Indoor 3D fingerprint positioning method based on millimeter wave beam pattern trajectory

Abstract

The present invention relates to an indoor 3D fingerprint positioning method and system based on millimeter wave beam pattern trajectory, belonging to the field of indoor positioning technology. The method establishes a directional fingerprint by establishing beam pattern trajectory information for specific positions of both communicating parties, and uses the known spacing information of two millimeter wave receiving devices to calculate the 3D position of a specific sending device to achieve high-precision indoor 3D positioning; the method includes the following steps: pre-defining equipment and performing indoor positioning. The present invention realizes high-precision and low-complexity indoor positioning based on the unique characteristics of high-frequency carrier communications such as millimeter waves, which can well fit the development of future 5G / 6G communication technologies, and has good scalability and commercial value in practical fields such as parking lot positioning, smart factories, and smart farms in future 5G / 6G millimeter wave wireless communication scenarios.

Description

Technical Field

[0001] The present invention belongs to the technical field of indoor positioning, and relates to an indoor 3D fingerprint positioning method based on millimeter wave beam pattern trajectory. Background Art

[0002] With the development of social economy and the advancement of technology, the application of positioning technology has become more and more extensive. At present, the existing positioning technologies mainly include: GPS positioning, positioning through satellites; fingerprint recognition positioning, establishing a fingerprint database, and matching online; proximity detection, detecting physical signals in the surrounding range; pole positioning, using the characteristics of a circle to measure the node distance and angle information; triangulation positioning, measuring the distance and angle between two nodes; multilateral positioning, the number of measurement equations is greater than the number of nodes, and the least squares algorithm is used to solve; centroid positioning, finding the horizontal and vertical average values ​​of the surrounding nodes; track calculation: using the starting position, the corresponding step length, and the heading are continuously accumulated and calculated.

[0003] The above positioning technologies each have their own advantages and limitations, which are mainly reflected in the following aspects: (1) According to current research, due to the obstruction of obstacles in the indoor environment, the signal will be reflected, refracted or scattered, and the signal strength will be weakened when passing through the object. Therefore, it is difficult for the existing positioning technology based on satellite signals to effectively locate the position of indoor objects. (2) Indoor positioning technologies such as dead reckoning, multilateral positioning, and centroid positioning are relatively low in cost, but they all have the problem of low positioning accuracy. (3) Indoor positioning technologies such as fingerprint recognition positioning, proximity detection, pole positioning, and triangulation positioning all require the assistance of precision instruments to achieve positioning accuracy, but they are relatively high in cost and overhead.

[0004] Millimeter wave communication technology is the main development trend of 5G and 6G in the future. Millimeter wave high-frequency communication also has unique characteristics that are different from traditional communications. As one of the key technologies of 5G mobile communications, millimeter wave technology can provide more accurate geometric information for indoor positioning and greatly reduce the impact of multipath effects. First, since the millimeter wave system has a very large bandwidth, it can obtain a higher time resolution, so that a more accurate distance estimate can be obtained; secondly, the narrow beam of the millimeter wave greatly improves the resolution of the spatial angle, so a more accurate angle measurement can be obtained; in addition, since the millimeter wave is seriously affected by atmospheric absorption and decays rapidly in the atmosphere, this characteristic makes the millimeter wave channel sparse, the multipath interference is small, and the multipath is easy to distinguish; finally, due to the high frequency band and few interference sources, the signal propagation is stable and reliable. The above characteristics of millimeter waves make the wireless signal multipath resolution better and have the potential for higher precision positioning.

[0005] Due to the unique characteristics of millimeter wave communication, such as sensitivity to spatial direction, the source of the signal direction can be known during normal communication. The server can calculate the angle, distance, and height of the client device based on the data of the client device connected to it. Accurate positioning of 3D models and integration of communication and location perception can greatly simplify the complexity of navigation and positioning, and achieve high-precision 3D indoor positioning. Summary of the invention

[0006] In view of this, the purpose of the present invention is to provide an indoor 3D fingerprint positioning method based on millimeter wave beam pattern trajectory, which simultaneously completes the 3D positioning perception process during the communication process, and belongs to the communication perception integration technology.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] An indoor 3D fingerprint positioning method based on millimeter wave beam pattern trajectory, the method establishes a direction fingerprint by establishing beam pattern trajectory information for the positions of both communicating parties, and uses the known spacing information of two millimeter wave receiving devices to calculate the 3D position of the sending device to achieve high-precision indoor 3D positioning; the method comprises the following steps:

[0009] S1. Predefine equipment;

[0010] S2. Perform indoor positioning.

