Positioning methods and related apparatuses

Abstract

This application provides a positioning method and related equipment. The method includes: constructing a coordinate system based on an acquired distribution map of indoor distributed antennas and wireless devices; configuring a corresponding BeiDou receiver for the indoor distributed antenna and a corresponding base station for the wireless device based on the coordinate system; collecting signals from the indoor distributed antenna and the wireless device based on preset points in the coordinate system; constructing a signal transmission model based on the signals; and using the signal transmission model to obtain the first location information of the device to be positioned. This application's embodiment, by combining BeiDou satellites and wireless devices for terminal positioning, effectively improves positioning accuracy, increases positioning range, reduces positioning costs, and significantly enhances positioning reliability.

Description

Technical Field

[0001] This application relates to the field of indoor positioning technology, and in particular to a positioning method and related equipment. Background Technology

[0002] Existing indoor positioning technologies typically utilize either BeiDou or wireless (Wi-Fi) positioning technologies. While the existing BeiDou positioning system boasts advantages such as high accuracy and global coverage, its accuracy and usability are limited indoors by issues like building obstruction and signal attenuation, resulting in lower accuracy and usability compared to outdoor use. Existing wireless positioning technologies rely on wireless networks and the signal strength of Wi-Fi hotspots for location tracking. However, the current distribution of Wi-Fi devices only meets basic communication needs, not positioning requirements. Adding a large number of Wi-Fi devices to meet positioning needs would be wasteful of significant human and material resources. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a positioning method and device.

[0004] To achieve the above objectives, this application provides a positioning method, comprising:

[0005] Based on the obtained distribution map of indoor antennas and wireless devices, construct a coordinate system;

[0006] Based on the coordinate system, configure the corresponding BeiDou receiver for the indoor distributed antenna, and configure the corresponding base station for the wireless device;

[0007] The signals from the indoor distributed antenna and the wireless device are collected based on preset points in the coordinate system.

[0008] A signal transmission model is constructed based on the signal, and the first location information of the device to be located is obtained using the signal transmission model.

[0009] In one possible implementation, the step of acquiring signals from the indoor distributed antenna and the wireless device based on preset points in the coordinate system includes:

[0010] The antenna signals of the indoor distributed antenna and the wireless signals of the wireless device are collected based on preset points in the coordinate system.

[0011] In one possible implementation, the signal transmission model includes a first transmission model and a second transmission model;

[0012] The construction of the signal transmission model based on the signal includes:

[0013] Based on the antenna signal, the first transmission model is constructed using a ranging algorithm;

[0014] The second transmission model is constructed based on the wireless signal and the distance between the preset point and the wireless device.

[0015] In one possible implementation, the method further includes:

[0016] Based on Bayesian localization and / or Kalman filtering algorithms, the parameters of the signal transmission model are updated, and the first location information is updated to obtain the second location information.

[0017] In one possible implementation, constructing a coordinate system based on the acquired distribution map of indoor antennas and wireless devices includes:

[0018] Obtain the indoor structure where the indoor distributed antenna is located, and the location information of the indoor distributed antenna and the wireless device;

[0019] The coordinate system is constructed based on the location information and the structure.

[0020] In one possible implementation, configuring a corresponding BeiDou receiver for the indoor distributed antenna based on the coordinate system includes:

[0021] The BeiDou receiver is configured based on the coordinate system so that each of the indoor distributed antennas is connected to the BeiDou receiver.

[0022] In one possible implementation, configuring a corresponding base station for the wireless device includes:

[0023] The base station is configured based on the coordinate system to unify the transmission power of each wireless device.

[0024] Based on the same inventive concept, embodiments of this application also provide a positioning device, including:

[0025] The construction module is configured to construct a coordinate system based on the acquired distribution map of indoor antennas and wireless devices;

[0026] The configuration module is configured to configure a corresponding receiver for the indoor distributed antenna based on the coordinate system, and to configure a corresponding base station for the wireless device;

[0027] The acquisition module is configured to acquire signals from the indoor distributed antenna and the wireless device based on preset points in the coordinate system;

[0028] The positioning module is configured to construct a signal transmission model based on the signal and use the signal transmission model to obtain the first location information of the device to be positioned.

