Multi-target separation positioning method, device, electronic equipment and medium

Abstract

The present invention provides a multi-target separation positioning method, device, electronic equipment and medium. The method comprises: when N aircraft send a first signal synchronously, acquiring signals received by M base stations to obtain M received signals, N is a positive integer greater than or equal to 2, and M is a positive integer greater than or equal to 3; performing signal separation on the M received signals to obtain M wave signal sets corresponding to the M base stations one by one, each wave signal set including at least one wave signal, and the wave directions corresponding to any two wave signals in each wave signal set are different; determining a plurality of wave signal combinations based on the M wave signal sets; determining the number of target wave signal combinations to obtain the number of first signals, the target wave signal combination being a wave signal combination that meets a preset condition; and determining the position information of the N aircraft based on the number of first signals and the time delay between different wave signals in the target wave signal combination.

Description

Technical Field

[0001] The present invention relates to the field of radio monitoring, and in particular to a multi-target separation positioning method, device, electronic equipment and medium. Background Art

[0002] Multi-target positioning of UAVs refers to determining the locations of multiple targets in a complex environment.

[0003] Different application scenarios and environments may require different methods. For the positioning of multiple targets, you first need to separate the multiple targets and then locate the targets. Compared with single target positioning, the environment is more complex and it plays an irreplaceable role in some specific applications.

[0004] Commonly used multi-target localization methods are divided into the following categories: beamforming, direction of arrival estimation, received signal strength measurement and time difference measurement.

[0005] Specifically, beamforming can achieve multi-target positioning by adjusting the relative phase and amplitude of different antenna arrays to enhance signals in a specific direction and suppress interference in other directions. However, for signals in similar directions, it is impossible to accurately distinguish the targets.

[0006] For directional arrival estimation, antenna arrays and algorithms (such as the MUSIC algorithm) are used to estimate the directions of multiple signal sources. The directions of multiple targets can be determined. In practical applications, devices with directional antennas (such as direction-finding antennas) are usually used to measure the angle of arrival of signals for rough positioning, but they are also unable to distinguish signals with similar directions.

[0007] For the received signal strength measurement, since the signal strength will be affected in the propagation path during the signal transmission process, the signal can be located based on the received signal strength. In the case of a known signal propagation model (such as a spatial path loss model), the received signal strength can be compared with the theoretical strength under the known model to estimate the distance to the target. However, in practical applications, the method based on the received signal strength measurement is greatly affected by environmental factors such as the multipath effect, which reduces the positioning effect.

[0008] For time difference measurement, that is, multi-target positioning based on time difference information, the time difference information of different signals can be measured and used to perform good positioning, and its cost is low and accuracy is high. However, for multi-target positioning, when the arrival time difference of different targets is the same, it will lead to insufficient positioning information, which will affect the multi-target positioning and reduce performance.

[0009] Obviously, the drones may arrive at the base station with the same time and direction information, making it impossible to separate and locate the signals using a single method. Summary of the invention

[0010] The present invention provides a multi-target separation positioning method, device, electronic device and medium to solve the problem that the time and direction information of drones arriving at a base station may be the same, resulting in a single method being unable to separate and locate the signals.

[0011] According to a first aspect of the present invention, a multi-target separation positioning method is provided, comprising:

[0012] When the N aircraft send the first signal synchronously, the signals received by the M base stations are acquired to obtain M received signals, where N is a positive integer greater than or equal to 2, and M is a positive integer greater than or equal to 3;

[0013] Performing signal separation on the M received signals to obtain M wave signal sets corresponding to the M base stations one by one, each wave signal set including at least one wave signal, and wave directions corresponding to any two wave signals in each wave signal set are different;

[0014] Based on the M sets of incoming wave signals, determining a plurality of incoming wave signal combinations;

[0015] Determine the number of target wave signal combinations to obtain the number of first signals, where the target wave signal combination is a wave signal combination that meets a preset condition;

[0016] Based on the number of first signals and the time delays between different arrival signals in the target arrival signal combination, the position information of the N aircraft is determined.

[0017] Optionally, performing signal separation on the M received signals to obtain M incoming signal sets corresponding to the M base stations one by one includes:

[0018] Based on the direction finding function of the base station, determine the incoming wave direction corresponding to each received signal in the M received signals;

[0019] Based on all the incoming wave directions, beamforming processing is performed on each received signal to obtain an enhanced signal corresponding to the incoming wave direction, thereby obtaining a corresponding set of M incoming wave signals.

