Communication-aware based cooperative positioning method, apparatus and medium

Abstract

The application provides a communication-aware-based cooperative positioning method, device and medium, and the method applied to a positioning node comprises the following steps: constructing a neighbor list; determining a cooperative node based on the neighbor list, calculating a beamforming parameter and an RIS parameter of the cooperative node; initiating a positioning cooperation request carrying the RIS parameter to the cooperative node based on the beamforming parameter; obtaining a cooperation response message sent by the cooperative node, generating a sensing signal based on the beamforming parameter, so that the cooperative node reflects the sensing signal to a target node according to the RIS parameter, and reflects an echo signal of the target node; obtaining the echo signal reflected by the cooperative node, and positioning the target node according to the echo signal. The application can realize accurate wireless positioning in a non-line-of-sight path environment and a line-of-sight path environment, effectively improves the positioning efficiency and positioning accuracy of wireless positioning, and takes into account the communication performance of a mobile device. The application is applied to the technical field of mobile communication.

Description

Technical Field

[0001] This invention relates to the field of mobile communication technology, and in particular to a collaborative positioning method, apparatus and medium based on communication sensing. Background Technology

[0002] Next-generation mobile communications and their emerging application scenarios present a huge potential demand for wireless positioning of mobile devices. Traditional wireless positioning technologies typically utilize the wireless signals detected by base stations or terminals to locate users within the wireless infrastructure network. Currently, commonly used positioning technologies include distance-based positioning and angle-based positioning. Distance-based positioning uses the time of arrival (TOA) to calculate the distance between the terminal and two or more base stations, thus achieving positioning. Angle-based positioning, on the other hand, uses the angle between the terminal and two or more base stations (AOA) for positioning.

[0003] In the field of mobile communications, wireless non-infrastructure networks (WNIs) generated by self-organized networking of mobile devices can perform clustering tasks such as tracking and detection. For WNIs, networking performance and positioning performance are particularly important. Because the network environment of WNIs is always dynamic, positioning mobile devices helps improve the networking performance of WNIs, thus providing a reliable guarantee for collaborative positioning between mobile devices.

[0004] However, due to the mobility of mobile devices and the diversity of wireless environments, line-of-sight paths between mobile devices are difficult to obtain, and communication performance must be considered while achieving wireless positioning. Both distance-based and angle-based positioning technologies can only obtain observations in line-of-sight (LOS) environments, neglecting observations in not-line-of-sight (NLOS) environments. Therefore, without obtaining line-of-sight paths between mobile devices, existing positioning technologies cannot achieve wireless positioning of mobile devices, thus affecting the realization of cooperative positioning in wireless non-infrastructure networks. Summary of the Invention

[0005] The purpose of this invention is to at least partially solve one of the technical problems existing in the prior art.

[0006] Therefore, the purpose of this invention is to provide a collaborative positioning method, apparatus and medium based on communication awareness.

[0007] To achieve the above-mentioned technical objectives, the technical solutions adopted in the embodiments of the present invention include:

[0008] On one hand, embodiments of the present invention provide a communication-aware cooperative positioning method applied to positioning nodes, comprising the following steps:

[0009] Identify the target node and neighboring nodes, and construct a neighbor list for the located node using the node information of the neighboring nodes;

[0010] The cooperating nodes are determined based on the neighbor list of the positioning node, and the beamforming parameters and the RIS parameters of the cooperating nodes are calculated using the distribution of the cooperating nodes.

[0011] Based on the beamforming parameters, a positioning cooperation request is initiated to the cooperating node, wherein the positioning cooperation request carries the RIS parameter of the cooperating node, so that the cooperating node responds to the positioning cooperation request and generates a cooperation response message corresponding to the positioning cooperation request.

[0012] The cooperative response message sent by the cooperative node is obtained, a sensing signal is generated based on the beamforming parameters and sent to the cooperative node, so that the cooperative node reflects the sensing signal to the target node according to the RIS parameters, and reflects the echo signal of the target node corresponding to the sensing signal to the positioning node.

[0013] The echo signal reflected by the cooperating node is acquired, and the target node is located based on the echo signal to obtain the location information of the target node.

[0014] On the other hand, embodiments of the present invention provide a communication-aware cooperative localization method, applied to cooperative nodes, comprising the following steps:

[0015] Obtain a location cooperation request sent by a location node, wherein the location cooperation request carries the RIS parameter of the cooperating node;

[0016] In response to the positioning cooperation request, a cooperation response message corresponding to the positioning cooperation request is generated and returned to the positioning node, so that the positioning node generates a sensing signal based on the beamforming parameters;

[0017] Acquire the sensing signal sent by the positioning node, and reflect the sensing signal to the target node according to the RIS parameters;

[0018] The echo signal corresponding to the sensing signal of the target node is reflected to the positioning node, so that the positioning node can locate the target node based on the echo signal and obtain the location information of the target node.

[0019] In another aspect, embodiments of the present invention provide a communication-aware cooperative localization method, comprising the following steps:

[0020] The target node and neighbor nodes of the positioning node are determined by the positioning node, and a neighbor list of the positioning node is constructed by the node information of the neighbor nodes. Then, the cooperating node is determined according to the neighbor list of the positioning node. The beamforming parameters and the RIS parameters of the cooperating node are calculated by the distribution of the cooperating nodes. Then, a positioning cooperation request is initiated to the cooperating node based on the beamforming parameters, wherein the positioning cooperation request carries the RIS parameters of the cooperating node.

[0021] The cooperative node obtains the location cooperation request sent by the location node, and in response to the location cooperation request, generates a cooperation response message corresponding to the location cooperation request and returns it to the location node.

[0022] The positioning node obtains the cooperative response message sent by the cooperative node, and generates a sensing signal based on the beamforming parameters and sends it to the cooperative node.

[0023] The sensing signal sent by the positioning node is obtained through the cooperative node, and the sensing signal is reflected to the target node according to the RIS parameter;

[0024] The cooperative node reflects the echo signal corresponding to the sensing signal of the target node back to the positioning node.

[0025] The location node obtains the echo signal reflected by the cooperating node, and locates the target node based on the echo signal to obtain the location information of the target node.

[0026] In another aspect, embodiments of the present invention provide a cooperative positioning device based on communication awareness, comprising:

[0027] An integrated waveform module for generating and receiving integrated waveforms for communication sensing;

[0028] The sensing and positioning module is used to determine the target node and neighboring nodes of the positioning node when the node is a positioning node; construct the neighbor list of the positioning node through the node information of the neighboring nodes of the positioning node; determine the cooperating nodes according to the neighbor list of the positioning node; calculate the beamforming parameters and the RIS parameters of the cooperating nodes using the distribution of the cooperating nodes; and locate the target node according to the echo signal to obtain the position information of the target node.