[0029] Based on the same inventive concept, embodiments of this application also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the positioning method as described in any of the above.

[0030] Based on the same inventive concept, embodiments of this application also provide a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute any of the positioning methods described above.

[0031] As can be seen from the above, the positioning method and related equipment provided in this application construct a coordinate system based on the obtained distribution map of indoor distributed antennas and wireless devices; configure corresponding BeiDou receivers for the indoor distributed antennas and corresponding base stations for the wireless devices based on the coordinate system; collect signals from the indoor distributed antennas and the wireless devices based on preset points in the coordinate system; construct a signal transmission model based on the signals; and use the signal transmission model to obtain the first location information of the device to be positioned. This effectively combines the advantages of the BeiDou positioning system and the wireless positioning method. Combining the BeiDou positioning system and the wireless positioning method allows for the utilization of their respective advantages, complementing each other to improve positioning accuracy and reduce errors; combining the two technologies for positioning expands the positioning range, making positioning services more widespread and comprehensive; combining the two technologies for positioning maximizes the use of existing equipment and infrastructure, reducing cost investment; and combining the two technologies for positioning improves positioning reliability through mutual verification and fault tolerance mechanisms, avoiding the limitations of a single technology and enhancing reliability. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic flowchart of the positioning method according to an embodiment of this application;

[0034] Figure 2 This is a schematic diagram of the positioning device structure according to an embodiment of this application;

[0035] Figure 3 This is a schematic diagram of the electronic device structure according to an embodiment of this application. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0037] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0038] As described in the background section, existing indoor positioning technologies typically utilize either BeiDou or Wi-Fi (wireless Fidelity) positioning technology alone. While the existing BeiDou positioning system boasts advantages such as high accuracy and global coverage, its accuracy and usability are limited indoors by issues like building obstruction and signal attenuation, resulting in lower accuracy and usability compared to outdoor use. Existing wireless positioning technologies rely on wireless networks and the signal strength of Wi-Fi hotspots for location tracking. However, the current distribution of Wi-Fi devices only meets basic communication needs and cannot satisfy positioning requirements. Furthermore, adding a large number of Wi-Fi devices to meet positioning needs would be a waste of significant human and material resources.

[0039] Based on the above considerations, this application proposes a positioning method. The method involves constructing a coordinate system based on an acquired distribution map of indoor distributed antennas and wireless devices; configuring corresponding BeiDou receivers for the indoor distributed antennas and corresponding base stations for the wireless devices based on the coordinate system; collecting signals from the indoor distributed antennas and the wireless devices based on preset points in the coordinate system; constructing a signal transmission model based on the signals; and using the signal transmission model to obtain the first location information of the device to be positioned. This method effectively combines the advantages of the BeiDou positioning system and wireless positioning methods. Combining the BeiDou positioning system and wireless positioning methods allows for the utilization of their respective advantages, complementing each other to improve positioning accuracy and reduce errors. Combining both technologies expands the positioning range, making positioning services more widespread and comprehensive. It also maximizes the use of existing equipment and infrastructure, reducing costs. Furthermore, combining both technologies improves positioning reliability through mutual verification and fault tolerance mechanisms, avoiding the limitations of a single technology and enhancing reliability.

[0040] The technical solutions of the embodiments of this application will be described in detail below through specific examples.

[0041] refer to Figure 1 The positioning method of this application embodiment includes the following steps:

[0042] Step S101: Construct a coordinate system based on the obtained indoor antenna and wireless device distribution map;

[0043] Step S102: Configure a corresponding BeiDou receiver for the indoor distributed antenna based on the coordinate system, and configure a corresponding base station for the wireless device;

[0044] Step S103: Collect signals from the indoor distributed antenna and the wireless device based on preset points in the coordinate system;

[0045] Step S104: Construct a signal transmission model based on the signal, and use the signal transmission model to obtain the first location information of the device to be located.