[0020] Optionally, based on the M sets of incoming wave signals, multiple incoming wave signal combinations are determined, specifically including:

[0021] Select one incoming wave signal from each of the M incoming wave signal sets for combination to obtain an incoming wave signal combination;

[0022] When each arrival signal in the first arrival signal set has been combined with each arrival signal in the second arrival signal set, statistically analyzing historical combination records to obtain a plurality of arrival signal combinations;

[0023] The first arrival signal set and the second arrival signal set are any two arrival signal sets among the M arrival signal sets.

[0024] Optionally, determining the number of target incoming wave signal combinations to obtain the number of first signals specifically includes:

[0025] Counting the number of incoming signal combinations that meet a preset condition to obtain the number of first signals;

[0026] The pre-conditions include:

[0027] Constructing a generalized cross-correlation function for each pair of incoming wave signals in the selected incoming wave signal combination;

[0028] Performing inverse Fourier transform on the generalized cross-correlation function to obtain a first function, where the first function is a generalized cross-correlation function in the time domain;

[0029] The first functions corresponding to the selected incoming signal combinations all have peak values.

[0030] Optionally, the multi-target separation positioning method also includes: determining the position information of N aircraft based on the number of first signals and the time delays between different arrival signals in the target arrival signal combination when the time delays between different arrival signals in the target arrival signal combination satisfy the time closed loop.

[0031] According to a second aspect of the present invention, a multi-target separation positioning device is provided, comprising:

[0032] an acquisition module, configured to acquire signals received by M base stations when N aircraft send first signals synchronously, so as to obtain M received signals, where N is a positive integer greater than or equal to 2, and M is a positive integer greater than or equal to 3;

[0033] A separation module is used to perform signal separation on the M received signals to obtain M wave signal sets corresponding to the M base stations one by one, each wave signal set includes at least one wave signal, and the wave directions corresponding to any two wave signals in each wave signal set are different;

[0034] A first determination module is used to determine a plurality of arrival signal combinations based on the M arrival signal sets;

[0035] A second determination module is used to determine the number of target wave signal combinations to obtain the number of first signals, wherein the target wave signal combination is a wave signal combination that meets a preset condition;

[0036] The processing module is used to determine the position information of N aircraft based on the number of first signals and the time delay between different arrival signals in the target arrival signal combination.

[0037] Optional, separation module, specifically for:

[0038] Based on the direction finding function of the base station, determine the incoming wave direction corresponding to each received signal in the M received signals;

[0039] Based on all the incoming wave directions, beamforming processing is performed on each received signal to obtain an enhanced signal corresponding to the incoming wave direction, thereby obtaining a corresponding set of M incoming wave signals.

[0040] Optionally, the first determining module is specifically configured to:

[0041] Select one incoming wave signal from each of the M incoming wave signal sets for combination to obtain an incoming wave signal combination;

[0042] When each arrival signal in the first arrival signal set has been combined with each arrival signal in the second arrival signal set, statistically analyzing historical combination records to obtain a plurality of arrival signal combinations;

[0043] The first arrival signal set and the second arrival signal set are any two arrival signal sets among the M arrival signal sets.

[0044] Optionally, the second determining module is specifically configured to:

[0045] Counting the number of incoming signal combinations that meet a preset condition to obtain the number of first signals;

[0046] The pre-conditions include:

[0047] Constructing a generalized cross-correlation function for each pair of incoming wave signals in the selected incoming wave signal combination;

[0048] Performing inverse Fourier transform on the generalized cross-correlation function to obtain a first function, where the first function is a generalized cross-correlation function in the time domain;

[0049] The first functions corresponding to the selected incoming signal combinations all have peak values.

[0050] Optionally, the processing module is also used to:

[0051] When the time delays between different arrival signals in the target arrival signal combination satisfy a time closed loop, the position information of the N aircraft is determined based on the number of first signals and the time delays between different arrival signals in the target arrival signal combination.

[0052] According to a third aspect of the present invention, there is provided an electronic device, comprising a processor and a memory.

[0053] Memory, used to store code and related data;

[0054] A processor is used to execute the code in the memory to implement the method involved in the first aspect and its optional solutions.