[0011] Furthermore, the predefined equipment phase in step S1 specifically includes:

[0012] Model building stage: predefine one access point AP1 and another access point AP2, record the distance between AP1 and AP2, and define the line between the two access points as 0 degrees;

[0013] After the model is turned on: the millimeter wave 5G / 6G device AP1 first scans its own beam direction characteristics. Through millimeter wave sector scanning, a unique beamatten index can be scanned at each angle. By scanning each angle, the AP1_AP2 millimeter wave communication antenna sector feature database is established.

[0014] Furthermore, the indoor positioning stage in step S2 specifically includes:

[0015] S21. In a plane, N APs obtain signal arrival angles at random locations of N sites, and each AP generates N directional signal arrival angle sample data;

[0016] S22, each AP broadcasts its own arrival angle sample data to other APs, and each other AP inputs the received N station random position signal arrival angle direction data and its own local N corresponding sample signal arrival angle data into the constructed Euclidean distance calculation generator;

[0017] S23, for the known N direction signal arrival angle data in step S21, the AP combines it with its own N local data in step S22, and the AP calculates the Euclidean distance between each station and itself in turn, and obtains the location tags of the N stations;

[0018] S24, construct a signal position label optimization generator, use the calculation result in step S23 and the N AP position labels of each site as the input of the signal position label optimization generator, optimize the site location parameters, minimize the error between the output vector corresponding to the generator and the sample vector, and construct a signal arrival angle calculation loss function;

[0019] S25. Repeat steps S23 and S24 until convergence. At this time, the label estimation value of each sample vector reaches the optimal value, and the optimal estimation of the site location coordinates is obtained to achieve millimeter wave indoor positioning.

[0020] Further, in step S23, the generation of the location tag specifically includes:

[0021] 1) When a station is moving or stationary, it will communicate with two access points, AP1 and AP2. The locations of AP1 and AP2 are predefined. 1， The connection line of AP2 establishes the X-axis, and AP1 is the center point to establish the Y-axis. The distance L1 and the angle ε between them are known. According to the directional beam characteristics of millimeter waves, the angle T between AP and the station is measured during the communication process. ap1 , T ap2 , the angles α and β can be calculated; after AP and the station communicate and scan to generate a beam pattern, AP1 queries the database for the angle of this beam pattern to obtain T ap1 , AP2 queries the database for the angle of this beam pattern to obtain T ap2 ,Right now:

[0022]

[0023] 2) The distance L between AP1 and AP2 is known 1， First, calculate the distance L2 between the AP and the station in the two-dimensional plane using the following formula;

[0024]

[0025] 3) The length of L2 of the site i accessed by the nth AP can be calculated as above. The three-dimensional plane elevation angle ε can be known from the millimeter wave 5G / 6G communication characteristics. The distance L3 between the nth AP and the site i in the 3D model can be calculated based on L2 and the elevation angle ε:

[0026]

[0027] Thus, the loss function in step S24 is calculated as follows:

[0028]

[0029] The beneficial effects of the present invention are:

[0030] 1) Low overhead: No complex signal processing or feature extraction is required. The position angle information of the communicating party can be obtained during the communication process. No high-end precision instruments are required to measure the distance to the Station. In most cases, the access point AP will not move. The Station can be located by measuring the position between APs when it is turned on for the first time.

[0031] 2) 3D positioning: Most existing communication technologies locate and track devices in a two-dimensional plane. The present invention utilizes the unique characteristics of millimeter wave 5G / 6G communications to achieve precise positioning of millimeter wave 5G / 6G device Stations in the 3D world.

[0032] 3) Communication and perception integration: Millimeter wave 5G / 6G devices can be positioned while communicating with each other. There is no need to design additional technology and spend time to position the devices. It is simple and convenient, and is very suitable for today's smart home, smart factory, Internet of Vehicles and other IoT technology environments.