[0046] Regarding step S101, the step of constructing a coordinate system based on the obtained distribution map of indoor antennas and wireless devices includes: obtaining the structure of the indoor space where the indoor antenna is located, and the location information of the indoor antenna and the wireless device; and constructing the coordinate system based on the location information and the structure.

[0047] In this embodiment, it is first necessary to obtain an indoor distribution map of distributed antennas and wireless devices. Then, a three-dimensional coordinate system is constructed based on the obtained distribution map. The three-dimensional coordinate system can show the indoor structural information and the specific distribution of distributed antennas and wireless devices in the indoor environment.

[0048] In some embodiments, the distribution location information of indoor distributed antennas can be obtained based on the drawings from the renovation process. For wireless devices, their location and quantity are generally not modified. However, if existing equipment cannot meet the requirements, those skilled in the art can increase or decrease the number of wireless devices and modify their location according to their needs. For indoor distributed antennas, their location and quantity are more difficult to change, and the pre-set locations and quantities are generally reasonable, so they are generally not modified. However, those skilled in the art should know that if there is a strong demand, the location and quantity of indoor distributed antennas can be set accordingly, but the priority of modification is lower than that of wireless devices.

[0049] Regarding step S102, configuring the corresponding BeiDou receiver for the indoor distributed antenna based on the coordinate system includes: configuring the BeiDou receiver based on the coordinate system so that each indoor distributed antenna is connected to the BeiDou receiver.

[0050] Configuring a corresponding base station for the wireless device includes: configuring the base station based on the coordinate system to unify the transmission power of each wireless device.

[0051] In some embodiments, after the three-dimensional coordinate system of the BeiDou indoor distributed antenna and the WIFI deployment network is established, corresponding BeiDou receivers and WIFI base stations need to be configured. The BeiDou receiver needs to be connected to each antenna in the indoor distributed antenna network to introduce outdoor BeiDou signals into the indoor distributed antenna, enabling each terminal to receive BeiDou signals. The WIFI base station needs to have a uniform transmission power to cover the entire positioning area and provide WIFI signals to the terminals.

[0052] Regarding step S103, the step of collecting signals from the indoor distributed antenna and the wireless device based on preset points in the coordinate system includes: collecting antenna signals from the indoor distributed antenna and wireless signals from the wireless device based on preset points in the coordinate system.

[0053] In some embodiments, signal acquisition is required across the entire indoor positioning area, collecting data including BeiDou and Wi-Fi signals. The acquired data includes information such as signal strength, signal delay, and signal amplitude at each location.

[0054] In some embodiments, it is necessary to preset some collection points to collect BeiDou signals and wireless signals at these points, and to further construct a signal transmission model based on these pre-collected signals. The preset collection points can be set according to the actual situation. In this embodiment, they are set to be spaced 10 meters apart. It should be noted that those skilled in the art can set the collection points according to their own needs. Correspondingly, if fewer collection points are set, the amount of computation will be less, but the final recognition accuracy will be affected. If more collection points are set, the final recognition accuracy will be higher, but the computational burden will increase significantly. Moreover, since the data needs to be stored, it will occupy more storage space. Therefore, the selection and setting can be made according to one's own actual needs.

[0055] Regarding step S104, the signal transmission model includes a first transmission model and a second transmission model; the step of constructing the signal transmission model based on the signal includes: constructing the first transmission model based on the antenna signal using a ranging algorithm; and constructing the second transmission model based on the wireless signal and the distance between the preset point and the wireless device.

[0056] The signal transmission model includes a first transmission model and a second transmission model; the construction of the signal transmission model based on the signal includes: constructing the first transmission model based on the antenna signal using a ranging algorithm; and constructing the second transmission model based on the wireless signal and the distance between the preset point and the wireless device.

