Positioning method, apparatus, device, and storage medium

Abstract

The application relates to a positioning method, a device, equipment and a storage medium, and relates to the technical field of positioning. The method comprises the following steps: acquiring a channel estimation matrix of a channel sounding reference signal (SRS) sent by a user equipment to a base station; determining a three-dimensional channel graph corresponding to the channel estimation matrix; the three-dimensional channel graph is used for indicating phase information and amplitude information of the channel estimation matrix; inputting the three-dimensional channel graph into a positioning model to obtain position information of the user equipment; and the positioning model is obtained by training based on sample three-dimensional channel graphs and sample position information corresponding to the sample three-dimensional channel graphs. The application is used for acquiring high-precision position information.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a positioning method, apparatus, device and storage medium. Background Technology

[0002] In recent years, with the continuous advancement of technology, people have increasingly higher requirements for navigation and positioning. However, in many scenarios, traditional satellite positioning technology cannot effectively solve positioning problems. For example, satellite positioning technology is often affected by signal interference, terrain obstruction, and multipath effects during the positioning process. Especially in urban canyons, the satellite signal strength will be greatly reduced, which will affect the positioning accuracy and fail to meet the positioning needs in special situations.

[0003] Therefore, how to obtain high-precision location information is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This application provides a positioning method, apparatus, device, and storage medium for obtaining high-precision location information. The technical solution of this application is as follows:

[0005] In a first aspect, a positioning method is provided, comprising: acquiring a channel estimation matrix of a channel sounding reference signal (SRS) sent by a user equipment to a base station; determining a three-dimensional channel map corresponding to the channel estimation matrix; the three-dimensional channel map being used to indicate the phase and amplitude information of the channel estimation matrix; inputting the three-dimensional channel map into a positioning model to obtain the location information of the user equipment; the positioning model being trained based on sample three-dimensional channel maps and sample location information corresponding to the sample three-dimensional channel maps.

[0006] In one possible implementation, determining the three-dimensional channel map corresponding to the channel estimation matrix includes: performing a preset processing on the channel estimation matrix to obtain a target channel estimation matrix; the preset processing includes compression processing and / or error removal processing; extracting the phase information and amplitude information of the target channel estimation matrix, and normalizing the phase information and amplitude information of the target channel estimation matrix to obtain the three-dimensional channel map.

[0007] In one possible implementation, the channel estimation matrix is ​​compressed, including: compressing the channel estimation matrix in the time domain based on a preset time slot to obtain a first channel estimation matrix; and compressing the first channel estimation matrix in the frequency domain based on a resource block (RB) to obtain a target channel estimation matrix.

[0008] In one possible implementation, error correction processing is performed on the channel estimation matrix, including: determining the first channel state information (CSI) phase angle from the user equipment to the base station, and the second CSI phase angle from the preset calibration point to the base station; and obtaining the target channel estimation matrix based on the difference between the first CSI phase angle and the second CSI phase angle.

[0009] In one possible implementation, the above method further includes: determining the orientation information of the user equipment based on the location information of the user equipment; the orientation information includes the azimuth angle of the user equipment relative to different base station antennas; obtaining the distance information for BeiDou positioning of the user equipment; the distance information includes the spatial pseudorange between the user equipment and different satellites; constructing a positioning equation for the user equipment based on the orientation information, distance information, location information of different base station antennas, and location information of different satellites; and iteratively solving the positioning equation based on the least squares algorithm to obtain the joint location information of the user equipment.

[0010] Secondly, a positioning device is provided, comprising an acquisition unit, a determination unit, and a processing unit; the acquisition unit is used to acquire the channel estimation matrix of a channel sounding reference signal (SRS) transmitted by a user equipment to a base station; the determination unit is used to determine a three-dimensional channel map corresponding to the channel estimation matrix after the acquisition unit acquires the channel estimation matrix of the SRS transmitted by the user equipment to the base station; the three-dimensional channel map is used to indicate the phase information and amplitude information of the channel estimation matrix; the processing unit is used to input the three-dimensional channel map into a positioning model to obtain the location information of the user equipment; the positioning model is trained based on sample three-dimensional channel maps and sample location information corresponding to the sample three-dimensional channel maps.

