Positioning method and device based on ray tracing technology in non-visual field scenario and medium

Abstract

The application discloses a positioning method and device based on a ray tracing technology in a non-visual communication scene and a medium. The application relates to the field of information communication, and in particular relates to a method for positioning in a non-visual communication scene by using a ray tracing technology. In some non-visual communication areas, in the case that satellite navigation and traditional electromagnetic wave geometric positioning fail, in order to solve the problem of mutual positioning of communication nodes in a non-visual communication scene, the application takes the ray tracing technology as a breakthrough point, inversely deduces channel characteristics of an unknown area of interest on the basis of existing geographic information, thereby generating a channel characteristic mode library of the unknown area, and realizing anchor-free positioning of multiple communication nodes.

Description

Technical Field

[0001] This invention relates to the field of information and communication, specifically to a positioning method, device, and medium based on ray tracing technology in non-visual communication scenarios. Background Technology

[0002] Satellite image matching-based positioning technology requires prior image acquisition of the positioning area, and communication nodes need strong computing power for image matching or large channel bandwidth for information transmission. Because satellites are distributed in outer space, satellite navigation and positioning are highly susceptible to environmental influences. In areas with limited line of sight, such as cities, hills, and canyons, satellite signals are obstructed by tall buildings or mountains, preventing users from receiving the necessary positioning signals. Under challenging environmental and interference conditions, satellite navigation signals are easily interfered with by other signals, leading to positioning errors. Furthermore, traditional geometric ranging positioning schemes based on electromagnetic waves are unsuitable for positioning in urban areas, mountainous regions, and canyons with limited line of sight.

[0003] Fingerprint matching positioning technology based on radio frequency fingerprints requires the pre-deployment of transmitting sources (anchor points) and receiving nodes in the location area to extract fingerprints from the area of ​​interest, and the position of the transmitting source must be fixed. The positioning accuracy of this scheme is positively correlated with the positional accuracy of the transmitting source. However, determining the precise position of the transmitting source is also worth studying. For example, patent (CN201810326517.8) discloses a ray tracing-assisted Bayesian fingerprint positioning method and device. Based on the transmission power of each wireless access point (AP) in the area to be located and a preset ray tracing algorithm, the reference signal strength of each AP at each reference point is calculated. For each AP, based on the pre-obtained composition parameters of the Gaussian mixture model at a preset collection point, the AP's reference signal strength, and a preset probability distribution model calculation formula, the signal strength probability distribution model of the AP is calculated. When a positioning request carrying the detection signal strength of each AP at the location to be located is received from a terminal, the location of the location to be located is determined using a Bayesian algorithm based on the signal strength probability distribution model of each AP and the detection signal strength of each AP.

[0004] Both of these methods require prior acquisition of image or fingerprint information of the region of interest. However, in unfamiliar, unknown regions, it is impossible to obtain an anchor point with a known and accurate location. Therefore, neither of these methods can be applied to unknown regions of interest.

[0005] With the development of remote sensing and mapping technologies, Geographic Information Systems (GIS) have experienced unprecedented growth, significantly enhancing the quality and quantity of various types of ground information stored within them. In the field of electromagnetic wave prediction and analysis, GIS can provide geographic information data on propagation channels, including the location distribution and electromagnetic parameter attributes of features such as buildings and vegetation, for electromagnetic propagation prediction. Geographic location information is widely used in radiation source identification, enabling user positioning in urban non-line-of-sight scenarios. Ray tracing models, a relatively mature deterministic electromagnetic propagation model, are used to accurately predict electromagnetic wave propagation. Furthermore, geographic information and communication networks have a certain inherent connection. Utilizing ray tracing technology, channel characteristics of the area of ​​interest can be deduced based on geographic location information, providing a new solution for positioning in non-line-of-sight scenarios. Summary of the Invention

[0006] The purpose of this invention is to address the problems existing in the prior art by providing a positioning method, device, and medium based on ray tracing technology in non-line-of-sight scenarios. This invention aims to solve the problem of mutual positioning between communication nodes in non-line-of-sight scenarios when satellite navigation and traditional electromagnetic wave geometric positioning fail.