[0033] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0035] Figure 1 This is a schematic diagram of millimeter wave sector scanning;

[0036] Figure 2 This is a schematic diagram of the sector characteristic data of the millimeter wave communication antenna;

[0037] Figure 3Compute schematic diagrams for location tags;

[0038] Figure 4 Schematic diagram of calculation under 3D model. DETAILED DESCRIPTION

[0039] The technical solution of the present invention is described in detail below with reference to the accompanying drawings.

[0040] The basic principle of the technical solution of the present invention is the sensitivity of millimeter waves to the communication direction. Since millimeter wave communication has high spatial directivity, commercial millimeter wave communication equipment and communication protocols will design multiple fixed millimeter wave beam modes. These beam modes will have good communication gain for specific directions. Therefore, all beam modes are continuously scanned in the early stage of communication and during the communication process to select the best beam mode. According to the scanning process of all beam modes by this millimeter wave device, beam mode trajectory information for the specific positions of the two communicating parties can be established. This trajectory information is extremely sensitive to the 3D directionality of the millimeter wave transmitting and receiving devices. By establishing a directional fingerprint and using the known spacing information of the two millimeter wave receiving devices, the 3D position of the specific sending device can be easily calculated to achieve high-precision indoor 3D positioning.

[0041] In this embodiment, the indoor 3D fingerprint positioning method based on millimeter wave beam pattern trajectory described in the present invention specifically includes:

[0042] Predefined devices:

[0043] During the model building phase, one access point (AP1) and another access point (AP2) are predefined, the distance between AP1 and AP2 is recorded, and the line between the two APs is defined as 0 degrees. After the model is turned on, the millimeter wave 5G / 6G device AP first scans its own beam direction characteristics, such as Figure 1 As shown in the figure, through millimeter wave sector scanning, a unique beam index can be scanned at each angle. By scanning each angle, the AP1_AP2 millimeter wave communication antenna sector feature database is established. And this millimeter wave communication antenna sector feature database has long-term stability. If one angle is scanned and observed for many days, Figure 2 As shown, the beampatten index of an angle has a high similarity within a 7-day period.

[0044] Indoor positioning:

[0045] 1) In a plane, N APs obtain the signal arrival angles of N random sites, and each AP generates N directional signal arrival angle sample data.

[0046] 2) Each AP will broadcast its own arrival angle sample data to other APs, and each other AP will input the received N station random position signal arrival angle direction data and its own local N corresponding sample signal arrival angle data into the constructed Euclidean distance calculation generator.

[0047] 3) For the known N direction signal arrival angle data in step 1), the AP combines it with its own N local data in step 2), and calculates the Euclidean distance between each station and itself in turn, and obtains the location tags of the N stations;

[0048] 4) Construct a signal location label optimization generator, use the calculation results in step 3), the N AP location labels of each site as the input of the signal location label optimization generator, optimize the site location parameters, minimize the error between the output vector corresponding to the generator and the sample vector, and construct a signal arrival angle calculation loss function.

[0049] 5) Step 3) and step 4) are iterated repeatedly until convergence. At this time, the label estimation value of each sample vector reaches the optimal value, and the optimal estimation of the site location coordinates is obtained to achieve millimeter wave indoor positioning.

[0050] For the calculation and generation of the location label in step 3), there are three steps:

[0051] 1) When a station is moving or stationary, it will communicate with two access points, AP1 and AP2. Figure 3 As shown, the positions of AP1 and AP2 are predefined, the X-axis is established with the connection line of AP1 and AP2, and the Y-axis is established with AP1 as the center point. The distance L1 and the angle ε between them are known. According to the characteristics of the millimeter wave directional beam, the angle T between the AP and the station can be measured during the communication process. ap1 , T ap2 , α and β can be obtained. After AP1 communicates with the site to scan and generate a beam pattern, AP1 queries the database for the angle of this beam pattern to obtain T ap1 , AP2 queries the database for the angle of this beam pattern to obtain T ap2 ,Right now

[0052]

[0053] 2) Given the distance L1 between AP1 and AP2, first calculate the distance L2 between the AP and the site in the two-dimensional plane using the following formula.