[0011] In one possible implementation, the above processing unit is specifically used for: performing preset processing on the channel estimation matrix to obtain a target channel estimation matrix; the preset processing includes compression processing and / or error removal processing; extracting the phase information and amplitude information of the target channel estimation matrix, and normalizing the phase information and amplitude information of the target channel estimation matrix to obtain a three-dimensional channel map.

[0012] In one possible implementation, the processing unit is configured to: compress the channel estimation matrix in the time domain based on a preset time slot to obtain a first channel estimation matrix; and compress the first channel estimation matrix in the frequency domain based on RB to obtain a target channel estimation matrix.

[0013] In one possible implementation, the determining unit is configured to determine the first channel state information (CSI) phase angle from the user equipment to the base station and the second CSI phase angle from the preset calibration point to the base station; the processing unit is configured to obtain the target channel estimation matrix based on the difference between the first CSI phase angle and the second CSI phase angle.

[0014] In one possible implementation, the determining unit is further configured to determine the orientation information of the user equipment based on the location information of the user equipment; the orientation information includes the azimuth angle of the user equipment relative to different base station antennas; the acquiring unit is further configured to acquire the distance information for BeiDou positioning of the user equipment; the distance information includes the spatial pseudorange between the user equipment and different satellites; the processing unit is further configured to construct the positioning equation of the user equipment based on the orientation information, the distance information, the location information of different base station antennas, and the location information of different satellites; the processing unit is further configured to iteratively solve the positioning equation based on the least squares algorithm to obtain the joint location information of the user equipment.

[0015] Thirdly, an electronic device is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the methods of the first aspect and any possible implementation thereof.

[0016] Fourthly, a computer-readable storage medium is provided, wherein when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the methods described in the first aspect and any possible implementation thereof.

[0017] Fifthly, a computer program product is provided, comprising computer instructions that, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0018] The technical solution of the first aspect of this application brings at least the following beneficial effects: Traditional positioning technologies often encounter signal interference, terrain obstruction, multipath effects, etc., during the positioning process, which affects positioning accuracy and cannot meet the positioning needs in special situations. This application obtains the channel estimation matrix of the SRS sent by the user equipment to the base station and determines the three-dimensional channel map corresponding to the channel estimation matrix. Furthermore, the three-dimensional channel map is input into the positioning model to obtain the location information of the user equipment. The three-dimensional channel map is used to indicate the phase and amplitude information of the channel estimation matrix. This application associates the location information of the user equipment with the channel estimation matrix of the user equipment through the positioning model, which can transform the positioning problem into an image recognition problem, eliminating the need for angle or time estimation, thereby enabling the acquisition of high-precision location information of the user equipment.

[0019] It should be noted that the technical effects of any of the implementation methods in aspects two through five can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0022] Figure 1 This is a schematic diagram illustrating a positioning system according to an exemplary embodiment;

[0023] Figure 2 This is a flowchart illustrating a positioning method according to an exemplary embodiment;

[0024] Figure 3 This is a flowchart illustrating yet another positioning method according to an exemplary embodiment;

[0025] Figure 4 This is a flowchart illustrating yet another positioning method according to an exemplary embodiment;

[0026] Figure 5 This is a flowchart illustrating yet another positioning method according to an exemplary embodiment;

[0027] Figure 6 This is a flowchart illustrating yet another positioning method according to an exemplary embodiment;

[0028] Figure 7 This is a block diagram illustrating a positioning device according to an exemplary embodiment;

[0029] Figure 8 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0030] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0031] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0032] Before providing a detailed introduction to the positioning method provided in this application, let's first briefly introduce the implementation environment (implementation architecture) involved in this application.