[0007] According to one aspect of the present invention, a localization method based on ray tracing technology in non-line-of-sight scenarios is provided, the method comprising:

[0008] A channel feature pattern library for localization in unknown regions is generated using a ray tracing model. This library is used to uniquely represent the channel feature information between any two points.

[0009] Location can be achieved by utilizing channel characteristic information between multiple communication nodes in non-line-of-sight situations.

[0010] The aforementioned technical solution uses ray tracing technology as a starting point, based on existing geographic information, to deduce the channel characteristics of the unknown area of ​​interest. A channel feature pattern library for localization in the unknown area is generated using a ray tracing model. This library uniquely represents the channel feature information between any two points. In an unknown area without localization anchors, multiple communication nodes cannot determine the exact location of other communication nodes using common electromagnetic wave geometric localization techniques, but they can receive electromagnetic signals from other communication nodes. Information feature vectors are extracted from the received signals to perform blind estimation of the communication node's location. Localization is achieved using the channel feature information between multiple communication nodes in non-line-of-sight situations.

[0011] As a further technical solution, the steps for generating the channel feature pattern library include:

[0012] Using geographic information obtained from remote sensing mapping, construct a geographic model of the area of ​​interest;

[0013] The region of interest is divided into several smaller regions;

[0014] The channel characteristics between any two small regions are simulated using a ray tracing simulation model, and the channel characteristics are stored to generate a channel feature pattern library.

[0015] As a further technical solution, the shapes of the formed small areas include rectangles or hexagons.

[0016] As a further technical solution, based on ray tracing technology, information feature vectors are extracted from the received signals to perform blind estimation of the position of the communication node.

[0017] As a further technical solution, in the absence of line-of-sight, positioning is achieved by utilizing channel feature information between multiple communication nodes, further including:

[0018] Any communication node collects fixed electromagnetic signals periodically sent by other communication nodes and uses ray tracing technology to generate the channel multipath feature vector of that node;

[0019] All nodes will transmit the collected channel feature vectors back to the computing node, and generate a combination matrix of channel feature vectors between communication nodes based on the electromagnetic signal information.

[0020] The eigenvectors in the channel feature matrix are matched with the channel feature pattern library of the unknown region using an exhaustive method to obtain the position with the highest similarity probability for each communication node.

[0021] The node with the highest similarity probability obtained from the broadcast is calculated, and each node obtains the location information of all nodes.

[0022] According to one aspect of the present invention, a positioning device based on ray tracing technology in non-line-of-sight scenarios is provided, comprising:

[0023] The channel feature pattern library generation module is used to uniquely represent the channel features between any two points;

[0024] The multi-communication node anchorless positioning module achieves anchorless positioning by utilizing the channel characteristic information between multiple communication nodes in the absence of line-of-sight.

[0025] According to one aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the positioning method based on ray tracing technology in non-line-of-sight scenarios.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] This invention does not require prior collection of real-world channel characteristics of the region of interest.

[0028] Furthermore, in non-line-of-sight situations, communication nodes do not require anchor points with known location information; they only need to utilize channel feature information between multiple communication nodes to achieve positioning. Attached Figure Description

[0029] Figure 1 This is a flowchart of a method according to an embodiment of the present invention;

[0030] Figure 2 A flowchart illustrating the generation of a channel characteristic pattern library according to an embodiment of the present invention;

[0031] Figure 3 This is a flowchart illustrating anchorless positioning of multiple communication nodes according to an embodiment of the present invention. Detailed Implementation