[0029] A surface antenna module control module is used to control the metasurface antenna module according to the RIS parameters of the cooperative node when the node is a cooperative node.

[0030] A metasurface antenna module is used to reflect the sensing signal to the target node and the echo signal returned by the target node to the positioning node under the control of the surface antenna module control module when the node is a cooperative node.

[0031] The transceiver module is used for sending and receiving neighbor discovery messages and location messages. When a node is a location node, it sends a location cooperation request to the cooperating node through an integrated waveform and obtains a cooperation response message in the form of an integrated waveform sent by the cooperating node. When a node is a cooperation node, it sends a cooperation response message to the location node through an integrated waveform.

[0032] In another aspect, embodiments of the present invention provide a computer storage medium storing a processor-executable program, which, when executed by a processor, is used to implement the above-described communication-aware cooperative positioning method.

[0033] The beneficial effects of this invention are: it provides a cooperative positioning method, device, and medium based on communication sensing, which utilizes at least two cooperative nodes to provide cooperative positioning functionality for the positioning node in a non-line-of-sight path environment, and utilizes at least one cooperative node to provide cooperative positioning functionality for the positioning node in a line-of-sight path environment. This enables the positioning node to achieve accurate positioning of the target node in both non-line-of-sight and line-of-sight path environments, which not only effectively improves the positioning efficiency and accuracy of wireless positioning, but also takes into account the communication performance of mobile devices. While achieving efficient and accurate wireless positioning under integrated communication sensing, it ensures communication and sensing between multiple mobile devices, and has high availability.

[0034] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0035] Figure 1 A flowchart of a communication-aware cooperative localization method provided by the present invention;

[0036] Figure 2 A schematic diagram of the neighbor list provided by the present invention;

[0037] Figure 3 A flowchart for determining cooperative nodes provided by the present invention;

[0038] Figure 4 A flowchart for determining beamforming parameters and RIS parameters provided by the present invention;

[0039] Figure 5A schematic diagram of the line-of-sight path environment and non-line-of-sight path environment provided by the present invention;

[0040] Figure 6 Another flowchart of the communication-aware cooperative localization method provided by the present invention;

[0041] Figure 7 This is another flowchart of the communication-aware cooperative positioning method provided by the present invention;

[0042] Figure 8 A structural diagram of a cooperative positioning device based on communication sensing provided by the present invention;

[0043] Figure 9 The schematic diagram for generating AFDM waveforms provided by this invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] The present application will be further described below with reference to the accompanying drawings and specific embodiments. The described embodiments should not be considered as limitations on the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0046] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0048] In response to the problems and defects of related technologies, this invention provides a cooperative positioning method, device and medium based on communication sensing. It aims to use at least one cooperative node to provide cooperative positioning function for the positioning node, so that the positioning node can accurately locate the target node in both non-line-of-sight path environment and line-of-sight path environment. At the same time, it also takes into account the communication performance between mobile devices, and realizes efficient and accurate wireless positioning under the integration of communication sensing.

[0049] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0050] The communication-aware collaborative positioning method proposed in this invention is mainly applied to a first device, a second device, and a third device. The first device is located at a positioning node terminal, the second device is located at a target node terminal, and the third device is located at a collaborative node terminal. The positioning node is the node that initiates the positioning process and has known location information; the target node is the target positioning node of the positioning node and has unknown location information; the collaborative node is the node that performs positioning on the target node, and its location information can be detected.

[0051] It should be noted that due to the variability of the wireless environment, there may be no line-of-sight path between the positioning node and the target node, that is, the positioning node and the target node are in a non-line-of-sight path environment; there may also be a line-of-sight path between the positioning node and the target node, that is, the positioning node and the target node are in a line-of-sight path environment.

[0052] It is understood that the first, second, and third devices can be terminals or servers. The terminals and servers are directly or indirectly connected via wired or wireless communication to complete data transmission and exchange. Terminals can be smartphones, tablets, laptops, desktop computers, vehicle terminals, etc., but are not limited to these. Optionally, the terminal can have an application installed, which it can use to communicate and exchange data with other terminals or servers. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. Additionally, the server can be a node server in a blockchain network, but is not limited to this. Blockchain is a new application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanisms, and encryption algorithms.

[0053] First, the following will describe in detail, with reference to the accompanying drawings, one implementation step of the communication-aware cooperative positioning method proposed in this invention.

[0054] Reference Figure 1 , Figure 1 A flowchart of the communication-aware cooperative localization method provided by the present invention is shown below. Figure 1 The cooperative positioning method shown is applied to positioning nodes, and the cooperative positioning method may include, but is not limited to, the following steps S101-S106.

[0055] S101, determine the target node and neighboring nodes, and construct the neighbor list of the location node through the node information of the neighboring nodes.

[0056] It should be noted that there is at least one neighboring node, and the node information of the neighboring node may include, but is not limited to, the neighboring node's number, RIS (Reconfigurable Intelligent Surface) capability, location information, sensing information, and channel quality.

[0057] In this step, the positioning node senses node information such as distance, angle, and position of other nodes, determines the neighboring nodes of the positioning node from other nodes, and then uses the node information of its neighboring nodes to construct the corresponding neighbor list.

[0058] S102, determine the cooperating nodes based on the neighbor list of the location node.

[0059] In this step, since the wireless environment is variable, there may be no line-of-sight path between the positioning node and the target node, or the positioning node may not be able to achieve independent positioning. Therefore, it is necessary to select a suitable cooperating node from multiple neighboring nodes. The cooperating node is used to assist the positioning node in locating the target node.

[0060] Specifically, first, the locator node obtains the common neighbor nodes of the locator node and the target node; then, the locator node constructs a set of cooperative nodes based on the cooperative gain of the common neighbor nodes, the set of cooperative nodes including multiple common neighbor nodes whose cooperative gain is greater than a first threshold. If the target node is a neighbor node of the locator node, the locator node selects at least one node from the set of cooperative nodes as a cooperative node; if the target node is not a neighbor node of the locator node, the locator node selects at least two nodes from the set of cooperative nodes as cooperative nodes.

[0061] S103, using the distribution of cooperative nodes, calculates the beamforming parameters and the RIS parameters of the cooperative nodes.

[0062] In this step, the positioning node uses the distribution of the cooperating nodes to calculate the beamforming parameters used to generate the integrated waveform and the RIS parameters used to control the reflection direction of the cooperating nodes.

[0063] S104, based on the beamforming parameters, a positioning cooperation request is initiated to the cooperating node, so that the cooperating node responds to the positioning cooperation request and generates a cooperation response message corresponding to the positioning cooperation request.

[0064] It should be noted that the location collaboration request can carry, but is not limited to, the target node's ID, the collaborating node's ID, and the collaborating node's RIS parameter.