[0033] The positioning method provided in this application can be applied to positioning systems. Figure 1 A schematic diagram of one structure of the positioning system is shown. For example... Figure 1 As shown, the positioning system 10 includes an electronic device 11 and a positioning device 12. The electronic device 11 is connected to the positioning device 12. The electronic device 11 and the positioning device 12 can be connected by wired means or wireless means, and this embodiment of the application does not limit the connection.

[0034] Electronic device 11 can be used to acquire the SRS sent by the user equipment to the base station and send the SRS received by the base station to the positioning device 12.

[0035] Positioning device 12 can be used to receive SRS sent from user equipment to base station by electronic device 11.

[0036] The positioning device 12 can also be used to process the SRS sent by the user equipment to the base station, for example, to obtain the channel estimation matrix of the SRS, determine the three-dimensional channel map corresponding to the channel estimation matrix, and input the three-dimensional channel map into the positioning model to obtain the location information of the user equipment.

[0037] Optionally, the electronic device 11 can be a physical machine, such as: base station equipment, network equipment set inside or outside the base station, desktop computer, mobile phone, tablet computer, laptop computer, ultra-mobile personal computer (UMPC), netbook, personal digital assistant (PDA) and other terminal devices. The electronic device 11 can also be a server or a server group composed of multiple servers.

[0038] Optionally, the positioning device 12 described above can also achieve the functions to be performed by a virtual machine (VM) deployed on a physical machine.

[0039] In different application scenarios, the electronic device 11 and the positioning device 12 can be independent devices or integrated into the same device. This application embodiment does not specifically limit this.

[0040] When electronic device 11 and positioning device 12 are integrated into the same device, the data transmission method between electronic device 11 and positioning device 12 is the data transmission between internal modules of the device. In this case, the data transmission process between the two is the same as that when electronic device 11 and positioning device 12 are independent of each other.

[0041] In the following embodiments provided in this application, the electronic device 11 and the positioning device 12 are integrated into the same device as an example for illustration.

[0042] For ease of understanding, the positioning method provided in this application will be described in detail below with reference to the accompanying drawings.

[0043] Figure 2 This is a flowchart illustrating a positioning method according to an exemplary embodiment. This method can be applied to an electronic device or a positioning device connected to an electronic device. Furthermore, this method can also be applied to devices similar to electronic devices or positioning devices. The following description uses the application of this method to an electronic device as an example to illustrate the method. Figure 2 As shown, the positioning method provided in this application includes the following steps:

[0044] S201. The electronic equipment acquires the channel estimation matrix of the SRS sent by the user equipment to the base station.

[0045] As one possible implementation, the user equipment (UE) sends SRS to the base station. The UE performs channel estimation on the received SRS from the base station, obtaining the carrier frequency, the SRS attenuation coefficients for multiple paths, and the SRS propagation delays for multiple paths. Based on the obtained carrier frequency, SRS attenuation coefficients for multiple paths, SRS propagation delays for multiple paths, and Equation 1, the UE obtains the CSI and then constructs the channel estimation matrix. Equation 1 can be expressed as follows:

[0046]

[0047] Among them, f n Where α is the carrier frequency, D is the number of paths the base station receives SRS from, and α is the number of paths the base station receives SRS from. k f is the SRS attenuation coefficient for the k-th path, where j is negative.n = f0 + nΔf, where f0 is the center frequency, Δf is the interval between two adjacent subcarriers, n is the number of subcarriers, and τ k Let SRS propagation delay be the value of the k-th path. This represents the CSI of the direct path.

[0048] For example, the channel estimation matrix can be shown in matrix 1 below:

[0049]

[0050] In matrix one, the elements are CSI and N. C N is the number of subcarriers. OFDM N represents the number of symbols in orthogonal frequency division multiplexing (OFDM). T N represents the number of transmitter antennas. R This represents the number of receiver antennas.