[0032] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] This invention aims to solve the problem of mutual positioning between communication nodes in non-line-of-sight scenarios when satellite navigation and traditional electromagnetic wave geometric positioning fail. With the development of remote sensing and mapping technology, Geographic Information Systems (GIS) have experienced unprecedented growth, with the quality and quantity of various types of ground information stored in GIS being significantly enhanced. In the field of electromagnetic wave prediction and analysis, GIS can provide geographic information data of propagation channels for electromagnetic propagation prediction, including the location distribution and electromagnetic parameter attributes of features such as buildings and vegetation. Geographic location information is widely used in radiation source identification to achieve user positioning in urban non-line-of-sight scenarios. Ray tracing models are a relatively mature deterministic electromagnetic propagation model used to accurately predict electromagnetic wave propagation. Geographic information and communication networks have a certain inherent connection. This invention utilizes ray tracing technology to deduce the channel characteristics of the area of ​​interest based on geographic location information, providing a new solution for positioning in non-line-of-sight scenarios. Therefore, this invention takes ray tracing technology as its starting point, uses existing geographic information as a foundation, deduces the channel characteristics of the unknown area of ​​interest, constructs a channel characteristic pattern library for the unknown area of ​​interest, and achieves positioning without anchor points.

[0034] The positioning device based on ray tracing technology in non-line-of-sight scenarios described in this invention includes a channel feature pattern library module for uniquely representing the quality inspection channel feature information of any two points, and a multi-communication node anchorless positioning module for achieving anchorless positioning using the channel feature information between multiple communication nodes in non-line-of-sight situations. The workflow of the two modules is described below. Figure 1 .

[0035] The positioning method based on ray tracing technology in non-line-of-sight scenarios described in this invention uses existing geographic information as a basis to deduce the channel characteristics of the unknown area of ​​interest, and generates a channel feature pattern library for the unknown area of ​​interest. This channel feature pattern library is used to uniquely represent the channel feature information between any two points. Information feature vectors are extracted to perform blind estimation of communication nodes, and positioning is achieved without anchor points.

[0036] The specific steps are as follows:

[0037] Step (1): Use the ray tracing model to generate a channel feature pattern library for localization of unknown regions. This channel feature pattern library is used to uniquely represent the channel feature information between any two points.

[0038] Step (2): In the case of non-line-of-sight communication, anchor-free positioning is achieved by using the channel feature information between multiple communication nodes in the pattern library.

[0039] for Figure 1 In the non-line-of-sight scenario, the specific process for generating a channel feature pattern library based on ray tracing technology to uniquely represent the channel feature information between two points in the region of interest is described below. Figure 2 The steps are as follows:

[0040] Step (1.1): Construct a geographic model of the area of ​​interest using geographic information obtained from remote sensing mapping;

[0041] Step (1.2): Divide the region of interest into several smaller regions;

[0042] Step (1.3): Use a ray tracing model to simulate the channel characteristics between any two small regions, and store the channel characteristics to generate a channel characteristic pattern library.

[0043] The geographic model information for constructing the unknown area of ​​interest in step (1.1) comes from remote sensing mapping using ray tracing technology. The anchor point is located by using the unique channel feature information between multiple communication nodes instead of the anchor point of the known location information, without the need to collect the actual channel features of the area of ​​interest in advance.

[0044] For the several small regions formed by the division in step (1.2), their shapes include, but are not limited to, rectangles or hexagons.

[0045] for Figure 1 The specific process for achieving anchorless positioning using channel feature information between multiple communication nodes in the pattern library in the non-line-of-sight scenario is described below. Figure 3 The steps are as follows:

[0046] Step (2.1): Any communication node collects the fixed electromagnetic signals periodically sent by other communication nodes, and uses ray tracing technology to generate the channel multipath feature vector of that node;

[0047] Step (2.2): All nodes will transmit the collected channel feature vectors back to the computing node, and generate a combination matrix of channel feature vectors between communication nodes based on the electromagnetic signal information;

[0048] Step (2.3): Match the eigenvectors in the channel feature matrix with the channel feature pattern library of the unknown region using an exhaustive method to obtain the position with the highest similarity probability for each communication node;

[0049] Step (2.4): Calculate the location information with the highest similarity probability obtained by the node broadcast, and each node obtains the location information of all nodes.

[0050] The computer program and corresponding device modules, consisting of all the above steps, are used to implement a positioning method based on ray tracing technology in non-line-of-sight scenarios.