[0057] In some embodiments, based on the collected BeiDou and Wi-Fi signal data, corresponding signal transmission models need to be constructed. The BeiDou signal transmission model can be implemented using a ranging algorithm, while the Wi-Fi signal transmission model requires establishing a functional relationship between Wi-Fi signal strength and distance. Using these two signal transmission models, the location information of each terminal can be estimated.

[0058] In some embodiments, the first transmission module can be a BeiDou signal pseudorange observation model.

[0059] Based on the definition of pseudorange observation, the pseudorange observation equation between stations and satellites can be obtained:

[0060]

[0061] in, Let r represent the pseudorange observed by receiver r with respect to the j-th satellite, and c represent the speed of light. This represents the propagation time of the signal between the receiver r and the j-th satellite.

[0062] Because the satellite clock and the receiver clock are not synchronized, there will be a clock difference. Furthermore, satellite signals are subject to ionospheric delay during propagation. and tropospheric delay There will also be some interference and noise. Therefore, the pseudorange observation equation can be obtained as follows:

[0063]

[0064] in, This represents the actual geometric distance between receiver r and the j-th satellite. Indicates clock difference, Indicates ionospheric delay, Indicates tropospheric delay, represents noise, and c represents the speed of light.

[0065] Furthermore, based on the differences between different observation stations and different satellites, a station-satellite double-difference observation model can be constructed, which can eliminate clock errors. At the same time, under the condition of short baseline and stable atmospheric conditions, the ionospheric and tropospheric delays can be considered to be approximately equal, so the atmospheric delay error will also be eliminated in the double-difference equation.

[0066] The double-difference pseudorange observation equation is expressed by the following formula:

[0067]

[0068] in, Indicates double difference. This represents the pseudorange observation value between receiver r and the j-th satellite. This represents the pseudorange observation value between receiver r and the k-th satellite. This represents the pseudorange observation value between receiver s and the j-th satellite. This represents the pseudorange observation value between receiver s and the k-th satellite. This represents the actual geometric distance between receiver r and the j-th satellite. This represents the actual geometric distance between receiver r and the k-th satellite. This represents the actual geometric distance between receiver s and the j-th satellite. This represents the actual geometric distance between receiver s and the k-th satellite. This represents the difference in pseudorange noise.

[0069] Furthermore, since the geometric distance between the station and the satellite is nonlinear, the double-difference pseudorange observation equation needs to be linearized to obtain a stable result. Taking observation station a as the reference station, b as the station to be measured, and satellite 1 as the reference satellite, assuming that signals from n satellites can be received at the same time, the linearized double-difference pseudorange observation equation is as follows:

[0070] V P =A P X P -L P ;

[0071] Among them, V P X represents the pseudo-range residual of the double difference. P =[Δx Δy Δz] T This represents the correction amount for the approximate coordinates of the device to be located in the vicinity of the device.

[0072] in:

[0073]

[0074]

[0075]

[0076] Among them, A P The coefficient matrix represents the coordinate correction. This represents the normalized projection of the true coordinates onto the three-dimensional coordinate axes with respect to distance. L represents the actual reference distance from receiver a to reference satellite m. P This represents the double difference between the observed pseudorange and the calculated pseudorange.

[0077] Among them, (x a0 ,y a0 ,z a0 (x) represents the approximate coordinates of the station to be measured. m ,y m ,z m ) represents the coordinates of satellite m.

[0078] It is approximated that V P Since it is 0, we can solve for the correction amount as follows:

[0079] X = (A T A) -1 A T L;

[0080] Therefore, the coordinates of the station to be measured are obtained as follows:

[0081]

[0082] Where L represents the double difference between the observed pseudorange and the calculated pseudorange.

[0083] For the second model, the terminal is located by constructing a Received Signal Strength Indicator (RSSI) ranging model.