[0055] According to a fourth aspect of the present invention, there is provided a storage medium having a computer program stored thereon, which, when executed by a processor, implements the method involved in the first aspect and its optional solutions.

[0056] In the multi-target separation positioning method, device, electronic device and medium provided by the present invention, when N aircraft send the first signal synchronously, M base stations in the same environment as the N aircraft can receive the first signals sent by the N aircraft respectively, and obtain M received signals. In the process of signal separation of the M received signals, each base station can separate the received received signals into different arrival signals according to the arrival direction, thereby obtaining M arrival signal sets. In this process, the arrival signals from different arrival directions can be distinguished. After determining multiple arrival signal combinations, the number of first signals in the same arrival direction can be obtained by counting the number of arrival signal combinations that meet preset conditions, and then the position information of the N aircraft is known based on the time delay between different arrival signals and the number of first signals. In this process, the positioning information of the aircraft can be accurately determined when the time and direction information of arrival at the base station are the same. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0058] Figure 1 It is a schematic diagram of an application scenario of a multi-target separation positioning method, device, electronic device and medium in one embodiment of the present invention;

[0059] Figure 2 The following is a schematic diagram of the process of a multi-target separation positioning method in an embodiment of the present invention. Figure 1 ;

[0060] Figure 3 The following is a schematic diagram of the process of a multi-target separation positioning method in an embodiment of the present invention. Figure 2 ;

[0061] Figure 4 The following is a schematic diagram of the process of a multi-target separation positioning method in an embodiment of the present invention. Figure 3 ;

[0062] Figure 5The following is a schematic diagram of the process of a multi-target separation positioning method in an embodiment of the present invention. Figure 4 ;

[0063] Figure 6 The following is a schematic diagram of the process of a multi-target separation positioning method in an embodiment of the present invention. Figure 5 ;

[0064] Figure 7 is a schematic diagram of a program module of a multi-target separation and positioning device in one embodiment of the present invention;

[0065] Figure 8 It is a schematic diagram of the structure of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, 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 clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0068] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0069] Figure 1 It is a schematic diagram of an application scenario of a multi-target separation positioning method, device, electronic device and medium in one embodiment of the present invention.

[0070] Please refer to Figure 1, which can be understood as a scenario to which the method, apparatus, electronic device and storage medium involved in this embodiment are applicable, wherein base station 101, base station 102 and base station 103 can respectively receive the first signal sent by aircraft 104 and aircraft 105. The method and apparatus involved in this embodiment can be applied to terminals controlling aircraft 104 and aircraft 105.

[0071] The terminal for controlling aircraft 104 and aircraft 105 may be any terminal with data interaction capability, such as a mobile phone, computer, vehicle-mounted terminal, image acquisition terminal, tablet computer, smart wearable device, smart home appliance, smart industrial equipment, network equipment, communication equipment, etc.

[0072] Figure 2 The following is a schematic diagram of the process of a multi-target separation positioning method in an embodiment of the present invention. Figure 1 .

[0073] like Figure 2 As shown, the multi-target separation positioning method may include:

[0074] S201: When N aircrafts send a first signal synchronously, signals received by M base stations are acquired to obtain M received signals, where N is a positive integer greater than or equal to 2, and M is a positive integer greater than or equal to 3.

[0075] S202: performing signal separation on the M received signals to obtain M arrival signal sets corresponding to the M base stations one by one, each arrival signal set including at least one arrival signal, and any two arrival signals in each arrival signal set corresponding to different arrival directions.

[0076] S203: Determine a plurality of arrival signal combinations based on the M arrival signal sets.

[0077] S204: Determine the number of target arrival signal combinations to obtain the number of first signals, where the target arrival signal combination is an arrival signal combination that meets a preset condition.

[0078] S205: Determine the position information of the N aircraft based on the number of first signals and the time delays between different arrival signals in the target arrival signal combination.

[0079] When N aircraft send the first signal synchronously, M base stations in the same environment as the N aircraft can receive the first signals sent by the N aircraft respectively, and obtain M received signals. In the process of separating the M received signals, each base station can separate the received signals into different arrival signals according to the arrival direction, thereby obtaining M arrival signal sets. In this process, the arrival signals from different arrival directions can be distinguished. After determining multiple arrival signal combinations, the number of first signals in the same arrival direction can be obtained by counting the number of arrival signal combinations that meet preset conditions, and then the position information of the N aircraft can be known based on the time delay between different arrival signals and the number of first signals. In this process, the positioning information of the aircraft can be accurately determined when the time and direction information of arrival at the base station are the same.