[0051] The present invention also provides a positioning device based on ray tracing technology in non-line-of-sight scenarios, comprising:

[0052] The channel feature pattern library generation module is used to uniquely represent the channel features between any two points;

[0053] The multi-communication node anchorless positioning module is used to achieve anchorless positioning by utilizing the channel characteristic information between multiple communication nodes in non-line-of-sight situations.

[0054] Optionally, the channel feature pattern library generation module is further configured to perform the following steps;

[0055] Step (1.1): Construct a geographic model of the unknown area of ​​interest using the geographic information obtained from remote sensing mapping;

[0056] Step (1.2): Divide the region of interest into several smaller regions;

[0057] Step (1.3): Use a ray tracing model to simulate the channel characteristics between any two small regions, and store the channel characteristics to generate a channel feature pattern library.

[0058] The geographic model information for constructing the unknown area of ​​interest in step (1.1) comes from remote sensing mapping using ray tracing technology. The anchor point is located by using the unique channel feature information between multiple communication nodes instead of the anchor point of the known location information, without the need to collect the actual channel features of the area of ​​interest in advance.

[0059] For the several small regions formed by the division in step (1.2), their shapes include, but are not limited to, rectangles or hexagons.

[0060] Optionally, the multi-communication node anchorless positioning module is also used to perform the following steps;

[0061] Step (2.1): Any communication node collects the fixed electromagnetic signals periodically sent by other communication nodes, and uses ray tracing technology to generate the channel multipath feature vector of that node;

[0062] Step (2.2): All nodes will transmit the collected channel feature vectors back to the computing node, and generate a combination matrix of channel feature vectors between communication nodes based on the electromagnetic signal information;

[0063] Step (2.3): Match the eigenvectors in the channel feature matrix with the channel feature pattern library of the unknown region using an exhaustive method to obtain the position with the highest similarity probability for each communication node;

[0064] Step (2.4): Calculate the location information with the highest similarity probability obtained by the node broadcast, and each node obtains the location information of all nodes.

[0065] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the positioning method based on ray tracing technology in non-line-of-sight scenarios.

[0066] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0067] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0068] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0069] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0070] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A localization method based on ray tracing technology in non-line-of-sight scenarios, characterized in that, The method includes: A channel feature pattern library for locating a region of interest is generated using a ray tracing model, comprising: constructing a geographic model of the region of interest using geographic information obtained from remote sensing mapping; segmenting the region of interest into several smaller regions; simulating the channel features between any two smaller regions using a ray tracing model, and storing the channel features to generate a channel feature pattern library; this channel feature pattern library is used to uniquely represent the channel feature information between any two points. In non-line-of-sight scenarios, localization is achieved by using channel feature information between multiple communication nodes to replace anchor points with known location information. This includes: any communication node collecting fixed electromagnetic signals periodically transmitted by other communication nodes and generating a channel feature vector for that node using ray tracing technology; all nodes transmitting the collected channel feature vectors back to the computing node, generating a channel feature matrix between the communication nodes based on the electromagnetic signal information; matching the feature vectors in the channel feature matrix with a channel feature pattern library of the region of interest using an exhaustive method to obtain the location with the highest similarity probability for each communication node; and the computing node broadcasting the obtained location information with the highest similarity probability, so that each node obtains the location information of all nodes.

2. The localization method based on ray tracing technology in non-line-of-sight scenarios according to claim 1, characterized in that, The resulting small regions can be rectangular or hexagonal in shape.

3. A positioning device based on ray tracing technology for non-line-of-sight scenarios, used to implement the method described in any one of claims 1-2, characterized in that, include: Channel Feature Pattern Library Generation Module: Used to uniquely represent channel feature information between any two points; Anchorless positioning module with multiple communication nodes: In non-line-of-sight situations, anchorless positioning is achieved by utilizing the channel characteristic information between multiple communication nodes.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the positioning method based on ray tracing technology in non-visual scenarios as described in any one of claims 1 to 2.

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