A method and apparatus for designing a radio positioning system

Abstract

The application discloses a design method and device of a radio positioning system. The method comprises the following steps: analyzing radio positioning task characteristics according to target characteristics of a target to be positioned, observation platform parameters, positioning error indexes and observation distances, and preliminarily determining engineering-selected radio positioning systems; for each selected positioning system, calculating parameter estimation errors of positioning parameters according to the target characteristics, signal-to-noise ratios and observation time lengths, and combining the parameter estimation errors, observation model errors and observation platform parameters to evaluate positioning errors of the target position within the observation distances; from all the selected positioning systems, iteratively selecting a positioning system with the minimum engineering implementation cost and the positioning error meeting the positioning error index requirements; and based on the selected positioning system and the clear observation platform parameters, designing the composition of the radio positioning system and a positioning work flow. The application solves the problems of radio positioning system demonstration and overall design.

Description

Technical Field

[0001] This application relates to the field of radio technology, and specifically to a design method and apparatus for a radio positioning system. Background Technology

[0002] For locating target radiation sources, commonly used radio positioning systems include direction finding, time difference positioning, frequency finding, time-frequency difference positioning, and other combined systems. However, due to various limiting factors in practical engineering applications, not all positioning systems are applicable. Therefore, in the design of a radio positioning system, it is necessary to comprehensively consider various constraints (such as positioning indicators, target radiation source characteristics, observation platform limitations, etc.) to select a feasible positioning system. Subsequently, the system composition and positioning workflow applicable to this system should be determined, ultimately forming a positioning system that meets the indicator requirements and is easy to apply in engineering. Summary of the Invention

[0003] This application proposes a design method and apparatus for a radio positioning system, which addresses the issues of positioning system demonstration and overall design.

[0004] According to the first aspect of this application, a design method for a radio positioning system is proposed, comprising the following steps:

[0005] S1. Based on the target characteristics of the target to be located, the parameters of the observation platform, the positioning error index and the observation distance, analyze the characteristics of the radio positioning task and preliminarily determine the alternative radio positioning systems for engineering purposes.

[0006] S2, for each alternative positioning system, calculate the parameter estimation error of the positioning parameters based on the target characteristics, signal-to-noise ratio and observation duration, and evaluate the positioning error of the target position within the observation distance by combining the parameter estimation error of the positioning parameters, the observation model error and the observation platform parameters;

[0007] S3, from all the candidate positioning systems, iteratively select a positioning system that meets the positioning error index requirements and has the lowest engineering implementation cost;

[0008] S4. Based on the optimized positioning system and the clearly defined observation platform parameters, the composition of the radio positioning system and its positioning workflow are designed.

[0009] Optionally, step S3 above specifically includes starting filtering loop one and filtering loop two sequentially:

[0010] Start the first screening cycle. For each candidate positioning system, determine whether its positioning error meets the positioning error index requirements. If it does, put it into the index-satisfied pool. If it does not, put it into the index-unsatisfied pool. Continue until the positioning error judgment and screening of all candidate positioning systems are completed, and there is at least one candidate positioning system in the index-satisfied pool.

[0011] Start the second screening cycle, evaluate the engineering implementation cost of each candidate positioning system in the indicator satisfaction pool, and select the positioning system with the lowest engineering implementation cost.

[0012] Wherein, after the first filtering cycle, if the indicator satisfies that no candidate positioning system exists in the pool, and all candidate positioning systems are in the pool where the indicator is not satisfied, then the method further includes:

[0013] For all the alternative positioning systems, error correction methods were determined based on engineering experience, and the positioning errors of each system were corrected one by one.

[0014] Restart the first screening cycle and determine whether the corrected positioning error meets the positioning error index requirements, until the positioning error of at least one candidate positioning system meets the positioning error index requirements after error correction.

[0015] According to a second aspect of this application, a design apparatus for a radio positioning system is provided, comprising:

[0016] The initial selection unit for positioning systems is used to analyze the characteristics of radio positioning tasks based on the target characteristics of the target to be positioned, the parameters of the observation platform, the positioning error index, and the observation distance, and to preliminarily determine the alternative radio positioning systems for engineering purposes.