[0051] S202. The electronic equipment determines the three-dimensional channel map corresponding to the channel estimation matrix.

[0052] Among them, the three-dimensional channel map is used to indicate the phase and amplitude information of the channel estimation matrix.

[0053] As one possible implementation, the electronic device performs pre-processing on the channel estimation matrix to obtain the target channel estimation matrix, and then renders the target channel estimation matrix to obtain the three-dimensional channel map corresponding to the channel estimation matrix.

[0054] The specific implementation method of this step can be referred to in the subsequent description of the embodiments of this application, and will not be repeated here.

[0055] S203. The electronic equipment inputs the three-dimensional channel map into the positioning model to obtain the location information of the user equipment.

[0056] The localization model is trained based on the sample three-dimensional channel map and the sample location information corresponding to the sample three-dimensional channel map.

[0057] As one possible implementation, the electronic device constructs a localization model based on a 3D convolutional neural network (CNN), a recurrent neural network (RNN), and a connectionist temporal classification (CTC) network. The electronic device builds a sample database based on sample 3D channel maps and the corresponding sample location information, and then inputs this sample database into the localization model to train the model.

[0058] Furthermore, the electronic device inputs the three-dimensional channel map into the trained positioning model to obtain the location information of the user equipment.

[0059] Understandably, traditional positioning technologies often encounter signal interference, terrain obstruction, and multipath effects during the positioning process, which affects positioning accuracy and fails to meet positioning requirements in special circumstances. This application obtains the channel estimation matrix of the SRS transmitted by the user equipment to the base station and determines the corresponding three-dimensional channel map. Furthermore, the three-dimensional channel map is input into the positioning model to obtain the location information of the user equipment. The three-dimensional channel map is used to indicate the phase and amplitude information of the channel estimation matrix. This application associates the location information of the user equipment with its channel estimation matrix through the positioning model, transforming the positioning problem into an image recognition problem. It eliminates the need for angle or time estimation, thereby enabling the acquisition of high-precision location information for the user equipment.

[0060] In some embodiments, in order to determine the three-dimensional channel map corresponding to the channel estimation matrix, such as Figure 3 As shown, the above S202 can be implemented in the following way:

[0061] S2021. The electronic equipment performs preset processing on the channel estimation matrix to obtain the target channel estimation matrix.

[0062] The preset processing includes compression processing and / or error removal processing.

[0063] S2022. The electronic device extracts the phase and amplitude information of the target channel estimation matrix.

[0064] As one possible implementation, the data in the target channel estimation matrix is ​​in the complex form Ai+Bj. The electronic device extracts the phase information of the target channel estimation matrix according to Formula 2 and extracts the amplitude information of the target channel matrix according to Formula 3.

[0065] Formula 2 can be expressed as follows:

[0066] Q = arctan(A ÷ B) (Formula 2)

[0067] Where Q represents phase information.

[0068] Formula 3 can be represented as follows:

[0069]

[0070] Where I represents amplitude information.

[0071] S2023. The electronic equipment normalizes the phase and amplitude information of the target channel estimation matrix to obtain a three-dimensional channel map.

[0072] Understandably, by pre-processing and normalizing the channel estimation matrix, the phase and amplitude information of the channel estimation matrix can be unified into a single unit, thereby ensuring the accuracy of the three-dimensional channel map and improving the accuracy of obtaining the location information of user equipment.

[0073] In some embodiments, in order to obtain a target channel map, such as Figure 4 As shown, the channel estimation matrix can be compressed in the following way:

[0074] S301. The electronic device compresses the channel estimation matrix in the time domain based on a preset time slot to obtain the first channel estimation matrix.

[0075] As one possible implementation, a time slot consists of 14 OFDM symbols. The electronic equipment, based on Equation 4, compresses the channel estimation matrix in the time domain using a preset time slot to obtain the first channel estimation matrix. Equation 4 can be expressed as follows:

[0076]

[0077] Among them, 14 is the preset time slot.