[0054]

[0055] 3) If Figure 4As shown, the two-dimensional plane H can calculate the length L2 of the site i accessed by the n-th AP as mentioned above. From the millimeter wave 5G / 6G communication characteristics, the three-dimensional plane elevation angle ε can be known. The distance L3 between the n-th AP and the site i under the 3D model can be calculated based on L2 and the elevation angle ε.

[0056]

[0057] The loss function in step 4) is calculated as follows:

[0058]

[0059] High-frequency carrier communications such as millimeter-wave communications are the key technologies of 5G and future 6G communication systems, and have a wide range of application scenarios. The present invention realizes high-precision and low-complexity indoor positioning based on the unique characteristics of high-frequency carrier communications such as millimeter-wave communications, which can be well suited to the development of future 5G / 6G communication technologies. It has good scalability and commercial value in practical fields such as parking lot positioning, smart factories, and smart farms in future 5G / 6G millimeter-wave wireless communication scenarios.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. An indoor 3D fingerprint positioning method based on millimeter wave beam pattern trajectory, characterized by: The method establishes the beam pattern trajectory information for the positions of both communicating parties, establishes the directional fingerprint, and uses the known spacing information of the two millimeter wave receiving devices to calculate the 3D position of the transmitting device to achieve high-precision indoor 3D positioning; the method includes the following steps: S1. Predefine equipment; S2, perform indoor positioning; The predefined equipment phase in step S1 specifically includes: Model building stage: predefine one access point AP1 and another access point AP2, record the distance between AP1 and AP2, and define the line between the two access points as 0 degrees; After the model is turned on: millimeter wave 5G / 6G device AP1 first scans its own beam direction characteristics. Through millimeter wave sector scanning, a unique beampattenindex can be scanned at each angle. By scanning each angle, the AP1_AP2 millimeter wave communication antenna sector feature database is established; The indoor positioning stage in step S2 specifically includes: S21. In a plane, N APs obtain signal arrival angles at random locations of N sites, and each AP generates N directional signal arrival angle sample data; S22, each AP broadcasts its own arrival angle sample data to other APs, and each other AP inputs the received N station random position signal arrival angle direction data and its own local N corresponding sample signal arrival angle data into the constructed Euclidean distance calculation generator; S23, for the known N direction signal arrival angle data in step S21, the AP combines it with its own N local data in step S22, and the AP calculates the Euclidean distance between each station and itself in turn, and obtains the location tags of the N stations; S24, construct a signal position label optimization generator, use the calculation result in step S23 and the N AP position labels of each site as the input of the signal position label optimization generator, optimize the site location parameters, minimize the error between the output vector corresponding to the generator and the sample vector, and construct a signal arrival angle calculation loss function; S25, repeatedly iterating step S23 and step S24 until convergence, at which time the label estimation value of each sample vector reaches the optimal value, and the optimal estimation of the site location coordinates is obtained, thereby realizing millimeter wave indoor positioning; In step S23, the generation of the location tag specifically includes: 1) When the station is moving or stationary, it will communicate with two access points AP1 and AP2. The positions of AP1 and AP2 are predefined. 1， The connection line of AP2 establishes the X-axis, and AP1 is the center point to establish the Y-axis. The distance L1 and the angle ε between them are known. According to the directional beam characteristics of millimeter waves, the angle T between AP and the station is measured during the communication process. ap1 , T ap2 , the angles α and β can be calculated; after AP and the station communicate and scan to generate a beam pattern, AP1 queries the database for the angle of this beam pattern to obtain T ap1 , AP2 queries the database for the angle of this beam pattern to obtain T ap2 ,Right now: 2) The distance L between AP1 and AP2 is known 1， First, calculate the distance L2 between the AP and the station in the two-dimensional plane using the following formula; 3) The length of L2 of the site i accessed by the nth AP can be calculated as above. The three-dimensional plane elevation angle ε can be known from the millimeter wave 5G / 6G communication characteristics. The distance L3 between the nth AP and the site i in the 3D model can be calculated based on L2 and the elevation angle ε: Thus, the loss function in step S24 is calculated as follows:

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