[0017] The positioning error evaluation unit is used to calculate the parameter estimation error of the positioning parameters for each candidate positioning system based on the target characteristics, signal-to-noise ratio and observation duration, and to evaluate the positioning error of the target position within the observation distance by combining the parameter estimation error of the positioning parameters, the observation model error and the observation platform parameters.

[0018] The positioning system optimization unit is used to iteratively select a positioning system from all candidate positioning systems that meets the positioning error index requirements and has the lowest engineering implementation cost.

[0019] The positioning system design unit is used to design the composition of a radio positioning system and its positioning workflow based on the optimized positioning system and defined observation platform parameters.

[0020] According to a third aspect of this application, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the aforementioned method.

[0021] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects:

[0022] The solution in this application first analyzes the characteristics of the radio positioning task based on the target characteristics, observation platform parameters, positioning error index, and observation distance, and preliminarily determines the alternative radio positioning systems for engineering purposes. Then, for each alternative positioning system, the parameter estimation error of the positioning parameters is calculated based on the target characteristics, signal-to-noise ratio, and observation duration. Combining the parameter estimation error, observation model error, and observation platform parameters, the positioning error of the target position within the observation distance is evaluated. Next, from all alternative positioning systems, a positioning system that meets the positioning error index requirements and has the lowest engineering implementation cost is iteratively selected. Finally, based on the selected positioning system and the defined observation platform parameters, the composition of the radio positioning system and its positioning workflow are designed. Therefore, the solution in this application provides a demonstration and overall design process for a radio positioning system based on a positioning task. By evaluating and optimizing the performance of various engineering-feasible positioning systems, and selecting the optimal system, a positioning system design that meets the positioning index requirements and is easy to implement in engineering is obtained, thus solving the problems of positioning system demonstration and overall design. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0024] Figure 1 A flowchart illustrating a design method for a radio positioning system according to an embodiment of this application is shown.

[0025] Figure 2 This paper illustrates a schematic diagram of the demonstration and overall design process of a radio positioning system according to an embodiment of this application.

[0026] Figure 3 The direction finding error diagram in the embodiment of this application is shown;

[0027] Figure 4 The diagram shows the relative positioning error of the dual-machine orientation finding in an embodiment of this application;

[0028] Figure 5The diagram shows the relative positioning error of the dual-machine time-frequency difference in an embodiment of this application;

[0029] Figure 6 The diagram shows the relative positioning error of the three machines based on time difference in an embodiment of this application.

[0030] Figure 7 A diagram illustrating the composition of the positioning system designed according to an embodiment of this application is shown;

[0031] Figure 8 This paper illustrates a positioning workflow diagram designed according to an embodiment of this application;

[0032] Figure 9 This invention provides a functional structure diagram of a design device for a radio positioning system according to an embodiment of the present application.

[0033] Figure 10 A schematic diagram of the structure of an electronic device according to an embodiment of this application is shown. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0035] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product or device.

[0036] Example 1

[0037] According to the first aspect of this application, see also Figure 1 and Figure 2 This application proposes a design method for a radio positioning system, including steps S1 to S4:

[0038] S1. Based on the target characteristics of the target to be located, the parameters of the observation platform, the positioning error index and the observation distance, analyze the characteristics of the radio positioning task and preliminarily determine the alternative radio positioning systems for engineering purposes.

[0039] In this embodiment, the target characteristics of the target to be located include: target motion state, signal duration, signal frequency band, signal bandwidth, signal type, radiated power, and whether it is a single target or multiple targets with time-frequency overlap. The observation platform parameters include: whether the observation platform is fixed or moving, the number of observation platforms, and the distance between stations.

[0040] The available radio positioning systems include two categories: two-step positioning and direct positioning. Two-step positioning includes direction finding positioning, time difference positioning, frequency measurement positioning, time-frequency difference positioning, and combined positioning, while direct positioning includes direction finding direct positioning and variable time delay direct positioning.

[0041] S2, for each alternative positioning system, calculate the parameter estimation error of the positioning parameters based on the target characteristics, signal-to-noise ratio and observation duration of the target to be positioned, and evaluate the positioning error of the target position within the observation distance by combining the parameter estimation error of the positioning parameters, the observation model error and the observation platform parameters.

