position of this point and the previous N-1 points, thereby obtaining the trajectory points {p1,…,p N}.

[0077] Fifth, according to the base station location P BS , calculated at position p i Theoretical channel state information of the direct signal.

[0078] Sixth, calculate the target search function at the initial positioning position.

[0079] Seventh, loop, that is, m=m+1.

[0080] Eighth, judge x min +mΔl <x max If not, proceed to step 3 to obtain the initial positioning position.

[0081] Ninth, if yes, then n=n+1, m=0, and continue to judge y min +nΔl <y max If not, proceed to step 3 to obtain the initial positioning position.

[0082] In the first case, if , then the initial positioning position corresponding to the maximum value of the target search function is the positioning estimate, that is, the target positioning position.

[0083] In the above embodiment, when the terminal is moving, the phase information provided by the terminal's channel state information (CSI) during the communication between the mobile terminal and the base station is used, combined with the movement direction and speed information provided by the terminal's own inertial device, and the CSI measurement values ​​within the current and previous short distances are used to construct a hologram within the positioning area. Since a higher value will be shown in the hologram at the correct position, the precise position of the mobile terminal is determined by the hologram. In this way, the mobile terminal can be accurately positioned in a single base station environment, and the influence of the signal multipath propagation effect can be overcome.

[0084] It should be understood that although Figure 2 and Figure 3 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2 and Figure 3 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0085] In one embodiment, Figure 5 As shown, a terminal positioning device is provided, comprising: a reading module 100, a trajectory determination module 200, a theoretical value calculation module 300, an actual value calculation module 400 and a positioning module 500, wherein:

[0086] A reading module 100, used for reading speed information;

[0087] The trajectory determination module 200 is used to determine a plurality of initial positioning positions in the area to be positioned, and calculate the trajectories corresponding to the initial positioning positions according to the speed information;

[0088] Theoretical value calculation module 300, used to obtain the base station position, and calculate the theoretical channel state information of the trajectory points in each trajectory according to the base station position;

[0089] An actual value calculation module 400 is used to obtain actual channel state information of trajectory points in each trajectory; and

[0090] The positioning module 500 is used to determine a target positioning position from a plurality of initial positioning positions according to theoretical channel state information and actual channel state information.

[0091] In one embodiment, the trajectory determination module 200 includes:

[0092] An interval reading unit, used to obtain a reading interval of the channel state information; and

[0093] The trajectory generating unit is used to calculate the trajectory points before the initial positioning position according to the speed information and the reading interval, and obtain the trajectory corresponding to the initial positioning position according to the calculated trajectory points and the initial positioning position.

[0094] In one embodiment, the theoretical value calculation module 300 is further used to calculate the theoretical channel state information of the trajectory points in each trajectory according to the following formula:

[0095]

[0096] Among them, f i is the communication signal frequency, |P BS -p i | indicates that in p i Position terminal and base station P BS distance.

[0097] In one embodiment, the positioning module 500 includes:

[0098] A function construction unit, used for constructing a target search function according to theoretical channel state information and actual channel state information;

[0099] A hologram generation unit, used to obtain a hologram of the area to be located based on a target search function; and

[0100] The positioning unit is used to determine the target positioning position from multiple initial positioning positions according to the hologram.

[0101] In one embodiment, the positioning unit is further configured to construct the following target search function according to the theoretical channel state information and the actual channel state information:

[0102]

[0103] Among them, p(x, y) is the initial positioning position, OSF p(x，y) is the target search function at the initial positioning position, i = 1, 2, 3, ... N, N is the number of trajectory points in the corresponding trajectory, ∠CSI i is the actual channel state information, ∠CSI i，d is the theoretical channel state information.

[0104] In one embodiment, the trajectory determination module 200 is further used to determine the area to be positioned and the position sampling granularity, and obtain multiple initial positioning positions according to the area to be positioned and the position sampling granularity.

[0105] For the specific definition of the terminal positioning device, please refer to the definition of the terminal positioning method above, which will not be repeated here. Each module in the above terminal positioning device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0106] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through Wi-Fi, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a terminal positioning method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, a trackball or a touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0107] Those skilled in the art will understand that Figure 6The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0108] A computer device includes a memory and one or more processors, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the one or more processors execute the following steps: reading speed information; determining multiple initial positioning positions in a to-be-positioned area, and respectively calculating trajectories corresponding to the initial positioning positions according to the speed information; obtaining base station positions, and calculating theoretical channel state information of trajectory points in each trajectory according to the base station positions; obtaining actual channel state information of trajectory points in each trajectory; and determining a target positioning position from the multiple initial positioning positions according to the theoretical channel state information and the actual channel state information.