[0080] Specifically, when the positions of M base stations are known, a position diagram between N aircraft and M base stations can be drawn based on the time delay between different arrival signals in the target arrival signal combination and the number of first signals, thereby obtaining the position information of the N aircraft. In this process, the positioning information of the aircraft can be accurately determined when the time and direction information of arrival at the base station are the same.

[0081] In one implementation manner, when the signals sent by each of the N aircraft have the same frequency, it is considered that the N aircraft send the first signal.

[0082] In one embodiment, the aircraft may be a drone, such as an unmanned aerial vehicle for taking photos, a plant protection drone, or a mapping aircraft for drawing maps.

[0083] In one implementation manner, the base station may be a communication base station deployed by a communication operator, or a communication base station deployed by a user self-organizing network, and its specific form will not be described in detail here.

[0084] Figure 3 The following is a schematic diagram of the process of a multi-target separation positioning method in an embodiment of the present invention. Figure 2 .

[0085] In one embodiment, Figure 3 As shown, in step S202, it may specifically include:

[0086] S2021: Based on the direction finding function of the base station, determine the incoming wave direction corresponding to each received signal in the M received signals.

[0087] S2022: Based on all the incoming wave directions, perform beamforming processing on each received signal to obtain an enhanced signal corresponding to the incoming wave direction, and obtain a corresponding set of M incoming wave signals.

[0088] In this embodiment, the direction finding function of the base station can be used to determine the direction of arrival of the received signal. While receiving the signal, the received signal can also be separated into different directions and represented as waves in different directions to form a specific wave signal.

[0089] Among them, beamforming can be used to enhance signals from different incoming directions, thereby forming a specific incoming signal.

[0090] Specifically, beamforming is performed on the incoming wave direction to obtain an enhanced signal in that direction:

[0091]

[0092] Where N is the number of base station antenna elements, w n is the weight of the antenna element, x n (t) is the signal received by the nth antenna element, k is the base station index, and m represents the signal received by the kth base station at different direction angles. is the angle at which the signal is received.

[0093] in, That is the incoming wave direction in this application.

[0094] Figure 4 The following is a schematic diagram of the process of a multi-target separation positioning method in an embodiment of the present invention. Figure 3 .

[0095] In one embodiment, Figure 4 As shown, in step S203, the following steps may be specifically included:

[0096] S2031: Select one incoming signal from each of the M incoming signal sets for combination to obtain an incoming signal combination;

[0097] S2032: When each arrival signal in the first arrival signal set has been combined with each arrival signal in the second arrival signal set, collect historical combination records to obtain a plurality of arrival signal combinations.

[0098] The first arrival signal set and the second arrival signal set are any two arrival signal sets among the M arrival signal sets.

[0099] In this embodiment, each arrival signal set is a set determined based on a first signal received by a base station, and the arrival signal combination is a combination consisting of one arrival signal selected from each of the M arrival signal sets. If the arrival signals selected from the M arrival signal sets are all the same arrival signal, then the arrival signal combination will meet the preset condition; otherwise, the arrival signal combination will not meet the preset condition.

[0100] Based on this, one wave signal is selected from each of the M wave signal sets for combination to obtain a wave signal combination; the first wave signal set and the second wave signal set are any two wave signal sets in the M wave signal sets. Therefore, by judging whether each wave signal in the first wave signal set has been combined with each wave signal in the second wave signal set, it can be judged whether the wave signals in each wave signal set have been combined, that is, whether the historical combination records have covered all the combination situations, and when the judgment result is yes, that is, when each wave signal in the first wave signal set has been combined with each wave signal in the second wave signal set, the historical combination records are counted to obtain multiple wave signal combinations.

[0101] In this process, the incoming signals received by different base stations can be combined to obtain all combinations, so as to ensure the accuracy of multi-target separation positioning.

[0102] For example, it is assumed that the incoming direction signal of the base station 101 can be expressed as The incoming direction signal of base station 102 can be expressed as The incoming direction signal of base station 103 can be expressed as Then, one signal is selected from the signals received from each base station for combination, and all the combinations are obtained to obtain multiple incoming signal combinations.