[0042] In this embodiment, the positioning parameters refer to the measurement parameters used to locate the target position. The observation model of the positioning parameters is shown in the following formula:

[0043] z = h(x, x0) + ξ

[0044] Where z is the observation result of the positioning parameters, h(x) represents the observation equation of the positioning parameters, x is the target position, x0 is the position of the observation platform, and ξ is the random observation error, which follows a zero-mean Gaussian distribution.

[0045] The observation model error in this application embodiment refers to the error existing in the observation model, including: observation platform site error, attitude angle error, and time-frequency synchronization error between different observation platforms; each error includes random error and systematic error.

[0046] According to some embodiments of this application, the positioning parameters include the direction of arrival of the target signal, the time difference of the target signal, and the frequency shift of the target signal; correspondingly, the parameter estimation errors of the positioning parameters include: direction finding error, time difference estimation error, and frequency shift estimation error. It should be noted that the target to be positioned is a specific physical device, and the target signal refers to the electromagnetic signal radiated by this device.

[0047] According to some embodiments of this application, the evaluation of the positioning error of the target position within the observation distance in step S2 includes:

[0048] The target location is estimated using maximum likelihood estimation. The root-mean-square error (RMSE) of the target location is represented by the trace of the Cramer-Rao lower bound (CRLB), i.e. The advantage of doing this is that it is convenient to calculate when only random errors exist, avoiding the need to obtain the root mean square error (RMSE) through multiple Monte Carlo simulations.

[0049] S3 Iteratively selects a positioning system from all candidate positioning systems that meets the positioning error index requirements and has the lowest engineering implementation cost.

[0050] This step involves two sequential screening cycles: screening cycle one and screening cycle two.

[0051] Screening loop one: For each candidate positioning system, determine whether its positioning error meets the positioning error index requirements. If it does, put it into the index-satisfied pool; if it does not, put it into the index-unsatisfied pool. Continue until the positioning error judgment and screening of all candidate positioning systems are completed.

[0052] After the first filtering cycle, the following two possible filtering results are obtained:

[0053] The first type: the indicators satisfy at least one alternative positioning system in the pool;

[0054] The second scenario: There are no alternative positioning systems in the indicator satisfaction pool, and all alternative positioning systems are in the indicator non-satisfaction pool.

[0055] Because the positioning errors of all candidate positioning systems do not meet the positioning error index according to the second screening result, no suitable positioning system can enter the next round of screening, and screening cycle two cannot be started. Therefore, special processing for positioning error correction is required for the second screening result:

[0056] For all candidate positioning systems, error correction methods are determined based on engineering experience, and the positioning errors of each system are corrected individually. For example, the signal-to-noise ratio (SNR) can be improved by accumulating multiple observations, and this method can be used to reduce parameter estimation errors. Systematic errors in the observation model can be reduced by constructing a joint estimation of system errors and target position parameters, or by using external standard source calibration. After correcting the positioning errors of all candidate positioning systems, the first screening cycle is restarted to determine whether the corrected positioning errors meet the positioning error index requirements. This process continues until at least one candidate positioning system meets the positioning error index requirements after error correction, yielding the first screening result.

[0057] After the first filtering cycle, the final result obtained is the first type of filtering result mentioned above. At this point, the second filtering cycle will be started.

[0058] The second screening loop involves evaluating the engineering implementation cost of each candidate positioning system in the indicator satisfaction pool, and then selecting the positioning system with the lowest engineering implementation cost. Of course, if there is only one candidate positioning system in the indicator satisfaction pool, that candidate positioning system can be directly selected without further evaluation of its engineering implementation cost.

[0059] As can be seen, after two screening cycles in step S3, a positioning system that meets the positioning error index requirements and has the lowest engineering implementation cost can be finally selected.

[0060] S4. Based on the optimized positioning system and the clearly defined observation platform parameters, the composition of the radio positioning system and its positioning workflow are designed.

[0061] Once a radio positioning system is selected, the parameters of the observation platform corresponding to the positioning system are determined, such as the number of observation platforms and the distance between stations.

[0062] According to some embodiments of this application, step S4 in the positioning workflow of designing a radio positioning system includes:

[0063] By accumulating multiple observations, the random error of the observation model is reduced, that is, the random error in the observation model error is reduced; and / or,

[0064] By constructing a well-posed or overdetermined set of equations for joint estimation of system errors and target positions using multiple parameters, the system errors and target positions are solved simultaneously, thereby reducing the system errors in the observation model, i.e., reducing the system errors within the observation model error; and / or,

[0065] External standard source calibration is used to externally correct the site error, attitude angle error, and time-frequency synchronization error between different observation platforms, thereby reducing the systematic error of the observation model.