[0109] In one embodiment, when the processor executes the computer-readable instructions, the steps of calculating the trajectory corresponding to the initial positioning position according to the speed information include: obtaining the reading interval of the channel state information; and calculating the trajectory points before the initial positioning position according to the speed information and the reading interval, and obtaining the trajectory corresponding to the initial positioning position according to the calculated trajectory points and the initial positioning position.

[0110] In one embodiment, the step of calculating theoretical channel state information of trajectory points in each trajectory according to the base station position when the processor executes the computer-readable instructions includes: calculating the theoretical channel state information of the trajectory points in each trajectory according to the following formula:

[0111]

[0112] Among them, f i is the communication signal frequency, |P BS -p i | indicates that in p i Position terminal and base station P BS distance.

[0113] In one embodiment, when the processor executes computer-readable instructions, the method of determining the target positioning position from multiple initial positioning positions based on theoretical channel state information and actual channel state information includes: constructing a target search function based on the theoretical channel state information and the actual channel state information; obtaining a hologram of the area to be positioned based on the target search function; and determining the target positioning position from multiple initial positioning positions based on the hologram.

[0114] In one embodiment, the step of constructing a target search function according to the theoretical channel state information and the actual channel state information when the processor executes the computer-readable instructions includes: constructing the following target search function according to the theoretical channel state information and the actual channel state information:

[0115]

[0116] Among them, p(x, y) is the initial positioning position, OSF p(x，y) is the target search function at the initial positioning position, i = 1, 2, 3, ... N, N is the number of trajectory points in the corresponding trajectory, ∠CSI i is the actual channel state information, ∠CSI i，d is the theoretical channel state information.

[0117] In one embodiment, the method of determining multiple initial positioning positions in the area to be positioned when the processor executes computer-readable instructions includes: determining the area to be positioned and the position sampling granularity, and obtaining multiple initial positioning positions according to the area to be positioned and the position sampling granularity.

[0118] One or more computer-readable storage media storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the following steps: reading speed information; determining multiple initial positioning positions in the area to be positioned, and calculating trajectories corresponding to the initial positioning positions according to the speed information; obtaining base station positions, and calculating theoretical channel state information of trajectory points in each trajectory according to the base station positions; obtaining actual channel state information of trajectory points in each trajectory; and determining a target positioning position from multiple initial positioning positions according to the theoretical channel state information and the actual channel state information.

[0119] The computer-readable storage medium may be non-volatile or volatile.

[0120] In one embodiment, when the computer-readable instructions are executed by the processor, the trajectories corresponding to the initial positioning positions are calculated according to the speed information, including: obtaining the reading interval of the channel state information; and calculating the trajectory points before the initial positioning position according to the speed information and the reading interval, and obtaining the trajectory corresponding to the initial positioning position according to the calculated trajectory points and the initial positioning position.

[0121] In one embodiment, when the computer readable instructions are executed by the processor, the steps of calculating the theoretical channel state information of the trajectory points in each trajectory according to the base station position include: calculating the theoretical channel state information of the trajectory points in each trajectory according to the following formula:

[0122]

[0123] Among them, f i is the communication signal frequency, |P BS -p i | indicates that in p i Position terminal and base station P BS distance.

[0124] In one embodiment, when the computer-readable instructions are executed by the processor, the target positioning position is determined from multiple initial positioning positions based on the theoretical channel state information and the actual channel state information, including: constructing a target search function based on the theoretical channel state information and the actual channel state information; obtaining a hologram of the area to be positioned based on the target search function; and determining the target positioning position from multiple initial positioning positions based on the hologram.

[0125] In one embodiment, when the computer readable instructions are executed by the processor, the execution of constructing a target search function according to the theoretical channel state information and the actual channel state information includes: constructing the following target search function according to the theoretical channel state information and the actual channel state information:

[0126]

[0127] Among them, p(x, y) is the initial positioning position, OSF p(x，y) is the target search function at the initial positioning position, i = 1, 2, 3, ... N, N is the number of trajectory points in the corresponding trajectory, ∠CSI i is the actual channel state information, ∠CSI i，d is the theoretical channel state information.