[0103] Figure 5 The following is a schematic diagram of the process of a multi-target separation positioning method in an embodiment of the present invention. Figure 4 .

[0104] In one embodiment, Figure 5 As shown, in step S204, it may specifically include:

[0105] S2041: Count the number of incoming signal combinations that meet a preset condition to obtain the number of first signals.

[0106] The pre-conditions include:

[0107] Constructing a generalized cross-correlation function for each pair of incoming wave signals in the selected incoming wave signal combination;

[0108] Performing inverse Fourier transform on the generalized cross-correlation function to obtain a first function, where the first function is a generalized cross-correlation function in the time domain;

[0109] The first functions corresponding to the selected incoming signal combinations all have peak values.

[0110] In this embodiment, the generalized cross-correlation function:

[0111]

[0112] Among them, i, j represent the incoming signals received by different base stations in the incoming signal combination, X i (f), X j (f) is the Fourier transform of the received signal, and (*) indicates conjugation.

[0113] For the generalized cross-correlation function R ij (f) Perform inverse Fourier transform to obtain the generalized cross-correlation function r in the time domain ij (τ), which is the first function.

[0114]

[0115] When the incoming wave signals received by the incoming wave signal combination are the same incoming wave signal, the first functions corresponding to the selected incoming wave signal combination all have peaks. Otherwise, the first functions corresponding to the selected incoming wave signal combination do not all have peaks. Based on this, the number of first signals can be determined.

[0116] In one implementation, by finding the generalized cross-correlation function r ij The maximum value of (τ) corresponds to the delay τ ij , which is the time difference of signal arrival.

[0117] τ ij = argmax[r ij (τ)]

[0118] In this process, the first functions corresponding to the selected wave signal combinations all have maximum values, and it is determined that the selected wave signal combination meets the preset condition. The number of first signals is obtained by counting the number of wave signal combinations that meet the preset condition.

[0119] In one implementation manner, step S205 further includes:

[0120] When the time delays between different arrival signals in the target arrival signal combination satisfy a time closed loop, the position information of the N aircraft is determined based on the number of first signals and the time delays between different arrival signals in the target arrival signal combination.

[0121] In this embodiment, by judging whether the time delays between different arrival signals in the target arrival signal combination satisfy the time closed loop, the target arrival signal combination is verified twice, and in this process, the credibility of the first signal data can be improved.

[0122] Exemplarily, when M is 3 and N is 2, the target incoming signal combination includes three incoming signals. If the time when the three base stations receive the signals is t1, t2, and t3, Δt1=t2-t1, Δt2=t3-t2, and Δt3=t3-t1, then Δt3=Δt1+Δt2 satisfies the time closed loop.

[0123] Figure 6 The following is a schematic diagram of the process of a multi-target separation positioning method in an embodiment of the present invention. Figure 6 .

[0124] In one embodiment, if Figure 6 As shown, the multi-target separation positioning method includes:

[0125] S301: Receive signal data.

[0126] S302: Separate incoming signals from different directions using the direction information.

[0127] S303: Determine the number of signals using GCC delay estimation.

[0128] S304: Determine and locate the final signal using the time closed loop information.

[0129] In this process, the different direction angles and time difference information received by multiple base stations are used to separate and locate the drone. First, the direction finding function is used to obtain the direction of the signal, and beamforming is performed to enhance the signal and separate the signals in different directions. According to the enhanced signal obtained and arranged and combined, the GCC delay estimation of different combinations is calculated. The GCC result with a peak value is selected to determine the number of signals. And according to the time difference information received by the base station, the signal combination that can meet the time closed loop is determined, so that the signal is located and the position of the signal is obtained.

[0130] Exemplarily, N is 2 and M is 3, that is, there are base station 101, base station 102, base station 103, aircraft 104 and aircraft 105, among which the first signals sent by aircraft 104 and aircraft 105 to base station 101 and base station 102 have different directions but the same arrival time; the two signals arrive at base station 3 in the same direction but at different arrival times.

[0131] Then in step S301, base stations 101, 102 and 103 receive signal data, and aircraft 104 and 105 send signals at the same time and frequency, and the arrival time for base stations 101 and 102 is the same, and the direction of the wave coming from base station 103 is the same. When aircraft 104 and 105 send signals, each base station measures the direction of the wave coming from the signal. The angles of the signal received by base station 101 are α1=210° and α2=105°, and the received signal is r11(α1), The signal angles received by the base station 102 are β1=290°, β2=20°, and the received signal is r12(β1), The signal angle received by the base station 103 is θ1 = 50°, and the received signal is r1 3 (θ1), completing the signal reception.