[0078] For example, the first channel estimation matrix can be shown in matrix two below:

[0079]

[0080] Where, N C N is the number of subcarriers. T N represents the number of transmitter antennas. R This represents the number of receiver antennas.

[0081] S302. The electronic device compresses the first channel estimation matrix in the frequency domain based on RB to obtain the target channel estimation matrix.

[0082] As one possible implementation, the 12 subcarriers in the frequency domain form one RB. The electronic device, based on Equation 5, compresses the first channel estimation matrix in the frequency domain based on the RBs to obtain the target channel estimation matrix. Equation 5 can be expressed as follows:

[0083]

[0084] For example, the target channel estimation matrix can be shown in matrix three below:

[0085]

[0086] Where, N C N is the number of subcarriers. T N represents the number of transmitter antennas. R This represents the number of receiver antennas.

[0087] Understandably, compressing the channel estimation matrix can greatly reduce the amount of computation, thereby enabling efficient acquisition of user equipment location information.

[0088] In some embodiments, due to fixed errors introduced by the device or line, in order to obtain the target channel map, such as Figure 5 As shown, error removal of the channel estimation matrix can be achieved in the following way:

[0089] S401. The electronic equipment determines the first CSI phase angle from the user equipment to the base station, and the second CSI phase angle from the preset calibration point to the base station.

[0090] As one possible implementation, the electronic device performs channel estimation on the SRS received by the base station, obtaining the carrier frequency, the SRS attenuation coefficients of multiple paths, and the SRS propagation delay of multiple paths. Based on the obtained data and Equation 6, the electronic device determines the first CSI phase angle.

[0091] Formula 6 can be represented as follows:

[0092]

[0093] in, Here, a is the first CSI phase angle, a1 is the attenuation coefficient of the direct path, j is negative, and f is... n Here, d1 is the carrier frequency, d1 is the path distance from the user equipment to the receiver antenna, Vd is the difference between the path distance from the user equipment to the receiver antenna and the path distance from the preset calibration point to the receiver antenna, c is the speed of light, φ0 is the fixed error, and α is the carrier frequency. k Vd is the SRS attenuation coefficient for the k-th path. kThis is the difference between the distance of the k-th path from the user equipment to the receiver antenna and the path distance from the preset calibration point to the receiver antenna.

[0094] Furthermore, the electronic device determines the second CSI phase angle based on Formula 7. Formula 7 can be expressed as follows:

[0095]

[0096] in, The second CSI phase angle, j is negative, f n denoted as carrier frequency, d1 as path distance from user equipment to receiver antenna, Vd as difference between path distance from user equipment to receiver antenna and path distance from preset calibration point to receiver antenna, c as speed of light, and φ0 as fixed error.

[0097] S402. The electronic device obtains the target channel estimation matrix based on the difference between the first CSI phase angle and the second CSI phase angle.

[0098] As one possible implementation, the electronic device obtains the difference between the first CSI phase angle and the second CSI phase angle based on Formulas 6 and 7 above, and uses this difference as the CSI to construct the target channel estimation matrix.

[0099] The difference between the first CSI phase angle and the second CSI phase angle can be expressed by the following formula:

[0100]

[0101] in, The first CSI phase angle, The second CSI phase angle, j is negative, f n Where is the carrier frequency, Vd is the difference between the path distance from the user equipment to the receiver antenna and the path distance from the preset calibration point to the receiver antenna, c is the speed of light, and α is the carrier frequency. k Vd is the SRS attenuation coefficient for the k-th path. k This is the difference between the distance of the k-th path from the user equipment to the receiver antenna and the path distance from the preset calibration point to the receiver antenna.

[0102] Understandably, fixed errors are introduced by equipment and lines, and these fixed errors can cause noise interference in the three-dimensional channel map. Therefore, eliminating fixed errors can eliminate noise in the three-dimensional channel map, thereby improving the accuracy of obtaining the location information of user equipment.