[0128] In one embodiment, when the computer readable instructions are executed by the processor, the determination of multiple initial positioning positions in the area to be positioned includes: determining the area to be positioned and the position sampling granularity, and obtaining multiple initial positioning positions according to the area to be positioned and the position sampling granularity.

[0129] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile computer-readable storage medium. When the computer-readable instructions are executed, they may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0130] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A terminal positioning method, comprising: Read speed information; Determine a plurality of initial positioning positions in the area to be positioned, and calculate trajectories corresponding to the initial positioning positions respectively according to the speed information; Acquire the base station position, and calculate the theoretical channel state information of the trajectory points in each trajectory according to the base station position; Obtaining actual channel state information of trajectory points in each trajectory; and Determining a target positioning position from a plurality of the initial positioning positions according to the theoretical channel state information and the actual channel state information; The calculating of the theoretical channel state information of the trajectory points in each trajectory according to the base station position includes: calculating the theoretical channel state information of the trajectory points in each trajectory according to the following formula: Among them, f i is the communication signal frequency, |P BS -p i | indicates that in p i The terminal and the base station P BS distance; Among them, determining the target positioning position from the multiple initial positioning positions according to the theoretical channel state information and the actual channel state information includes: constructing a target search function according to the theoretical channel state information and the actual channel state information; obtaining a hologram of the area to be positioned based on the target search function; and determining the target positioning position from the multiple initial positioning positions according to the hologram, the point corresponding to the maximum value in the hologram being the target positioning position.

2. The method according to claim 1, wherein: The step of calculating the trajectory corresponding to the initial positioning position according to the speed information comprises: A reading interval for obtaining channel state information; and The track points before the initial positioning position are calculated according to the speed information and the reading interval, and the track corresponding to the initial positioning position is obtained according to the calculated track points and the initial positioning position.

3. The method according to claim 1, wherein: The constructing a target search function according to the theoretical channel state information and the actual channel state information comprises: The following target search function is constructed according to the theoretical channel state information and the actual channel state information: Among them, p(x, y) is the initial positioning position, OSF p(x，y) is the target search function at the initial positioning position, i = 1, 2, 3, ... N, N is the number of trajectory points in the corresponding trajectory, ∠CSI i is the actual channel state information, ∠CSI i , d is the theoretical channel state information.

4. The method according to claim 1, wherein: The step of determining a plurality of initial positioning positions in the area to be positioned includes: The area to be positioned and the position sampling granularity are determined, and a plurality of initial positioning positions are obtained according to the area to be positioned and the position sampling granularity.

5. A terminal positioning device, comprising: A reading module, used for reading speed information; A trajectory determination module, used to determine a plurality of initial positioning positions in the area to be positioned, and calculate the trajectories corresponding to the initial positioning positions respectively according to the speed information; A theoretical value calculation module, used to obtain the base station position and calculate the theoretical channel state information of the trajectory points in each trajectory according to the base station position; An actual value calculation module, used to obtain actual channel state information of trajectory points in each trajectory; and A positioning module, configured to determine a target positioning position from a plurality of the initial positioning positions according to the theoretical channel state information and the actual channel state information; The theoretical value calculation module is used to calculate the theoretical channel state information of the trajectory points in each trajectory according to the following formula: Among them, f i is the communication signal frequency, |P BS -p i | indicates that in p i The terminal and the base station P BS distance; Among them, the positioning module is used to construct a target search function based on the theoretical channel state information and the actual channel state information; obtain a hologram of the area to be positioned based on the target search function; and determine the target positioning position from the multiple initial positioning positions based on the hologram, and the point corresponding to the maximum value in the hologram is the target positioning position.

6. The device according to claim 5, wherein: The trajectory determination module comprises: An interval reading unit, used to obtain a reading interval of the channel state information; and The trajectory generating unit is used to calculate the trajectory points before the initial positioning position according to the speed information and the reading interval, and obtain the trajectory corresponding to the initial positioning position according to the calculated trajectory points and the initial positioning position.