[0084] RSSI ranging is a commonly used algorithm in positioning. In free space, signal strength gradually attenuates due to signal diffusion, and the distance to the target point can be calculated from the RSSI signal strength. Considering factors such as cost and positioning accuracy, the relationship between RSSI and distance d is simplified here as follows:

[0085] RSSI = A - 10nlgd;

[0086] Where A represents the RSSI value of the received signal strength at a distance of 1m from the WiFi base station, and n represents the signal gradation factor, which can be obtained in actual measurement.

[0087] When the device under test (DUT) receives nearby Wi-Fi signals, it calculates the set distance between the DUT and the Bluetooth beacon based on the RSSI model. Ideally, when three Wi-Fi signals are received, the coordinates of the DUT can be obtained using a geometric algorithm. However, in reality, due to interference from various environmental factors during RSSI measurement, signal errors occur, and the RSSI distance circles of the three Wi-Fi signals cannot intersect at a single point, only yielding an approximate area. Considering this situation, increasing the number of Wi-Fi signals to more than three transforms the problem into a multi-point positioning problem, which can significantly improve positioning accuracy.

[0088] The distance d from the measured point to each WiFi base station can be calculated from the received RSSI signal. i (0 < i < n), based on geometric relations, we can obtain the following system of equations:

[0089]

[0090] For an overdetermined system of equations containing three unknowns and more than three equations, it can be linearized by subtracting the nth equation from each of the first n-1 equations, resulting in the linearized equations:

[0091] AP = b;

[0092] in:

[0093]

[0094]

[0095] Solving using the least squares method, we get:

[0096] P=(A T A) -1 A T b;

[0097] Where P = [x0 y0 z0] T The coordinates are those of the device to be located.

[0098] Furthermore, the two signal transmission models mentioned above are used to obtain the first location information of the device to be located.

[0099] In some embodiments, the first location information of the device to be located is calculated by combining the signals from the indoor distributed antenna and the wireless device acquired by the device to be located.

[0100] Specifically, based on the signal from the indoor distributed antenna, the first scatter point position that can be provided to the particle filter is calculated using the first transmission model;

[0101] Based on the signal from the wireless device, the second scatter point position that can be provided to the particle filter is calculated using the second transmission model.

[0102] Based on the signal strength and reliability of the first and second scatter points, the first weight of the calculation result of the first transmission model and the second weight of the calculation result of the second transmission model are calculated.

[0103] Based on the first scatter point position, the first weight, the second scatter point position, and the second weight, the first position information of the device to be located is determined.

[0104] In some optional embodiments, the method further includes: updating the parameters of the signal transmission model based on Bayesian localization and / or Kalman filtering algorithms, and updating the first location information to obtain second location information.

[0105] In some embodiments, to further improve positioning accuracy, the above algorithm needs to be optimized and iteratively updated. Specifically, algorithms such as Bayesian localization and Kalman filtering can be used to further optimize the positioning results, and the signal transmission model can be updated based on new data to improve the accuracy and stability of the algorithm.

[0106] First, a fine movement trajectory is fitted using curves, and the positioning accuracy is continuously optimized as the terminal moves.

[0107] Specifically, fine-grained positions are obtained by fitting using methods such as least squares, polynomial fitting, or Gaussian fitting. Taking M-order polynomial fitting as an example, a polynomial curve satisfying the following form needs to be found.

[0108]

[0109] Where, ω i This represents the i-th parameter of the curve fitting.

[0110] And minimize all points at positions (x1, y1), (x2, y2), ... (x N y N The mean square error of )

[0111]

[0112] In some embodiments, a particle filter-based position estimation model may also be used.

[0113] First, the terminal position is represented by N particles:

[0114]

[0115] Where, r (i) w represents the position of the particle. (i) This represents the weight of the particle. (i) Indicates the particle state.