[0066] In the designed positioning workflow, by adopting appropriate correction methods to reduce observation model errors, the positioning error of the designed radio positioning system can be reduced.

[0067] In summary, the design method for the radio positioning system proposed in this application first analyzes the characteristics of the radio positioning task based on the target characteristics, observation platform parameters, positioning error index, and observation distance, and preliminarily determines the alternative radio positioning systems for engineering purposes. Then, for each alternative positioning system, the parameter estimation error of the positioning parameters is calculated based on the target characteristics, signal-to-noise ratio, and observation duration. Combining the parameter estimation error, observation model error, and observation platform parameters, the positioning error of the target position within the observation distance is evaluated. Next, from all alternative positioning systems, an iterative optimization is performed to select a positioning system that meets the positioning error index requirements and has the lowest engineering implementation cost. Finally, based on the optimized positioning system and the defined observation platform parameters, the composition of the radio positioning system and its positioning workflow are designed. It is evident that the solution in this application provides a demonstration and overall design process for a radio positioning system based on a positioning task. By evaluating and optimizing the performance of various engineering-feasible positioning systems, and selecting the optimal system, a positioning system design scheme that meets the positioning index requirements and is easy to implement in engineering is obtained, thus solving the problems of positioning system demonstration and overall design.

[0068] Example 2

[0069] The following is a typical application scenario for a positioning task, which is used to demonstrate the design method of the radio positioning system of this application embodiment.

[0070] An airborne platform is tasked with locating radiation sources from stationary ground targets. The main technical requirements for this location mission are as follows:

[0071] (1) Positioning error index: RMSE≤2% R;

[0072] (2) Observation distance: 100-250km;

[0073] (3) Signal frequency band: 200~400MHz;

[0074] (4) Signal bandwidth: 50kHz;

[0075] (4) Radiated power: ≥15dBW;

[0076] (5) Observation duration: ≤5s;

[0077] (6) Observation platform: multi-machine collaboration (no more than three);

[0078] (7) Station spacing: ≤50km.

[0079] Step 1: Location Task Analysis

[0080] In the aforementioned positioning tasks, based on target characteristics and observation platform parameters, positioning systems such as dual-machine direction-finding positioning, dual-machine time-frequency difference positioning, and three-machine time-difference positioning can be considered. Firstly, the easily engineering-implementable dual-machine direction-finding positioning system can be considered. The observation platform is an airborne platform. To facilitate the installation of the direction-finding antenna array, multiple array elements can be installed on the fuselage to construct a linear array with long and short baselines, plus a set of direction-discriminating antennas to determine the forward and backward wave directions. Secondly, dual-machine time-frequency difference positioning and three-machine time-difference positioning systems can also be considered. With a signal bandwidth of 50kHz, the time difference estimation error is larger than the frequency difference estimation error for narrowband signals. Therefore, if time-difference positioning is used, signal sampling time accumulation is required to improve the accuracy of time-difference positioning. For time-frequency difference estimation of continuous wave signals, sampling data needs to be transmitted between the master and auxiliary stations. Therefore, when designing the positioning system, data transmission equipment with a large transmission bandwidth is required to ensure the real-time performance of collaborative positioning.

[0081] Step 2: Positioning System Error Assessment

[0082] The positioning performance of alternative positioning systems was evaluated. Positioning errors were simulated and analyzed based on different observation platform parameters. Simulation conditions: the observation platform's flight speed was assumed to be 1000 km / h, multiple aircraft flew in the same direction, the only error in the observation model was a 20m error in the observation platform's location, and the system was used to locate radiation sources within a 250km radius.

[0083] 1. Dual-machine direction finding and positioning performance evaluation

[0084] The direction-finding error formula for a one-dimensional linear array is:

[0085]

[0086] in, λ represents the phase difference measurement error, λ represents the target wavelength, D represents the baseline length, and α represents the target incident azimuth angle.