[0132] Then in step S302, after the received signal is obtained, beamforming is performed on the signals received in all directions to obtain an enhanced signal in that direction:

[0133]

[0134] Where N is the number of base station antenna elements, w n is the weight of the antenna element, x n (t) is the signal received by the nth antenna element, k is the base station index, k = 1, 2, 3, m represents the signal received by the base station at different direction angles, is the angle at which the signal is received.

[0135] Through beamforming, signals at different angles can be separated. The base station 101 receives signals at different angles, and r1 can be separated. 1 (α1=210°), The angle at which the base station 102 receives the signal is also different, and r1 can be separated 2 (β1=290°), The angle at which the base station 103 receives the signal is 1, and r1 can be separated 3 (θ1=50°). The signals received by each base station are obtained. Selecting a signal from each base station can give four situations: [r1 1 (α1),r1 2 (β1),r1 3 (θ1)], [r2 1 (α2),r1 2 (β1),r1 3 (θ1)],

[0136] Then in step S303, after obtaining the combination of signals received in all directions, the signals cannot be completely separated, and the number of signals needs to be determined and then the signals are completely separated.

[0137] The GCC is calculated between each pair of signals in the combination. When different base stations select the signal sent by the same drone, the GCC result will have a large peak. When different base stations select the signal sent by different drones, the GCC result will not have a large peak. 1 (α1),r1 2 (β1),r1 3 (θ1)], first calculate the generalized cross-correlation function:

[0138]

[0139] The subscripts 1, 2, and 3 represent signals received by different base stations in the combined signal, X(f) is the Fourier transform of the received signal, and (*) represents conjugation.

[0140] The generalized cross-correlation function is inversely Fourier transformed to obtain the generalized cross-correlation function in the time domain.

[0141]

[0142] If r 12 (τ), r 23 (τ), r 31 (τ) all have peaks, then we can judge that the combination is a drone signal. Then we traverse all the combinations, The time-domain generalized cross-correlation functions also show peaks, which means that the number of drone signals can be determined to be 2.

[0143] The time delay corresponding to the maximum value of the generalized cross-correlation function is found to be the time difference of signal arrival.

[0144] τ 12 = argmax[r 12 (τ)]

[0145] τ 23 = argmax[r 23 (τ)]

[0146] τ 31 = argmax[r 31 (τ)]

[0147] The location of the signal source can be determined through the time difference information.

[0148] Then in step S304, when the peak combination [r1 1 (α1),r12 (β1),r1 3 (θ1)],

[0149] Afterwards, based on the number of peak combinations, it can be determined that there are two drone signals. Then, the time difference information of receiving signals from different base stations is used to further determine the accuracy of the location. The distances of the two drones to base stations 101 and 102 are the same, so the time when the two base stations receive the signals is the same. The time when base station 101 receives the signal is: The time when the base station 102 receives the signal is: The time when the base station 103 receives the signal is: For the peak combination [r1 1 (α1),r1 2 (β1),r1 3 (θ1)] satisfies:

[0150]

[0151] Δt3=Δt1+Δt2

[0152] The same is true for combinations satisfy:

[0153]

[0154] Δt3=Δt1+Δt2

[0155] In the two combinations where peak conditions occur, the three received signals can satisfy each other's time loop and conform to the actual situation, which means that the two separated signals can be determined to be correct. Then, the two signals are located through the obtained time difference information to determine the position of the signal and complete the positioning.

[0156] Figure 7 It is a schematic diagram of a program module of a multi-target separation and positioning device in one embodiment of the present invention.

[0157] like Figure 7 As shown, the multi-target separation positioning device 400 includes:

[0158] An acquisition module 402 is used to acquire signals received by M base stations when N aircrafts synchronously send first signals, so as to obtain M received signals, where N is a positive integer greater than or equal to 2, and M is a positive integer greater than or equal to 3;

[0159] The separation module 404 is used to perform signal separation on the M received signals to obtain M wave signal sets corresponding to the M base stations one by one, each wave signal set includes at least one wave signal, and the wave directions corresponding to any two wave signals in each wave signal set are different;

[0160] A first determination module 406, configured to determine a plurality of arrival signal combinations based on the M arrival signal sets;

[0161] A second determination module 408 is used to determine the number of target wave signal combinations to obtain the number of first signals, wherein the target wave signal combination is a wave signal combination that meets a preset condition;

[0162] The processing module 410 is used to determine the position information of N aircraft based on the number of first signals and the time delays between different arrival signals in the target arrival signal combination.