[0116] Let the particle state at the previous moment be v. k-1 (i) The particle state at the next moment is v k (i) Then the above location prediction curve model can be expressed as P(v k |v k-1 The fitted curve can be used to predict the state at the next moment.

[0117] Furthermore, the particle positions can be updated based on the actual positions calculated using BeiDou and WiFi.

[0118]

[0119] in From the solution position A k With particle position The result is that the calculation Given multiple values, assuming these values ​​follow a Gaussian distribution, the corresponding... Finally, the terminal location was determined:

[0120] In some embodiments, when the received BeiDou signal strength is high during user movement, it can be assumed that BeiDou can provide relatively accurate positioning. In this case, the Wi-Fi signal transmission model can be optimized using the coordinates provided by the BeiDou signal and the motion model. Based on the collected signal strengths and corresponding locations, linear regression can be used to correct the Wi-Fi fading model. Specifically, we set the data volume required for model updates to 10, meaning that the fading model is updated every time the terminal collects 10 sets of strong signals. We express the corrected fading model as: RSSI=(A+α)-10·(n+β)·lg(d);

[0121] Here, α and β represent the corrections to A and n for this set of data, respectively. Using linear regression, we can obtain the corrected fading model.

[0122] By continuously collecting signals and correcting the fading model during the movement of the terminal, the terminal's second location information can be obtained.

[0123] As can be seen from the above embodiments, the positioning method described in this application constructs a coordinate system based on the obtained distribution map of indoor distributed antennas and wireless devices; configures a corresponding BeiDou receiver for the indoor distributed antenna and a corresponding base station for the wireless device based on the coordinate system; collects signals from the indoor distributed antenna and the wireless device based on preset points in the coordinate system; constructs a signal transmission model based on the signals; and uses the signal transmission model to obtain the first location information of the device to be positioned. The WIFI positioning technology in this application is suitable for indoor environments and can achieve high positioning accuracy. The BeiDou indoor distributed antenna technology can eliminate multipath interference and suppress the influence of Doppler frequency shift on BeiDou signals, further improving positioning accuracy. Since WIFI signals are greatly affected by the environment, using WIFI positioning technology alone is prone to errors, affecting positioning reliability. The BeiDou indoor distributed antenna technology, while eliminating interference and attenuation, can enhance and optimize BeiDou signals, improving the reliability of positioning signals. The combination of these two technologies can comprehensively utilize the advantages of WIFI and BeiDou to achieve high-precision and high-stability positioning services.

[0124] It should be noted that the method in this embodiment can be executed by a single device, such as a computer or server. The method can also be applied in a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method in this embodiment, and the multiple devices will interact with each other to complete the method described.

[0125] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0126] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a positioning device.

[0127] refer to Figure 2 The positioning device includes:

[0128] Module 21 is configured to construct a coordinate system based on the acquired distribution map of indoor antennas and wireless devices;

[0129] Configuration module 22 is configured to configure a corresponding receiver for the indoor distributed antenna based on the coordinate system, and to configure a corresponding base station for the wireless device;

[0130] The acquisition module 23 is configured to acquire signals from the indoor distributed antenna and the wireless device based on preset points in the coordinate system;

[0131] The positioning module 24 is configured to construct a signal transmission model based on the signal and use the signal transmission model to obtain the first location information of the device to be positioned.

[0132] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

[0133] The apparatus of the above embodiments is used to implement the corresponding positioning method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0134] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the positioning method described in any of the above embodiments.

[0135] Figure 3 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0136] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0137] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0138] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0139] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0140] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0141] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0142] The electronic devices described above are used to implement the corresponding positioning methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0143] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to perform the positioning method as described in any of the above embodiments.