[0087] Assume that the phase difference error in the measurement direction is caused by the phase inconsistency between antenna elements. For a signal with a bandwidth of 50kHz, a duration of 20ms, and a signal-to-noise ratio (SNR) of 12dB, the phase difference estimation error is obtained. The total mean square error of the phase difference is:

[0088]

[0089] This positioning task is performed on an airborne platform. Due to the limited baseline mounting aperture, there is only a 3-5 meter area available for antenna array deployment. Therefore, assuming a baseline length D = 3m, the total mean square error of the phase difference... Without considering phase ambiguity, the theoretical direction finding error is as follows: Figure 3 As shown.

[0090] Depend on Figure 3 It can be seen that the direction finding error at this time is within 1.3°. The direction finding time interval is 0.5s, with 10 cumulative observations and a total observation time of 5s. The distance between the two aircraft is based on a flight plan of 50km. The relative positioning error of the two aircraft direction finding is represented by the trace of CRLB, as shown below. Figure 4 As shown.

[0091] Depend on Figure 4 It can be seen that when the distance between the two platforms is 50km, the relative positioning error for the observation area at 250km exceeds 5%R, which does not meet the positioning index of 2%R.

[0092] 2. Performance evaluation of dual-machine time-frequency difference positioning

[0093] For a signal with a bandwidth of 50kHz in the 200MHz–400MHz frequency band, assuming a signal duration of 20ms and a signal-to-noise ratio (SNR) of 12dB, the time-frequency difference estimation error can be calculated using the theoretical formula based on the mutual ambiguity function:

[0094] σ τ ≈88.74ns

[0095] σ f ≈0.22Hz

[0096] Due to the systematic errors in time and frequency systems between different observation platforms, the estimation error of the time-frequency difference parameter in actual engineering will increase. Assuming that the estimation error is 1.2 times the theoretical time-frequency difference estimation error value mentioned above, that is, taking values ​​of 106.49ns and 0.26Hz respectively.

[0097] Based on the above analysis, the time difference estimation error between the two machines is taken as 106.49 ns, and the frequency difference estimation error is taken as 0.26 Hz. The distance between the two machines is still specified as 50 km. For radiation sources within 250 km, the time-frequency difference positioning error of the two machines is represented by the trace of CRLB. The simulation results are as follows: Figure 5 As shown.

[0098] Depend on Figure 5 It can be seen that the relative positioning error in the observation area at 250km is within 1.5%R, meeting the 2%R positioning criterion. Based on dual-machine time-frequency difference positioning, extracting the time-frequency difference requires transmitting the original sampled data; therefore, the practical engineering application of this method places high demands on the transmission bandwidth between the two machines.

[0099] 3. Performance evaluation of three-machine time difference positioning

[0100] If time-difference positioning is used, three airborne platforms are required. Assuming all three platforms fly along the X-axis, with an adjacent distance of no more than 50 km, and a time difference estimation error of 106.49 ns, the relative time difference positioning error of the three platforms for radiation sources within 250 km is represented by the trace of CRLB. The simulation results are as follows: Figure 6 As shown.

[0101] Depend on Figure 6 It can be seen that the relative positioning error of the three-machine time difference positioning in the observation area at 250km is within 1.1%R, meeting the 2%R positioning index requirement. For time difference positioning, it is necessary to extract the time difference parameters based on the raw sampling data between multiple observation platforms through methods such as cross-correlation. Therefore, the practical engineering application of this method has high requirements for the transmission bandwidth between the machines.

[0102] Step 3: System Comparison and Selection

[0103] Based on the above analysis of positioning tasks and assessment of positioning errors, the following table shows a comparison of positioning systems.

[0104] Table 1 Comparison of Positioning Systems

[0105]

[0106] As can be seen from the table above, both the dual-machine time-frequency difference positioning system and the three-machine time-difference positioning system meet the positioning error index requirements. However, the three-machine time-difference positioning system requires three sets of positioning systems, and the master station needs to receive the raw sampling data transmitted by the two auxiliary stations, which places higher demands on the receiving and processing capabilities of the master station. Therefore, considering the requirements for meeting the positioning error index and ease of engineering implementation, the dual-machine time-frequency difference positioning system is preferred for this positioning task.