[0065] In this step, the positioning node initiates a positioning cooperation request to the cooperating node based on beamforming parameters, aiming to notify the cooperating node to perform cooperative positioning. When the cooperating node receives the positioning cooperation request sent by the positioning node, it returns a cooperation response message as an acknowledgment message to the positioning node.

[0066] S105, acquire the cooperation response message sent by the cooperation node, generate a sensing signal based on the beamforming parameters and send it to the cooperation node, so that the cooperation node reflects the sensing signal to the target node according to the RIS parameters, and reflects the echo signal of the target node corresponding to the sensing signal to the positioning node.

[0067] It should be noted that the cooperating nodes themselves do not process the sensed signals; their role is to reflect the signals to the positioning node or the target node. Similarly, the target node does not process the signals either; the reflected echo signals are formed naturally.

[0068] In this step, when the positioning node receives a response message from the cooperating node, it uses beamforming parameters to generate an integrated waveform as a sensing signal and sends it to the cooperating node. The cooperating node acquires the sensing signal and controls its RIS phase according to the RIS parameters obtained in the previous steps, reflecting the sensing signal to the target node. Then, the cooperating node controls its RIS phase according to the RIS parameters to reflect the echo signal from the target node corresponding to the sensing signal back to the positioning node.

[0069] S106, acquire the echo signal reflected by the cooperative node, locate the target node based on the echo signal, and obtain the location information of the target node.

[0070] In this step, the positioning node decomposes the echo signal using a Multiple Signal Classification (MUSIC) algorithm to obtain the path length and path angle of each path. The path length is also known as the propagation distance, and the path angle is also known as the angle of arrival. The path length of each path can be calculated using the time of arrival (TOA). Then, based on the path length and path angle of each path, the positioning node uses a positioning algorithm to calculate the location information of the target node.

[0071] In some embodiments of the present invention, each node sends a neighbor discovery request message to other nodes in the form of an integrated waveform. This message carries RIS capability and can acquire the echo signal of the integrated waveform. Each node can discover neighboring nodes and obtain their node information based on either the neighbor discovery response message or the neighbor discovery request message.

[0072] Furthermore, in step S101, the process of determining the target node and neighboring nodes of the positioning node and constructing the neighbor list of the positioning node through the node information of the neighboring nodes of the positioning node may include, but is not limited to, the following steps S201-S203.

[0073] S201, obtain the neighbor discovery request message or neighbor discovery response message sent by other nodes, and determine the other nodes that sent the neighbor discovery request message or neighbor discovery response message as the neighbor nodes of the locating node;

[0074] S202, process the neighbor discovery request message or neighbor discovery response message to obtain the node information of the neighboring nodes of the location node.

[0075] S203, construct the neighbor list of the positioning node using the node information of the neighboring nodes of the positioning node.

[0076] In this embodiment of the invention, each node can discover its neighboring nodes based on a neighbor discovery response message or a neighbor discovery request message, thereby constructing a neighbor list corresponding to the node. Specifically, for a node receiving a neighbor discovery request message, the node processes the message to obtain the node information of the neighboring node, then adds or updates a record containing the node information of the neighboring node in the neighbor list data, and simultaneously returns a neighbor discovery response message to the node that sent the request message. For a node sending a request message, the node processes the echo signal of the integrated waveform to obtain sensing information such as the relative distance, relative speed, and relative angle of the neighboring node, then adds or updates a record containing the node information of the neighboring node in the neighbor list data. The positioning node constructs the neighbor list by repeatedly sending and receiving neighbor discovery response messages or request messages, such as... Figure 2 As shown.

[0077] In some embodiments of the present invention, reference is made to... Figure 3 In step S102, the process of determining the cooperating node based on the neighbor list of the positioning node may include, but is not limited to, the following steps S301-S305.

[0078] S301, Obtain the neighbor list of the target node, and determine the common neighbor nodes of the positioning node and the target node based on the neighbor list of the positioning node and the neighbor list of the target node.

[0079] In this step, based on the neighbor list of the locating node and the neighbor list of the target node, the locating node determines the common neighbor nodes that it shares with the target node as common neighbor nodes.

[0080] S302, calculate the cooperation gain of common neighbor nodes, and construct a set of cooperative nodes based on the cooperation gain of common neighbor nodes.

[0081] It should be noted that the set of cooperating nodes includes multiple common neighbor nodes whose cooperation gain is greater than the first threshold.

[0082] Optionally, the first threshold can be determined according to the actual situation, and the embodiments of the present invention do not specifically limit it.

[0083] In this step, after selecting common neighbor nodes, the positioning node selects common neighbor nodes whose cooperation gain is greater than a first threshold from among multiple common neighbor nodes, and forms a cooperative node set through the selected common neighbor nodes. Specifically, the cooperation gain of common neighbor nodes can be determined by the cascaded channel gain from the positioning node to the common neighbor node and from the common neighbor node to the target node, where the cooperation gain of the i-th common neighbor node satisfies formula (1):

[0084]

[0085] Where, β i θ represents the cascaded channel gain from the location node to the i-th common neighbor node; i M represents the angle from the location node to the i-th common neighbor node; i and N i d represents the number of RIS units on both sides of the i-th common neighbor node; x_i d represents the length of the RIS cell of the i-th common neighbor node. y_i d represents the width of the RIS cell of the i-th common neighbor node. i d represents the distance from the location node to the i-th common neighbor node. r_i This represents the distance from the i-th common neighbor node to the target node.

[0086] It should be noted that the RIS cell is a planar array. The number of cells on both sides of the RIS refers to the number of RIS cells on both sides, which can be determined by the neighbor list of the locating node. For example, if the number of cells on both sides of the RIS is 16*8, then it means that the number of cells on one side is M. i It is 16, and the number of units on the other side is N. i It's 8.

[0087] It should be noted that the angle from the positioning node to the i-th common neighbor node refers to the direction of the incident wave from the i-th common neighbor node, that is, the direction of the incident wave from the positioning node toward the i-th common neighbor node.

[0088] Optionally, the angle from the locating node to the i-th common neighbor node can be determined using the locating node's neighbor list, and the distance from the i-th common neighbor node to the target node can be determined using the target node's neighbor list. Specifically, each node sends a neighbor discovery request message and receives a response message based on the integrated sensor waveform. Then, it uses a traditional positioning algorithm to obtain the angle and distance from the response message. This angle and distance information will be recorded as node information in the neighbor list.

[0089] S303, Based on the neighbor list of the locating node, determine whether the target node is a neighbor node of the locating node. If yes, proceed to S304; otherwise, proceed to S305.

[0090] S304. Select at least one common neighbor node from the set of cooperating nodes as a cooperating node.

[0091] In this step, if the target node is a neighboring node of the positioning node, it means that there is a line-of-sight path between the positioning node and the target node. In this case, the positioning node selects at least one node from the set of collaborating nodes as a collaborating node.