[0144] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0145] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the positioning method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0146] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0147] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0148] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0149] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A positioning method, characterized by, include: Based on the obtained distribution map of indoor antennas and wireless devices, construct a coordinate system; The BeiDou receiver is configured based on the coordinate system so that each of the indoor distributed antennas is connected to the BeiDou receiver. The base station is configured based on the coordinate system to unify the transmission power of each wireless device; The signals from the indoor distributed antenna and the wireless device are collected based on preset points in the coordinate system. A signal transmission model is constructed based on the signal, and the first location information of the device to be located is obtained using the signal transmission model. The signal transmission model includes a first transmission model and a second transmission model; The construction of the signal transmission model based on the signal includes: Based on the antenna signal, the first transmission model is constructed using a ranging algorithm; The second transmission model is constructed based on the wireless signal and the distance between the preset point and the wireless device; The step of constructing the first transmission model using a ranging algorithm includes: Construct pseudorange observation equations, and derive double-difference pseudorange observation equations based on these pseudorange observation equations; The pseudorange observation equation is expressed by the following formula: ； in, Indicates receiver and the The actual geometric distance between the satellites Indicates clock difference, Indicates ionospheric delay, Indicates tropospheric delay, Indicates noise. Represents the speed of light; The double-difference pseudorange observation equation is expressed by the following formula: ； in, Indicates double difference. Indicates receiver Observed and the first Pseudorange observations between satellites Indicates receiver Observed and the first Pseudorange observations between satellites Indicates receiver Observed and the first Pseudorange observations between satellites Indicates receiver Observed and the first Pseudorange observations between satellites Indicates receiver and the The actual geometric distance between the satellites Indicates receiver and the The actual geometric distance between the satellites Indicates receiver and the The actual geometric distance between the satellites Indicates receiver and the The actual geometric distance between the satellites This represents the difference in pseudorange noise.

2. The method of claim 1, wherein, The acquisition of signals from the indoor distributed antenna and the wireless device based on preset points in the coordinate system includes: The antenna signals of the indoor distributed antenna and the wireless signals of the wireless device are collected based on preset points in the coordinate system.

3. The method of claim 1, wherein, The method further includes: Based on Bayesian localization and / or Kalman filtering algorithms, the parameters of the signal transmission model are updated, and the first location information is updated to obtain the second location information.

4. The method of claim 1, wherein, The step of constructing a coordinate system based on the obtained indoor antenna and wireless device distribution map includes: Obtain the indoor structure where the indoor distributed antenna is located, and the location information of the indoor distributed antenna and the wireless device; The coordinate system is constructed based on the location information and the structure.

5. A positioning device, characterized in that include: The construction module is configured to construct a coordinate system based on the acquired distribution map of indoor antennas and wireless devices; The configuration module is configured to configure the BeiDou receiver based on the coordinate system so that each of the indoor distributed antennas is connected to the BeiDou receiver; The base station is configured based on the coordinate system to unify the transmission power of each wireless device; The acquisition module is configured to acquire signals from the indoor distributed antenna and the wireless device based on preset points in the coordinate system; The positioning module is configured to construct a signal transmission model based on the signal and use the signal transmission model to obtain the first location information of the device to be positioned. The positioning module is further configured as follows: Construct pseudorange observation equations, and derive double-difference pseudorange observation equations based on these pseudorange observation equations; The pseudorange observation equation is expressed by the following formula: ； in, Indicates receiver and the The actual geometric distance between the satellites Indicates clock difference, Indicates ionospheric delay, Indicates tropospheric delay, Indicates noise. Represents the speed of light; The double-difference pseudorange observation equation is expressed by the following formula: ； in, Indicates double difference. Indicates receiver Observed and the first Pseudorange observations between satellites Indicates receiver Observed and the first Pseudorange observations between satellites Indicates receiver Observed and the first Pseudorange observations between satellites Indicates receiver Observed and the first Pseudorange observations between satellites Indicates receiver and the The actual geometric distance between the satellites Indicates receiver and the The actual geometric distance between the satellites Indicates receiver and the The actual geometric distance between the satellites Indicates receiver and the The actual geometric distance between the satellites This represents the difference in pseudorange noise.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1 to 4.

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