[0107] Step 4: Determining the Composition of the Positioning System and the Positioning Workflow

[0108] Based on the positioning system selection analysis in step three, the dual-machine time-frequency difference positioning system is the preferred choice. The corresponding single-system design includes a receiving antenna, receiver (RF front-end, tuner), integrated processor (signal processing unit, data storage unit, task management unit, main processing unit), navigation receiving antenna, self-positioning and timing equipment, data transmission equipment, control and display equipment, and the positioning system as follows: Figure 7 As shown.

[0109] During the positioning task, the receiving antenna receives the radiation source signal, the self-positioning and timing equipment provides the observation platform with the current self-positioning information and timestamps the sampled data of the receiver; the receiver amplifies and frequency-converts the signal output by the receiving antenna; the integrated processor detects, samples, stores, and calculates the positioning of the signal; the auxiliary station transmits the sampled data to the main station through the data transmission equipment, so that the main station can perform time-frequency difference estimation and positioning calculation; the control and display equipment is used for command input and display of positioning results.

[0110] During the positioning task, the auxiliary station transmits the sampled target signal data to the master station. The master station then performs cross-correlation pairing operations on its own sampled data and the auxiliary station's sampled data, extracts the time-frequency difference parameter for positioning calculation, and reports the positioning result. The positioning workflow is as follows: Figure 8 As shown.

[0111] It should be noted that, in Figure 8 In the positioning workflow shown, in order to reduce the positioning error of the dual-machine time-frequency difference positioning system, appropriate correction methods can be used to achieve error correction. For example, the random error of the observation model can be reduced by accumulating multiple observations; well-determined or overdetermined equations for joint estimation of system error and target position can be constructed to synchronously solve the system error and target position; and / or, external calibration sources can be used to externally correct the station site error, attitude angle error and time-frequency synchronization error between different observation platforms to reduce the system error of the observation model.

[0112] Example 3

[0113] According to the second aspect of this application, such as Figure 9 As shown in the embodiments of this application, a design apparatus for a radio positioning system is also proposed, comprising:

[0114] The initial selection unit 91 for positioning system is used to analyze the characteristics of radio positioning tasks based on the target characteristics of the target to be positioned, the parameters of the observation platform, the positioning error index and the observation distance, and to preliminarily determine the alternative radio positioning systems for engineering purposes.

[0115] The positioning error evaluation unit 92 is used to calculate the parameter estimation error of the positioning parameters for each alternative positioning system based on the target characteristics, signal-to-noise ratio and observation duration, and to evaluate the positioning error of the target position within the observation distance by combining the parameter estimation error of the positioning parameters, the observation model error and the observation platform parameters.

[0116] The positioning system optimization unit 93 is used to iteratively optimize a positioning system from all candidate positioning systems that meets the positioning error index requirements and has the lowest engineering implementation cost.

[0117] The positioning system design unit 94 is used to design the composition of the radio positioning system and its positioning workflow based on the optimized positioning system and the defined observation platform parameters.

[0118] According to some embodiments of this application, the positioning error evaluation unit 92, when evaluating the positioning error of the target position within the observation distance, is specifically used for:

[0119] The target location is estimated using maximum likelihood estimation. The root mean square error (RMSE) of the target location is represented by the trace of the Cramer-Rao lower bound (CRLB), i.e.

[0120] According to some embodiments of this application, the above-mentioned positioning system optimization unit 93 is specifically used for:

[0121] Filtering loop one and filtering loop two are started in sequence:

[0122] Start the first screening cycle. For each candidate positioning system, determine whether its positioning error meets the positioning error index requirements. If it does, put it into the index-satisfied pool. If it does not, put it into the index-unsatisfied pool. Continue until the positioning error judgment and screening of all candidate positioning systems are completed, and there is at least one candidate positioning system in the index-satisfied pool.

[0123] Start the second screening cycle, evaluate the engineering implementation cost of each candidate positioning system in the indicator satisfaction pool, and select the positioning system with the lowest engineering implementation cost.

[0124] After the above screening cycle one, if the indicator satisfies that no candidate positioning system is found in the pool, and all candidate positioning systems are in the pool where the indicator is not satisfied, then the positioning system selection unit 93 is further configured to:

[0125] For all candidate positioning systems, error correction methods are determined based on engineering experience, and the positioning error is corrected for each one. The screening cycle one is restarted, and it is determined whether the corrected positioning error meets the positioning error index requirements, until the positioning error of at least one candidate positioning system meets the positioning error index requirements after error correction.