[0092] Furthermore, the selection of cooperative nodes follows the principle of optimal location information followed by cooperative gain.

[0093] Specifically, in the set of collaborating nodes, nodes with location information are preferentially selected as collaborating nodes; if at least two nodes in the set have location information, the node with the largest collaboration gain is preferentially selected as the collaborating node. After selecting a collaborating node, the selected collaborating node is removed from the set of collaborating nodes to update the set of collaborating nodes.

[0094] S305: Select at least two common neighbor nodes from the set of cooperating nodes as cooperating nodes.

[0095] In this step, if the target node is not a neighbor node of the positioning node, it means that there is no line-of-sight path between the positioning node and the target node. In this case, the positioning node selects at least two nodes from the set of collaborating nodes as collaborating nodes.

[0096] Furthermore, the selection of the first cooperating node follows the principle of optimal location information followed by cooperation gain; the selection of the second and subsequent cooperating nodes follows the principle of optimal location information followed by angle of arrival interval.

[0097] For the selection of the first collaborating node, the node with location information in the collaborating node set is preferentially selected as the first collaborating node; if at least two nodes in the collaborating node set have location information, the node with the largest collaboration gain is selected as the first collaborating node. After selecting a collaborating node, the selected collaborating node is removed from the collaborating node set, and the collaborating node set is updated.

[0098] For the selection of the second and subsequent collaborating nodes, taking the second collaborating node as an example, in the updated set of collaborating nodes, the node with the largest angular distance from the first collaborating node and possessing location information is preferentially selected as the second collaborating node. If all nodes in the collaborating node set lack location information, the node with the largest angular distance from the first collaborating node is preferentially selected as the second collaborating node. After selecting the second collaborating node, it is removed from the collaborating node set, and the collaborating node set is updated.

[0099] In some embodiments of the present invention, the present invention provides two parallel methods for calculating beamforming parameters and RIS parameters of cooperative nodes. The first method is to determine the beamforming parameters first and then determine the RIS parameters; the second method is to determine the beamforming parameters and RIS parameters simultaneously. The present invention uses either the first method or the second method for calculation.

[0100] For the first method, refer to... Figure 4 In step S103, the process of calculating the beamforming parameters and the RIS parameters of the cooperative nodes using the distribution of the cooperative nodes may include, but is not limited to, the following steps S401-S404.

[0101] S401 constructs multiple desired direction maps based on the distribution of collaborating nodes.

[0102] In this step, the location node is determined based on the distribution of the collaborating nodes (d i θ i Construct the corresponding pointer to θ i The desired direction map is generated. If there are multiple cooperating positioning nodes, multiple corresponding desired direction maps are generated. Each desired direction map points to a corresponding cooperating node or target node. In particular, when the target node is a neighboring node of the positioning node, there exists a desired direction map pointing to the target node.

[0103] S402, based on the graph parameters of each desired pattern, calculates the beamforming vector for each desired pattern.

[0104] It should be noted that the graph parameters of the desired radiation pattern may include, but are not limited to, the steering vector of the positioning node, the amplitude and phase of the desired radiation pattern.

[0105] In this step, the positioning node generates corresponding beamforming vectors based on multiple desired radiation patterns pointing in different directions. The beamforming vector w is used to define the beamforming vector. i The generated radiation pattern and pointing θ i The difference in the expected radiation pattern is minimized.

[0106] Specifically, the process of generating the beamforming vector is shown in formula (2):

[0107]

[0108] Where i∈S, S represents the set of nodes consisting of collaborating nodes and the target node, w i Represents the beamforming vector, α(θ) i ) indicates that the transmitting array antenna of the positioning node is pointing towards θ i The guide vector, P dM，i P represents the magnitude of the i-th desired radiation pattern. dP，i This represents the phase of the i-th desired pattern.

[0109] S403 integrates the beamforming vectors of multiple desired radiation patterns to obtain beamforming parameters.

[0110] In this step, the positioning node weights multiple beamforming vectors and calculates the final beamforming vector as the beamforming parameter. The beamforming parameter satisfies formula (3):

[0111]

[0112] Where w represents the beamforming parameter, ρ i For the weighting factor, ∑ i∈S ρ i =1.

[0113] Optionally, the weighting factor is determined by the distance between the locating node and the collaborating node, the distance satisfying formula (4):

[0114]

[0115] Where, d i This represents the distance between the locating node and the i-th collaborating node.

[0116] In addition, the weighting factor can also be determined by the channel gain of different paths, where a path refers to the channel between two nodes, and the channel gain of the i-th path satisfies formula (5):

[0117]

[0118] Where, β iLet β be the channel gain for the i-th path; if there exists an i-th desired directional pattern pointing to the target node, then β i The channel gain from the locating node to the target node is represented by formula (6):

[0119]

[0120] S404 determines the RIS parameters of the collaborating node based on the angle of the collaborating node relative to the target node.

[0121] In this step, the positioning node determines the RIS parameter of each cooperating node based on the angle of each cooperating node relative to the target node. The RIS parameter is used to make the beam signal generated by the cooperating node point to the target node.

[0122] For the second approach, in step S103, the process of calculating the beamforming parameters and the RIS parameters of the cooperative nodes using the distribution of the cooperative nodes may include, but is not limited to, the following steps S501-S502.

[0123] S501, based on the distribution of cooperative nodes, constructs an objective function to maximize and minimize the beamforming parameters and the RIS parameters of the cooperative nodes.

[0124] It should be noted that the maximization objective function is to maximize the signal strength of the target path, and the target path is the path that minimizes the signal strength received by the target node.

[0125] In this step, the positioning node transforms the calculation of beamforming parameters and the RIS parameters of the cooperating node into a minimization problem, as shown in Equation (7):

[0126]

[0127] Where i∈S, S represents the set of nodes consisting of cooperating nodes and target nodes, w represents the beamforming parameters, and P t h represents the transmission power of the positioning node. i G represents the channel from the location node to the i-th cooperating node. i Let Φ represent the channel from the i-th cooperating node to the target node. i Let represent the RIS phase vector of the i-th cooperating node. If i is the target node, then... ρ i The weighting factor can be calculated using the formula (5) mentioned above.

[0128] S502 solves the maximization objective function to obtain the beamforming parameters and the RIS parameters of the cooperative nodes.

[0129] In this step, the localization node solves the maximization objective function. The solution method can be the interior point method, or other optimization algorithms such as the conjugate gradient method are also applicable, thereby obtaining the beamforming parameters and the RIS parameters of the cooperative nodes.