[0103] In some embodiments, in order to obtain joint location information, such as Figure 6 As shown in the embodiments of this application, the positioning method further includes:

[0104] S501. The electronic device determines the orientation information of the user equipment based on the location information of the user equipment.

[0105] The directional information includes the azimuth angle of the user equipment relative to different base station antennas.

[0106] As one possible implementation, the electronic device determines the azimuth angle of the user equipment relative to different base station antennas based on the location information of different antennas, the location information of the user equipment, and Formula 9. Formula 9 can be expressed as follows:

[0107]

[0108] Where θ is the azimuth angle between the user equipment and the base station antenna, (x i ,y i ,z i (x, y, z) represents the actual location of the base station antenna, (x, y, z) represents the location information of the user equipment, and i represents the number of base station antennas.

[0109] S502. Electronic equipment acquires distance information for BeiDou positioning of user equipment.

[0110] The distance information includes the pseudorange between the user equipment and different satellites.

[0111] As one possible approach, electronic devices acquire the pseudorange in space between user equipment and different satellites.

[0112] S503: The electronic equipment constructs the positioning equation of the user equipment based on the direction information, distance information, position information of different base station antennas, and position information of different satellites.

[0113] As one possible implementation, the electronic device constructs the user equipment's positioning equation based on Equation 10. Equation 10 can be expressed as follows:

[0114]

[0115] Where, ρ i For the spatial pseudorange from different satellites to user equipment, (x S ,y S ,z S ) represents the satellite's position information, δ represents the error between the satellite clock and the user equipment clock, and M represents the number of satellites. θ represents the azimuth angle between the user equipment and the base station antenna, (x b ,y b ,z b (x, y, z) represents the location information of the base station antenna, and (x, y, z) represents the location information of the target user equipment.

[0116] S504. The electronic equipment uses the least squares algorithm to iteratively solve the positioning equation to obtain the joint location information of the user equipment.

[0117] Understandably, non-line-of-sight signals caused by obstructions such as buildings can lead to decreased reliability or even failure of satellite navigation systems, and positioning results cannot be obtained when the number of visible satellites is insufficient. This application deploys 5G base stations, utilizes a combination of 5G positioning technology and satellite positioning technology for joint positioning, constructs positioning equations, and iteratively solves these equations using a least squares algorithm to obtain the joint location information of user equipment, effectively improving the accuracy of user equipment location information.

[0118] Figure 7 This is a positioning device 600 shown according to an exemplary embodiment, such as Figure 7 As shown, the positioning device 600 provided in this application embodiment includes an acquisition unit 601, a determination unit 602, and a processing unit 603.

[0119] The acquisition unit 601 is used to acquire the channel estimation matrix of the channel sounding reference signal (SRS) sent by the user equipment to the base station.

[0120] The determining unit 602 is used to determine the three-dimensional channel map corresponding to the channel estimation matrix after the acquiring unit 601 acquires the channel estimation matrix of the SRS sent by the user equipment to the base station. The three-dimensional channel map is used to indicate the phase information and amplitude information of the channel estimation matrix.

[0121] The processing unit 603 is used to input the three-dimensional channel map into the positioning model to obtain the location information of the user equipment. The positioning model is trained based on the sample three-dimensional channel map and the corresponding sample location information.

[0122] Optional, such as Figure 7 As shown, in order to determine the three-dimensional channel map corresponding to the channel estimation matrix, the processing unit 603 provided in this embodiment is specifically used for:

[0123] The channel estimation matrix is ​​subjected to pre-processing to obtain the target channel estimation matrix. Pre-processing includes compression and / or error removal.

[0124] The phase and amplitude information of the target channel estimation matrix are extracted and normalized to obtain a three-dimensional channel map.

[0125] Optional, such as Figure 7 As shown, in order to obtain the target channel map, the processing unit 603 provided in this embodiment of the application is used for:

[0126] The channel estimation matrix is ​​compressed in the time domain based on a preset time slot to obtain the first channel estimation matrix.