[0126] According to some embodiments of this application, the positioning system design unit 94 described above is specifically used in designing the positioning workflow of a radio positioning system as follows:

[0127] By accumulating multiple observations, the random error in the observation model error is reduced; and / or,

[0128] By constructing a well-posed or overdetermined set of equations for joint estimation of system errors and target positions using multiple parameters, the system errors and target positions are solved simultaneously, thereby reducing the system errors in the observation model; and / or,

[0129] External standard source correction is used to externally correct the site error, attitude angle error, and time-frequency synchronization error between different observation platforms, thereby reducing systematic errors in the observation model error.

[0130] I can understand. Figure 9 The design apparatus of the radio positioning system shown is capable of implementing each step in the method of Embodiment 1 described above. The relevant explanations regarding the method of Embodiment 1 are applicable to... Figure 9 The various units in the illustrated device will not be described in detail here. It should also be noted that the unit names described in the embodiments of this application do not necessarily constitute a limitation on the unit itself under certain circumstances.

[0131] Example 4

[0132] According to a third aspect of this application, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of the embodiments of this application.

[0133] The following is for reference. Figure 10 The diagram illustrates a structural schematic of an electronic device suitable for implementing the embodiments of this application. The electronic devices in the embodiments of this application may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 10 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0134] like Figure 10 As shown, an electronic device may include a processing unit (such as a central processing unit, graphics processing unit, etc.) that can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) or a program loaded from a storage device into random access memory (RAM). The RAM also stores various programs and data required for the operation of the electronic device. The processing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0135] Typically, the following systems can be connected to the I / O interface: input devices including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices including, for example, magnetic tapes, hard disks, etc.; and communication devices. Communication devices allow electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although electronic devices with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0136] Specifically, according to embodiments of this application, the processes described in the flowcharts above can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, it performs the functions defined in the methods of embodiments of this application.

[0137] Finally, it should be noted that:

[0138] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. In the above embodiments of this application, the descriptions of each embodiment have their own emphasis; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments. The embodiments of this application can be implemented using hardware, software, firmware, or a combination thereof.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The system embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, units, or modules, and may be electrical or other forms.

[0140] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0141] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods, systems, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0142] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Moreover, if the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

Claims

1. A design method for a radio positioning system, characterized in that, Includes the following steps: S1. Based on the target characteristics of the target to be located, the parameters of the observation platform, the positioning error index and the observation distance, analyze the characteristics of the radio positioning task and preliminarily determine the alternative radio positioning systems for engineering purposes. S2, for each alternative positioning system, calculate the parameter estimation error of the positioning parameters based on the target characteristics, signal-to-noise ratio and observation duration, and evaluate the positioning error of the target position within the observation distance by combining the parameter estimation error of the positioning parameters, the observation model error and the observation platform parameters; S3, from all the candidate positioning systems, iteratively select a positioning system that meets the positioning error index requirements and has the lowest engineering implementation cost; S4. Based on the optimized positioning system and the clearly defined observation platform parameters, design the composition of the radio positioning system and its positioning workflow. The evaluation of the positioning error of the target location within the observation distance in step S2 includes: The target location is estimated using maximum likelihood estimation. The root mean square error (RMSE) of the target location is represented by the trace of the Cramer-Rao lower bound (CRLB), i.e. Step S3 specifically includes sequentially starting screening loop one and screening loop two: Start the first screening cycle. For each candidate positioning system, determine whether its positioning error meets the positioning error index requirements. If it does, put it into the index-satisfied pool. If it does not, put it into the index-unsatisfied pool. Continue until the positioning error judgment and screening of all candidate positioning systems are completed, and there is at least one candidate positioning system in the index-satisfied pool. Start the second screening loop, evaluate the engineering implementation cost of each candidate positioning system in the indicator satisfaction pool, and select the positioning system with the lowest engineering implementation cost. After the first filtering cycle, if the indicator satisfies that no candidate positioning system exists in the pool, and all candidate positioning systems are in the pool where the indicator is not satisfied, then the method further includes: For all the alternative positioning systems, error correction methods were determined based on engineering experience, and the positioning errors of each system were corrected one by one. Restart the first screening cycle and determine whether the corrected positioning error meets the positioning error index requirements, until the positioning error of at least one candidate positioning system meets the positioning error index requirements after error correction. The positioning workflow for designing the radio positioning system in step S4 includes: By accumulating multiple observations, the random error in the observation model error is reduced; and / or, By constructing a well-posed or overdetermined set of equations for joint estimation of system errors and target positions using multiple parameters, the system errors and target positions are solved simultaneously, thereby reducing the system errors in the observation model; and / or, External standard source correction is used to externally correct the site error, attitude angle error, and time-frequency synchronization error between different observation platforms, thereby reducing systematic errors in the observation model error.