[0130] In some embodiments of the present invention, reference is made to... Figure 5 In step S106, this embodiment of the invention employs a corresponding positioning strategy to achieve wireless positioning based on whether there is a line-of-sight path between the target node and the positioning node, i.e., whether the target node is a neighbor node of the positioning node. The positioning strategy includes either a first strategy or a second strategy. When the target node is a neighbor node of the positioning node, the first strategy is used for positioning; when the target node is not a neighbor node of the positioning node, the second strategy is used for positioning.

[0131] More specifically, the implementation process of the first strategy may include, but is not limited to, the following steps A01-A04.

[0132] A01, when the target node is a neighboring node of the positioning node, the echo signal reflected by at least one cooperating node is decomposed to obtain the path length and path angle of the first path and at least one second path. The first path is composed of the positioning node and the target node, and the second path is composed of the positioning node and the cooperating node.

[0133] In this step, when the target node is a neighboring node of the positioning node, it indicates that there is a line-of-sight path between the target node and the positioning node. The positioning node decomposes the echo signal reflected by at least one cooperating node to obtain the path lengths of the first path and at least one second path, as well as the path angles of the first path and at least one second path. The path angle is called the AOA. Optionally, the path length of each path can be calculated from the arrival time of each path, which is also called the TOA.

[0134] A02. Based on the path length and path angle of the first path, and combined with the location information of the positioning node, calculate the estimated location information of the target node.

[0135] In this step, the positioning node, based on the path length of the first path and the AOA measurement value, and combined with the positioning node's location information, preliminarily estimates the estimated location information of the target node. The estimated location information of the target node satisfies formula (8):

[0136]

[0137] in, X represents the estimated location information of the target node at time k. L [k] represents the location information of the positioning node at time k. This represents the path length of the first path at time k. This represents the AOA measurement value of the first path at time k. This represents the position information of the target node relative to the positioning node at time k.

[0138] A03. Based on the path length and path angle of at least one second path, and combined with the location information of the positioning node, the location information of at least one cooperative node is calculated.

[0139] In this step, the positioning node calculates the position information of at least one cooperating node based on the path length of at least one second path and the AOA measurement value, combined with the position information of the positioning node. The position information of the cooperating node satisfies formula (9):

[0140]

[0141] in, X represents the location information of the cooperating nodes at time k. L [k] represents the location information of the positioning node at time k. This represents the path length of the second path at time k. This represents the AOA measurement value of the second path at time k. This represents the position information of the cooperating node relative to the positioning node at time k.

[0142] A04. The location information of the target node is calculated based on the path lengths of the first path and at least one second path, the estimated location information of the target node, and the location information of at least one cooperating node.

[0143] In this step, the location information of the target node is calculated based on the path lengths of the first path and at least one second path, the estimated location information of the target node, and the location information of at least one cooperating node. The location information of the target node satisfies formula (10):

[0144]

[0145] Among them, X O [k] represents the location information of the target node at time k. This represents the estimated location information of the target node at time k. This represents the location information of the cooperating nodes at time k. This represents the path length from the locator node to the collaborating node to the target node at time k. This represents the path length of the second path at time k. The AOA measurement value represents the path between the collaborating node and the target node.

[0146] More specifically, the implementation process of the second strategy may include, but is not limited to, the following steps B01-B04.

[0147] B01, when the target node is not a neighboring node of the positioning node, decompose the echo signals reflected by at least two cooperating nodes to obtain the path length and path angle of at least two second paths.

[0148] It should be noted that the second path consists of a location node and a collaborating node.

[0149] In this step, when the target node is not a neighboring node of the positioning node, it indicates that there is no line-of-sight path between the target node and the positioning node. The positioning node decomposes the echo signals reflected by at least two cooperating nodes to obtain the path lengths and AOA measurements of at least two second paths. Optionally, the path length of the second path can be calculated from the arrival time of the second path, also known as the Time of Arrival (TOA).

[0150] B02, calculate the difference in path angle between two adjacent second paths based on the path angles of at least two second paths.

[0151] In this step, the positioning node obtains the time difference of the reflection paths based on at least two reflection paths.

[0152] B03, based on the path angle difference, the path length and path angle of at least two second paths, and the location information of the positioning node, calculates the estimated location information of the target node and the estimated location information of the cooperating nodes located on at least two second paths.

[0153] In this step, the positioning node obtains the estimated location information of the target node and the estimated location information of the cooperating nodes located on at least two second paths based on the time difference, the path length of at least two reflection paths, the AOA measurement value, and the positioning node's location information.

[0154] B04. Based on the location information of the positioning node, the path length and path angle of at least two second paths, the estimated location information of the cooperating nodes located on at least two second paths, and the estimated location information of the target node, the location information of the target node is calculated.

[0155] In this step, the positioning node performs a secondary estimation of the target node's position based on the positioning node's location information, the path lengths of at least two reflection paths and the AOA measurement value, and the estimated location information of the cooperating nodes located on the reflection paths, thereby obtaining the target node's location information.

[0156] It should be noted that the calculation principle of the second strategy is similar to the formulas (8)-(10) of the first strategy. The difference is that the calculation of the first strategy is for at least one cooperative node, while the calculation of the second strategy is for at least two cooperative nodes. The calculation principle of the second strategy can be obtained by making appropriate adjustments to the calculation principle of the first strategy.

[0157] Secondly, another implementation step of the cooperative positioning method based on communication awareness proposed in this invention will be described in detail below with reference to the accompanying drawings.

[0158] Reference Figure 6 , Figure 6 This is another flowchart of the communication-aware cooperative localization method provided by the present invention. For example... Figure 6 The cooperative positioning method shown is applied to cooperative nodes, and the cooperative positioning method may include, but is not limited to, the following steps S601-S604.

[0159] S601, Obtain the location cooperation request sent by the location node.

[0160] It should be noted that the location collaboration request can carry, but is not limited to, the target node's ID, the collaborating node's ID, and the collaborating node's RIS parameter.

[0161] S602, in response to the positioning cooperation request, generates a cooperation response message corresponding to the positioning cooperation request and returns it to the positioning node, so that the positioning node can generate a sensing signal based on the beamforming parameters.

[0162] S603: Acquire the sensing signal sent by the positioning node, and reflect the sensing signal to the target node according to the RIS parameters;

[0163] S604, the echo signal corresponding to the sensing signal of the target node is reflected to the positioning node, so that the positioning node can locate the target node according to the echo signal and obtain the position information of the target node.

[0164] In this embodiment of the invention, firstly, the positioning node initiates a positioning cooperation request to the cooperating node based on beamforming parameters, aiming to notify the cooperating node to perform cooperative positioning. When the cooperating node receives the positioning cooperation request sent by the positioning node, it returns a cooperation response message as an acknowledgment message to the positioning node, enabling the positioning node to generate an integrated waveform as a sensing signal using the beamforming parameters and send it to the cooperating node. Then, the cooperating node acquires the sensing signal and controls its RIS phase according to the RIS parameters obtained in the preceding steps to reflect the sensing signal to the target node. The cooperating node also controls its RIS phase according to the RIS parameters to reflect the echo signal from the target node back to the positioning node. The positioning node then decomposes the echo signal using a multi-target classification algorithm and combines it with a positioning algorithm to obtain the location information of the target node.