[0127] The first channel estimation matrix is ​​compressed in the frequency domain based on RB to obtain the target channel estimation matrix.

[0128] Optional, such as Figure 7 As shown, in order to obtain the target channel map, the determining unit 602 provided in this application embodiment is used to determine the first CSI phase angle from the user equipment to the base station and the second CSI phase angle from the preset calibration point to the base station.

[0129] The processing unit 603 is used to obtain the target channel estimation matrix based on the difference between the first CSI phase angle and the second CSI phase angle.

[0130] Optional, such as Figure 7 As shown, in order to obtain joint location information, the determining unit 602 provided in this embodiment is further configured to determine the orientation information of the user equipment based on the location information of the user equipment. The orientation information includes the azimuth angle of the user equipment relative to different base station antennas.

[0131] The acquisition unit 601 is also used to acquire distance information for BeiDou positioning of the user equipment. The distance information includes the spatial pseudorange between the user equipment and different satellites.

[0132] The processing unit 603 is also used to construct the positioning equation of the user equipment based on the direction information, distance information, position information of different base station antennas, and position information of different satellites.

[0133] The processing unit 603 is also used to iteratively solve the positioning equation based on the least squares algorithm to obtain the joint location information of the user equipment.

[0134] Figure 8 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Figure 8 As shown, the electronic device 700 includes, but is not limited to, a processor 701 and a memory 702.

[0135] The memory 702 described above is used to store the executable instructions of the processor 701. It is understood that the processor 701 is configured to execute instructions to implement the positioning method in the above embodiments.

[0136] It should be noted that those skilled in the art will understand that Figure 8 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 8 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0137] The processor 701 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 702, and by calling data stored in the memory 702, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. The processor 701 may include one or more processing units 603. Optionally, the processor 701 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 701.

[0138] The memory 702 can be used to store software programs and various data. The memory 702 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and application programs (such as acquisition units and determination units) required by at least one functional module. Furthermore, the memory 702 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0139] In an exemplary embodiment, a computer-readable storage medium including instructions, such as a memory including instructions, is also provided, which can be executed by a processor of an electronic device to implement the positioning method in the above embodiments.

[0140] In actual implementation, the functions of the acquisition unit 601, the determination unit 602, and the processing unit 603 can all be provided by [the relevant entity / component]. Figure 8 The processor 701 calls the computer program stored in the memory 702 to implement the process. The specific execution process can be found in the description of the positioning method section in the previous embodiment, and will not be repeated here.

[0141] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0142] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by a processor of an electronic device to perform the methods described above.

[0143] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of an electronic device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0144] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0145] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0146] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0147] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0148] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0149] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A positioning method, characterized in that, include: Acquire the Channel Sounding Reference Signal (SRS) sent by the user equipment to the base station; Channel estimation is performed on the SRS to obtain the carrier frequency, the SRS attenuation coefficient of multiple paths from the user equipment to the base station, and the SRS propagation delay of the multiple paths; An initial channel estimation matrix is ​​constructed based on the carrier frequency, the SRS attenuation coefficient, and the SRS propagation delay; Determine the phase angle difference between the first channel state information (CSI) phase angle from the user equipment to the base station and the second CSI phase angle from the preset calibration point to the base station; Based on the phase angle difference, the initial channel estimation matrix is ​​corrected to obtain the target channel estimation matrix; Determine the three-dimensional channel map corresponding to the target channel estimation matrix; The three-dimensional channel map is used to indicate the phase and amplitude information of the target channel estimation matrix; The three-dimensional channel map is input into the positioning model to obtain the location information of the user equipment; The localization model is trained based on the sample three-dimensional channel map and the sample location information corresponding to the sample three-dimensional channel map.