7. A computer device comprising a memory and one or more processors, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the one or more processors, the one or more processors perform the following steps: Read speed information; Determine a plurality of initial positioning positions in the area to be positioned, and calculate trajectories corresponding to the initial positioning positions respectively according to the speed information; Acquire the base station position, and calculate the theoretical channel state information of the trajectory points in each trajectory according to the base station position; Obtaining actual channel state information of trajectory points in each trajectory; and Determining a target positioning position from a plurality of the initial positioning positions according to the theoretical channel state information and the actual channel state information; Wherein, the calculating of the theoretical channel state information of the trajectory points in each trajectory according to the base station position performed by the processor when executing the computer-readable instruction includes: calculating the theoretical channel state information of the trajectory points in each trajectory according to the following formula: Among them, f i is the communication signal frequency, |P BS -p i | indicates that in p i Position terminal and base station P BS distance; Among them, the processor determines the target positioning position from the multiple initial positioning positions according to the theoretical channel state information and the actual channel state information when executing the computer-readable instructions, including: constructing a target search function according to the theoretical channel state information and the actual channel state information; obtaining a hologram of the area to be positioned based on the target search function; and determining the target positioning position from the multiple initial positioning positions according to the hologram, and the point corresponding to the maximum value in the hologram is the target positioning position.

8. The computer device according to claim 7, wherein: The steps of respectively calculating the trajectories corresponding to the initial positioning positions according to the speed information when the processor executes the computer readable instructions include: A reading interval for obtaining channel state information; and The track points before the initial positioning position are calculated according to the speed information and the reading interval, and the track corresponding to the initial positioning position is obtained according to the calculated track points and the initial positioning position.

9. The computer device according to claim 7, wherein: The step of constructing a target search function according to the theoretical channel state information and the actual channel state information when the processor executes the computer readable instructions includes: The following target search function is constructed according to the theoretical channel state information and the actual channel state information: Among them, p(x, y) is the initial positioning position, OSF p(x，y) is the target search function at the initial positioning position, i = 1, 2, 3, ... N, N is the number of trajectory points in the corresponding trajectory, ∠CSI i is the actual channel state information, ∠CSI i , d is the theoretical channel state information.

10. The computer device according to claim 7, wherein: The determining of a plurality of initial positioning positions in the area to be positioned, performed by the processor when executing the computer readable instructions, includes: The area to be positioned and the position sampling granularity are determined, and a plurality of initial positioning positions are obtained according to the area to be positioned and the position sampling granularity.

11. A non-volatile computer-readable storage medium storing computer-readable instructions, wherein when the computer-readable instructions are executed by one or more processors, the one or more processors perform the following steps: Read speed information; Determine a plurality of initial positioning positions in the area to be positioned, and calculate trajectories corresponding to the initial positioning positions respectively according to the speed information; Acquire the base station position, and calculate the theoretical channel state information of the trajectory points in each trajectory according to the base station position; Obtaining actual channel state information of trajectory points in each trajectory; and Determining a target positioning position from a plurality of the initial positioning positions according to the theoretical channel state information and the actual channel state information; Wherein, the step of calculating the theoretical channel state information of the trajectory points in each trajectory according to the base station position when the computer readable instruction is executed by the processor includes: calculating the theoretical channel state information of the trajectory points in each trajectory according to the following formula: Among them, f i is the communication signal frequency, |P BS -p i | indicates that in p i Position terminal and base station P BS distance; Among them, the computer-readable instructions executed by the processor when executing the method of determining the target positioning position from the multiple initial positioning positions based on the theoretical channel state information and the actual channel state information include: constructing a target search function based on the theoretical channel state information and the actual channel state information; obtaining a hologram of the area to be positioned based on the target search function; and determining the target positioning position from the multiple initial positioning positions based on the hologram, and the point corresponding to the maximum value in the hologram is the target positioning position.

12. The storage medium according to claim 11, wherein: The computer readable instructions, when executed by the processor, respectively calculate the trajectory corresponding to the initial positioning position according to the speed information, including: A reading interval for obtaining channel state information; and The track points before the initial positioning position are calculated according to the speed information and the reading interval, and the track corresponding to the initial positioning position is obtained according to the calculated track points and the initial positioning position.

13. The storage medium according to claim 11, wherein: The computer readable instructions, when executed by the processor, construct a target search function according to the theoretical channel state information and the actual channel state information, comprising: The following target search function is constructed according to the theoretical channel state information and the actual channel state information: Among them, p(x, y) is the initial positioning position, OSF p(x，y) is the target search function at the initial positioning position, i = 1, 2, 3, ... N, N is the number of trajectory points in the corresponding trajectory, ∠CSI i is the actual channel state information, ∠CSI i , d is the theoretical channel state information.

14. The storage medium according to claim 11, wherein: The computer readable instructions, when executed by the processor, determine a plurality of initial positioning positions in the area to be positioned, including: The area to be positioned and the position sampling granularity are determined, and a plurality of initial positioning positions are obtained according to the area to be positioned and the position sampling granularity.

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