[0165] Furthermore, another implementation step of the communication-aware cooperative localization method proposed in this invention will be described in detail below. When the cooperative localization method is applied to a target node, the method may include, but is not limited to, the following steps S701-S703.

[0166] S701, obtain the neighbor discovery request message or neighbor discovery response message sent by other nodes, and determine the other nodes that sent the neighbor discovery request message or neighbor discovery response message as the neighbor nodes of the target node;

[0167] S702 processes the neighbor discovery request message or neighbor discovery response message to obtain the node information of the target node's neighbor nodes.

[0168] S703 uses the node information of the target node's neighboring nodes to construct a neighbor list of the target node and sends it to the positioning node.

[0169] In this embodiment of the invention, each node can discover its neighboring nodes based on a neighbor discovery response message or a neighbor discovery request message, and then construct a neighbor list corresponding to the node. Similarly to steps S201-S203 described above, the target node can construct its neighbor list by sending and receiving neighbor discovery response messages or neighbor discovery request messages multiple times.

[0170] Finally, another implementation step of the communication-aware cooperative positioning method proposed in this invention will be described in detail below with reference to the accompanying drawings.

[0171] Reference Figure 7 , Figure 7 This is another flowchart of the communication-aware cooperative localization method provided by the present invention. For example... Figure 7 The cooperative positioning method shown is applied to the target node, the positioning node, and the cooperative node. The cooperative positioning method may include, but is not limited to, the following steps S801-S807.

[0172] S801 determines the target node and neighboring nodes of the positioning node through the positioning node, and constructs the neighbor list of the positioning node through the node information of the neighboring nodes of the positioning node.

[0173] In this step, each node can discover its neighboring nodes based on neighbor discovery response messages or neighbor discovery request messages, and then construct its corresponding neighbor list. The location node constructs its corresponding neighbor list by sending and receiving neighbor discovery response messages or neighbor discovery request messages multiple times.

[0174] S802: The positioning node determines the cooperating node based on its neighbor list, calculates the beamforming parameters and the RIS parameters of the cooperating node using the distribution of the cooperating node, and initiates a positioning cooperation request to the cooperating node based on the beamforming parameters.

[0175] It should be noted that the location collaboration request carries the target node's ID, the collaborating node's ID, and the RIS parameter.

[0176] In this step, firstly, the positioning node acquires the common neighbor nodes of both itself and the target node. Then, the positioning node constructs a set of cooperative nodes based on the cooperative gain of these common neighbor nodes. This set includes multiple common neighbor nodes with cooperative gains greater than a first threshold. If the target node is a neighbor of the positioning node, the positioning node selects at least one node from the set of cooperative nodes as a cooperative node; if the target node is not a neighbor of the positioning node, the positioning node selects at least two nodes from the set of cooperative nodes as cooperative nodes. Subsequently, the positioning node uses the distribution of the cooperative nodes to calculate the beamforming parameters used to generate the integrated waveform and the RIS parameters used to control the reflection direction of the cooperative nodes. Based on the beamforming parameters, the positioning node initiates a positioning cooperation request to the cooperative nodes, aiming to notify them to perform cooperative positioning.

[0177] S803 obtains the positioning cooperation request sent by the positioning node through the cooperation node, and responds to the positioning cooperation request by generating a cooperation response message corresponding to the positioning cooperation request and returning it to the positioning node.

[0178] In this step, when the collaborating node receives the location collaboration request sent by the location node, it returns a collaboration response message as an acknowledgment message to the location node to respond to the collaboration request initiated by the location node.

[0179] S804 obtains the cooperative response message sent by the cooperative node through the positioning node, and generates a sensing signal based on the beamforming parameters and sends it to the cooperative node.

[0180] In this step, when the positioning node receives a response message from the cooperating node, the positioning node uses beamforming parameters to generate an integrated waveform as a sensing signal and sends it to the cooperating node.

[0181] S805 acquires the sensing signal sent by the positioning node through the cooperative node, and reflects the sensing signal back to the target node according to the RIS parameters.

[0182] In this step, the cooperating node acquires the sensing signal and then controls its RIS phase according to the RIS parameters obtained in the previous steps to reflect the sensing signal to the target node.

[0183] S806 reflects the echo signal corresponding to the sensing signal of the target node to the positioning node through the cooperative node.

[0184] In this step, the cooperating node controls its RIS phase according to the RIS parameters to reflect the echo signal corresponding to the sensing signal from the target node to the positioning node.

[0185] S807 obtains the echo signal reflected by the cooperating node through the positioning node, locates the target node based on the echo signal, and obtains the position information of the target node.

[0186] In this step, the positioning node decomposes the echo signal using a multi-target classification algorithm to obtain the path length and path angle of each path. The path length is also known as the propagation distance, and the path angle is also known as the angle of arrival. The path length of each path can be calculated using the time of arrival (TOA). Then, based on the path length and path angle of each path, the positioning node uses a positioning algorithm to calculate the location information of the target node.

[0187] In summary, the cooperative positioning method based on communication awareness provided by this invention achieves accurate positioning of the target node by the positioning node through at least two cooperative nodes in non-line-of-sight path environments, and through at least one cooperative node in line-of-sight path environments. This enables the positioning node to achieve accurate positioning of the target node in both non-line-of-sight and line-of-sight path environments, effectively improving the positioning efficiency and performance of wireless positioning while also considering the communication performance of mobile devices. It achieves efficient and accurate wireless positioning under integrated communication and sensing while ensuring communication and sensing between multiple mobile devices, thus possessing high availability.

[0188] Furthermore, embodiments of the present invention also provide a communication-aware collaborative positioning device, which can serve as a first device, a second device, and a third device; that is, the device can be deployed at a positioning node, a collaborative node, and a target node. (Refer to...) Figure 8 , Figure 8 This is a structural diagram of a cooperative positioning device based on communication sensing provided by the present invention. The device mainly includes:

[0189] An integrated waveform module for generating and receiving integrated waveforms for communication sensing.

[0190] Optionally, the integrated waveform can be an improved Orthogonal Frequency-Division Multiplexing (OFDM) waveform, or other new integrated waveforms such as Orthogonal Time-Frequency Space (OTFS) waveforms, Affine Frequency Division Multiplexing (AFDM) waveforms, etc.