2. The positioning method according to claim 1, characterized in that, The process of obtaining the target channel estimation matrix further includes: The initial channel estimation matrix is ​​subjected to a preset processing to obtain the target channel estimation matrix; the preset processing includes compression processing. Determining the three-dimensional channel map corresponding to the target channel estimation matrix includes: The phase and amplitude information of the target channel estimation matrix are extracted, and the phase and amplitude information of the target channel estimation matrix are normalized to obtain the three-dimensional channel map.

3. The positioning method according to claim 2, characterized in that, The compression process performed on the initial channel estimation matrix includes: The initial channel estimation matrix is ​​compressed in the time domain based on a preset time slot to obtain the first channel estimation matrix; The first channel estimation matrix is ​​compressed in the frequency domain based on resource blocks (RB) to obtain the target channel estimation matrix.

4. The positioning method according to claim 1, characterized in that, The method further includes: Based on the location information of the user equipment, the orientation information of the user equipment is determined; the orientation information includes the azimuth angle of the user equipment relative to different base station antennas; Obtain distance information for BeiDou positioning of the user equipment; the distance information includes the spatial pseudorange between the user equipment and different satellites; Based on the direction information, the distance information, the position information of different base station antennas, and the position information of different satellites, the positioning equation of the user equipment is constructed; The positioning equation is solved iteratively using the least squares algorithm to obtain the joint location information of the user equipment.

5. A positioning device, characterized in that, The positioning device includes an acquisition unit, a determination unit, and a processing unit; The acquisition unit is used to acquire the channel sounding reference signal (SRS) sent by the user equipment to the base station; The determining unit is used to determine the phase angle difference between the first channel state information (CSI) phase angle from the user equipment to the base station and the second CSI phase angle from the preset calibration point to the base station. The processing unit is used to correct the initial channel estimation matrix based on the phase angle difference to obtain the target channel estimation matrix; The determining unit is further configured to determine the three-dimensional channel map corresponding to the target channel estimation matrix; the three-dimensional channel map is used to indicate the phase information and amplitude information of the target channel estimation matrix; The processing unit is further configured to input the three-dimensional channel map into the positioning model to obtain the location information of the user equipment; the positioning model is trained based on the sample three-dimensional channel map and the sample location information corresponding to the sample three-dimensional channel map. The positioning device is further configured to perform channel estimation on the SRS to obtain the carrier frequency, the SRS attenuation coefficients of multiple paths from the user equipment to the base station, and the SRS propagation delay of the multiple paths; and to construct an initial channel estimation matrix based on the carrier frequency, the SRS attenuation coefficients, and the SRS propagation delay.

6. The positioning device according to claim 5, characterized in that, The processing unit is further specifically used for: The initial channel estimation matrix is ​​subjected to a preset processing to obtain the target channel estimation matrix; the preset processing includes compression processing. The phase and amplitude information of the target channel estimation matrix are extracted, and the phase and amplitude information of the target channel estimation matrix are normalized to obtain the three-dimensional channel map.

7. The positioning device according to claim 6, characterized in that, The processing unit is used for: The initial channel estimation matrix is ​​compressed in the time domain based on a preset time slot to obtain the first channel estimation matrix; The first channel estimation matrix is ​​compressed in the frequency domain based on resource blocks (RB) to obtain the target channel estimation matrix.

8. The positioning device according to claim 5, characterized in that, The determining unit is further configured to, Based on the location information of the user equipment, the orientation information of the user equipment is determined; the orientation information includes the azimuth angle of the user equipment relative to different base station antennas; The acquisition unit is further configured to acquire distance information for BeiDou positioning of the user equipment; the distance information includes the spatial pseudorange between the user equipment and different satellites; The processing unit is further configured to construct the positioning equation of the user equipment based on the direction information, the distance information, the position information of different base station antennas, and the position information of different satellites; The processing unit is also used to iteratively solve the positioning equation based on the least squares algorithm to obtain the joint location information of the user equipment.

9. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is capable of performing the method as described in any one of claims 1 to 4.

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