2. The method according to claim 1, characterized in that, The target characteristics include: target motion state, signal duration, signal frequency band, signal bandwidth, signal type, radiated power, and whether it is a single target or multiple targets with time-frequency overlap; The parameters of the observation platform include: whether it is fixed or mobile, the number of observation platforms, the distance between stations, the receiving antenna gain requirements, and the data transmission requirements.

3. The method according to claim 1, characterized in that, The positioning parameters refer to the measurement parameters used to locate the target position; the observation model of the positioning parameters is shown in the following formula: in, For the location parameter observation results, Represents the observation equation for the positioning parameters. For the target location, For the location of the observation platform, It represents random observation error and follows a zero-mean Gaussian distribution; The observation model error refers to the errors present in the observation model, including: observation platform site error, attitude angle error, and time-frequency synchronization error between different observation platforms; each error includes random error and systematic error.

4. The method according to claim 3, characterized in that, The positioning parameters include the direction of arrival of the target signal, the time difference of the target signal, and the frequency shift of the target signal; correspondingly, the parameter estimation errors of the positioning parameters include: direction finding error, time difference estimation error, and frequency shift estimation error.

5. A design device for a radio positioning system, characterized in that, include: The initial selection unit for positioning systems is used to analyze the characteristics of radio positioning tasks based on the target characteristics of the target to be positioned, the parameters of the observation platform, the positioning error index, and the observation distance, and to preliminarily determine the alternative radio positioning systems for engineering purposes. The positioning error evaluation unit is used to calculate the parameter estimation error of the positioning parameters for each candidate positioning system based on the target characteristics, signal-to-noise ratio and observation duration, and to evaluate the positioning error of the target position within the observation distance by combining the parameter estimation error of the positioning parameters, the observation model error and the observation platform parameters. The positioning system optimization unit is used to iteratively select a positioning system from all candidate positioning systems that meets the positioning error index requirements and has the lowest engineering implementation cost. The positioning system design unit is used to design the composition and positioning workflow of a radio positioning system based on the optimized positioning system and the defined observation platform parameters. The evaluation of the positioning error of the target location within the observation distance includes: The target location is estimated using maximum likelihood estimation. The root mean square error (RMSE) of the target location is represented by the trace of the Cramer-Rao lower bound (CRLB), i.e. This also includes sequentially starting filter loop one and filter loop two: Start the first screening cycle. For each candidate positioning system, determine whether its positioning error meets the positioning error index requirements. If it does, put it into the index-satisfied pool. If it does not, put it into the index-unsatisfied pool. Continue until the positioning error judgment and screening of all candidate positioning systems are completed, and there is at least one candidate positioning system in the index-satisfied pool. Start the second screening loop, evaluate the engineering implementation cost of each candidate positioning system in the indicator satisfaction pool, and select the positioning system with the lowest engineering implementation cost. After the first filtering cycle, if the indicator satisfies that no candidate positioning system exists in the pool, and all candidate positioning systems are in the pool where the indicator is not satisfied, then the process further includes: For all the alternative positioning systems, error correction methods were determined based on engineering experience, and the positioning errors of each system were corrected one by one. Restart the first screening cycle and determine whether the corrected positioning error meets the positioning error index requirements, until the positioning error of at least one candidate positioning system meets the positioning error index requirements after error correction. The positioning workflow of the designed radio positioning system includes: By accumulating multiple observations, the random error in the observation model error is reduced; and / or, By constructing a well-posed or overdetermined set of equations for joint estimation of system errors and target positions using multiple parameters, the system errors and target positions are solved simultaneously, thereby reducing the system errors in the observation model; and / or, External standard source correction is used to externally correct the site error, attitude angle error, and time-frequency synchronization error between different observation platforms, thereby reducing systematic errors in the observation model error.

6. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 4.

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