[0191] The sensing and positioning module is used to determine the target node and neighboring nodes of the positioning node when the node is a positioning node, construct the neighbor list of the positioning node through the node information of the neighboring nodes; determine the cooperating nodes according to the neighbor list of the positioning node, calculate the beamforming parameters and RIS parameters of the cooperating nodes using the distribution of the cooperating nodes; and locate the target node according to the echo signal to obtain the position information of the target node.

[0192] The surface antenna module control module is used to activate and adaptively adjust the RIS parameters of the metasurface antenna module, such as the phase and amplitude of each antenna element, according to the needs of cooperative communication and cooperative sensing when the node is a cooperative node. This generates the required beamforming for cooperative communication and cooperative positioning. Specifically, when the node is a cooperative node, this module controls the phase of the metasurface antenna module according to the RIS parameters of the cooperative node.

[0193] The metasurface antenna module is used for cooperative communication and cooperative sensing, such as reflecting integrated sensing signals. Specifically, when a node is a cooperative node, under the control of the surface antenna module control module, the module reflects the sensing signal to the target node and reflects the echo signal returned by the target node to the positioning node.

[0194] The transceiver module is used for sending and receiving neighbor discovery messages and location messages. When a node is a location node, it sends a location cooperation request to a cooperating node through an integrated waveform and obtains a cooperation response message in the form of an integrated waveform sent by the cooperating node; it also obtains the echo signal in the form of an integrated waveform sent by the cooperating node; or, when a node is a cooperating node, it sends a cooperation response message to a location node through an integrated waveform.

[0195] In some embodiments of the present invention, taking the generation of AFDM waveforms as an example, the specific structure of the integrated waveform module is illustrated. (Refer to...) Figure 9 , Figure 9 This is a schematic diagram of the AFDM waveform generation method provided by the present invention. In the integrated waveform module, the integrated waveform generation process is as follows:

[0196] First, perform M on the bit stream of the communication user's valid information. mod -QAM symbol mapping performs string-to-parallel conversion on M symbols to obtain multiple symbol strings. Here, QAM refers to Quadrature Amplitude Modulation. Then, multiple symbol strings... Multiply by the corresponding phase factor respectively M symbols are obtained. Then, the M symbols are padded with NM zeros and subjected to an N-point Inverse Fast Fourier Transform (IFFT) to obtain N IFFT symbols. Each of the N IFFT symbols is then multiplied by its corresponding phase factor. We obtain N symbol strings. Finally, we perform an N-point parallelization on these N symbol strings and add N... cp By adding a dot prefix, the AFDM waveform can be obtained.

[0197] The content of the above method embodiments is applicable to the device embodiments. The specific functions implemented by the device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0198] Furthermore, embodiments of the present invention also provide a computer-readable storage medium storing a processor-executable program, which, when executed by a processor, is used to perform the communication-aware cooperative localization method described above.

[0199] Similarly, the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0200] Although embodiments of the invention have been shown and described, those skilled in the art will understand 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 claims and their equivalents.

[0201] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A cooperative localization method based on communication awareness, characterized in that, When applied to a location node, the following steps are included: Identify the target node and neighboring nodes, and construct a neighbor list for the located node using the node information of the neighboring nodes; The cooperating nodes are determined based on the neighbor list of the positioning node, and the beamforming parameters and the RIS parameters of the cooperating nodes are calculated using the distribution of the cooperating nodes. Based on the beamforming parameters, a positioning cooperation request is initiated to the cooperating node, wherein the positioning cooperation request carries the RIS parameter of the cooperating node, so that the cooperating node responds to the positioning cooperation request and generates a cooperation response message corresponding to the positioning cooperation request. The cooperative response message sent by the cooperative node is obtained, a sensing signal is generated based on the beamforming parameters and sent to the cooperative node, so that the cooperative node reflects the sensing signal to the target node according to the RIS parameters, and reflects the echo signal of the target node corresponding to the sensing signal to the positioning node. The echo signal reflected by the cooperative node is acquired, and the target node is located based on the echo signal to obtain the location information of the target node; The step of locating the target node based on the echo signal to obtain the location information of the target node includes: When the target node is not a neighboring node of the positioning node, the echo signals reflected by at least two cooperating nodes are decomposed to obtain the path length and path angle of at least two second paths. The second path consists of the positioning node and the cooperating node; The difference in path angle between two adjacent second paths is calculated based on the path angles of at least two second paths. Based on the path angle difference, the path length and path angle of at least two second paths, and the position information of the positioning node, the estimated position information of the target node and the estimated position information of the cooperating nodes located on at least two second paths are calculated. The location information of the target node is calculated based on the location information of the positioning node, the path length and path angle of at least two second paths, the estimated location information of the cooperating nodes located on at least two second paths, and the estimated location information of the target node.

2. The cooperative positioning method based on communication awareness according to claim 1, characterized in that, The step of determining the neighboring nodes of the location node and constructing a neighbor list of the location node using the node information of the neighboring nodes includes: Obtain neighbor discovery request messages or neighbor discovery response messages sent by other nodes, and determine the other nodes that sent the neighbor discovery request messages or the neighbor discovery response messages as the neighbor nodes of the positioning node; The neighbor discovery request message or the neighbor discovery response message is processed to obtain the node information of the neighbor nodes of the location node; A neighbor list for the location node is constructed using the node information of the neighboring nodes of the location node.

3. The cooperative positioning method based on communication awareness according to claim 1, characterized in that, The step of determining the cooperating node based on the neighbor list of the positioning node includes: Obtain the neighbor list of the target node, and determine the common neighbor nodes of the positioning node and the target node based on the neighbor list of the positioning node and the neighbor list of the target node. Calculate the cooperation gain of the common neighbor nodes, and construct a cooperative node set based on the cooperation gain of the common neighbor nodes, wherein the cooperative node set includes multiple common neighbor nodes whose cooperation gain is greater than a first threshold; Based on the neighbor list of the location node, determine whether the target node is a neighbor node of the location node; When the target node is a neighbor node of the location node, at least one common neighbor node is selected from the set of cooperative nodes as a cooperative node, wherein the selection of the cooperative node follows the principle of optimal location information and secondary cooperative gain.

4. The cooperative positioning method based on communication awareness according to claim 3, characterized in that, The step of determining the cooperating node based on the neighbor list of the positioning node further includes: When the target node is not a neighbor node of the positioning node, at least two common neighbor nodes are selected from the set of cooperative nodes as cooperative nodes. The selection of the first cooperative node follows the principle of optimal location information followed by the cooperative gain, and the selection of the second cooperative node and subsequent cooperative nodes follows the principle of optimal location information followed by the angle of arrival interval.

5. The cooperative positioning method based on communication awareness according to claim 1, characterized in that, The calculation of beamforming parameters and RIS parameters of the cooperative nodes using their distribution includes: Multiple desired radiation patterns are constructed based on the distribution of the cooperative nodes. The beamforming vector of each desired radiation pattern is calculated based on the graph parameters of each desired radiation pattern. The beamforming vectors of multiple desired radiation patterns are integrated to obtain beamforming parameters. Each desired radiation pattern points to a corresponding cooperative node or target node. When the target node is a neighbor node of the positioning node, there exists a desired radiation pattern pointing to the target node. The RIS parameters of the collaborating node are determined based on the angle of the collaborating node relative to the target node; or, Based on the distribution of the cooperating nodes, a maximization objective function for the beamforming parameters and the RIS parameters of the cooperating nodes is constructed, wherein the maximization objective function is to maximize the signal strength of the target path, and the target path is the path that minimizes the signal strength received by the target node. Solving the maximization objective function yields the beamforming parameters and the RIS parameters of the cooperative nodes.

6. The cooperative positioning method based on communication awareness according to claim 1, characterized in that, The step of locating the target node based on the echo signal to obtain the location information of the target node includes: When the target node is a neighboring node of the positioning node, the echo signal reflected by at least one cooperating node is decomposed to obtain the path length and path angle of the first path and at least one second path. The first path consists of the positioning node and the target node, and the second path consists of the positioning node and the cooperating node. Based on the path length and path angle of the first path, and combined with the location information of the positioning node, the estimated location information of the target node is calculated. Based on the path length and path angle of at least one second path, and combined with the location information of the positioning node, the location information of at least one cooperative node is calculated. The location information of the target node is calculated based on the path lengths of the first path and at least one second path, the estimated location information of the target node, and the location information of at least one cooperating node.

7. A cooperative localization method based on communication awareness, characterized in that, When applied to collaborative nodes, the following steps are included: Obtain a location cooperation request sent by a location node, wherein the location cooperation request carries the RIS parameter of the cooperating node; In response to the positioning cooperation request, a cooperation response message corresponding to the positioning cooperation request is generated and returned to the positioning node, so that the positioning node generates a sensing signal based on beamforming parameters; Acquire the sensing signal sent by the positioning node, and reflect the sensing signal to the target node according to the RIS parameters; The echo signal of the target node corresponding to the sensing signal is reflected to the positioning node, so that the positioning node can locate the target node according to the echo signal and obtain the location information of the target node; The step of locating the target node based on the echo signal to obtain the location information of the target node includes: When the target node is not a neighboring node of the positioning node, the echo signals reflected by at least two cooperating nodes are decomposed to obtain the path length and path angle of at least two second paths. The second path consists of the positioning node and the cooperating node; The difference in path angle between two adjacent second paths is calculated based on the path angles of at least two second paths. Based on the path angle difference, the path length and path angle of at least two second paths, and the position information of the positioning node, the estimated position information of the target node and the estimated position information of the cooperating nodes located on at least two second paths are calculated. The location information of the target node is calculated based on the location information of the positioning node, the path length and path angle of at least two second paths, the estimated location information of the cooperating nodes located on at least two second paths, and the estimated location information of the target node.

8. A cooperative localization method based on communication awareness, characterized in that, Includes the following steps: The target node and neighbor nodes of the positioning node are determined by the positioning node, and a neighbor list of the positioning node is constructed by the node information of the neighbor nodes. Then, the cooperating node is determined according to the neighbor list of the positioning node. The beamforming parameters and the RIS parameters of the cooperating node are calculated by the distribution of the cooperating nodes. Then, a positioning cooperation request is initiated to the cooperating node based on the beamforming parameters, wherein the positioning cooperation request carries the RIS parameters of the cooperating node. The cooperative node obtains the location cooperation request sent by the location node, and in response to the location cooperation request, generates a cooperation response message corresponding to the location cooperation request and returns it to the location node. The positioning node obtains the cooperative response message sent by the cooperative node, and generates a sensing signal based on the beamforming parameters and sends it to the cooperative node. The sensing signal sent by the positioning node is obtained through the cooperative node, and the sensing signal is reflected to the target node according to the RIS parameter; The cooperative node reflects the echo signal corresponding to the sensing signal of the target node back to the positioning node. The location node obtains the echo signal reflected by the cooperating node, and locates the target node based on the echo signal to obtain the location information of the target node; The step of locating the target node based on the echo signal to obtain the location information of the target node includes: When the target node is not a neighboring node of the positioning node, the echo signals reflected by at least two cooperating nodes are decomposed to obtain the path length and path angle of at least two second paths. The second path consists of the positioning node and the cooperating node; The difference in path angle between two adjacent second paths is calculated based on the path angles of at least two second paths. Based on the path angle difference, the path length and path angle of at least two second paths, and the position information of the positioning node, the estimated position information of the target node and the estimated position information of the cooperating nodes located on at least two second paths are calculated. The location information of the target node is calculated based on the location information of the positioning node, the path length and path angle of at least two second paths, the estimated location information of the cooperating nodes located on at least two second paths, and the estimated location information of the target node.

9. A cooperative positioning device based on communication sensing, characterized in that, include: An integrated waveform module for generating and receiving integrated waveforms for communication sensing; The sensing and positioning module is used to determine the target node and neighboring nodes of the positioning node when the node is a positioning node, construct the neighbor list of the positioning node through the node information of the neighboring nodes of the positioning node, determine the cooperating nodes according to the neighbor list of the positioning node, calculate the beamforming parameters and the RIS parameters of the cooperating nodes using the distribution of the cooperating nodes, and locate the target node according to the echo signal to obtain the location information of the target node. A surface antenna module control module is used to control the metasurface antenna module according to the RIS parameters of the cooperative node when the node is a cooperative node. A metasurface antenna module is used to reflect sensing signals to the target node and reflect echo signals returned by the target node to the positioning node under the control of the surface antenna module control module when the node is a cooperative node. The transceiver module is used for sending and receiving neighbor discovery messages and location messages. When a node is a location node, it sends a location cooperation request to the cooperating node through an integrated waveform and obtains a cooperation response message in the form of an integrated waveform sent by the cooperating node. When a node is a cooperation node, it sends a cooperation response message to the location node through an integrated waveform. The step of locating the target node based on the echo signal to obtain the location information of the target node includes: When the target node is not a neighboring node of the positioning node, the echo signals reflected by at least two cooperating nodes are decomposed to obtain the path length and path angle of at least two second paths. The second path consists of the positioning node and the cooperating node; The difference in path angle between two adjacent second paths is calculated based on the path angles of at least two second paths. Based on the path angle difference, the path length and path angle of at least two second paths, and the position information of the positioning node, the estimated position information of the target node and the estimated position information of the cooperating nodes located on at least two second paths are calculated. The location information of the target node is calculated based on the location information of the positioning node, the path length and path angle of at least two second paths, the estimated location information of the cooperating nodes located on at least two second paths, and the estimated location information of the target node.

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