[0163] Optionally, the separation module 404 is specifically used for:

[0164] Based on the direction finding function of the base station, determine the incoming wave direction corresponding to each received signal in the M received signals;

[0165] Based on all the incoming wave directions, beamforming processing is performed on each received signal to obtain an enhanced signal corresponding to the incoming wave direction, thereby obtaining a corresponding set of M incoming wave signals.

[0166] Optionally, the first determining module 406 is specifically configured to:

[0167] Select one incoming wave signal from each of the M incoming wave signal sets for combination to obtain an incoming wave signal combination;

[0168] When each arrival signal in the first arrival signal set has been combined with each arrival signal in the second arrival signal set, statistically analyzing historical combination records to obtain a plurality of arrival signal combinations;

[0169] The first arrival signal set and the second arrival signal set are any two arrival signal sets among the M arrival signal sets.

[0170] Optionally, the second determining module 408 is specifically configured to:

[0171] Counting the number of incoming signal combinations that meet a preset condition to obtain the number of first signals;

[0172] The pre-conditions include:

[0173] Constructing a generalized cross-correlation function for each pair of incoming wave signals in the selected incoming wave signal combination;

[0174] Performing inverse Fourier transform on the generalized cross-correlation function to obtain a first function, where the first function is a generalized cross-correlation function in the time domain;

[0175] The first functions corresponding to the selected incoming signal combinations all have peak values.

[0176] Optionally, the processing module 410 is further configured to:

[0177] When the time delays between different arrival signals in the target arrival signal combination satisfy a time closed loop, the position information of the N aircraft is determined based on the number of first signals and the time delays between different arrival signals in the target arrival signal combination.

[0178] In summary, in the multi-target separation positioning device provided by the present embodiment, when N aircraft send the first signal synchronously, M base stations in the same environment as the N aircraft can receive the first signals respectively sent by the N aircraft to obtain M received signals. In the process of signal separation of the M received signals, each base station can separate the received received signals into different arrival signals according to the arrival direction, thereby obtaining M arrival signal sets. In this process, the arrival signals from different arrival directions can be distinguished. After determining multiple arrival signal combinations, the number of arrival signal combinations that meet preset conditions can be counted to obtain the number of first signals in the same arrival direction, and then the position information of the N aircraft can be known based on the time delay between different arrival signals and the number of first signals. In this process, the positioning information of the aircraft can be accurately determined when the time and direction information of arriving at the base station are the same.

[0179] Figure 8 It is a schematic diagram of the structure of an electronic device in one embodiment of the present invention.

[0180] like Figure 8 As shown, an electronic device 50 is provided, including:

[0181] a processor 51; and

[0182] A memory 52, for storing executable instructions of the processor;

[0183] The processor 51 is configured to execute the above-mentioned methods by executing executable instructions.

[0184] The processor 51 can communicate with the memory 52 via a bus 53 .

[0185] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method is implemented.

[0186] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0187] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-target separation positioning method, characterized in that: include: When the N aircraft send the first signal synchronously, the signals received by the M base stations are acquired to obtain M received signals, where N is a positive integer greater than or equal to 2, and M is a positive integer greater than or equal to 3; Performing signal separation on the M received signals to obtain M wave signal sets corresponding to the M base stations one by one, each wave signal set including at least one wave signal, and wave directions corresponding to any two wave signals in each wave signal set are different; Based on the M incoming signal sets, determining a plurality of incoming signal combinations; Determine the number of target wave signal combinations to obtain the number of the first signals, wherein the target wave signal combination is the wave signal combination that meets a preset condition; Based on the number of the first signals and the time delays between different arrival signals in the target arrival signal combination, the position information of the N aircrafts is determined.

2. The multi-target separation positioning method according to claim 1, characterized in that: The performing signal separation on the M received signals to obtain M incoming signal sets corresponding to the M base stations in a one-to-one manner specifically includes: Determine the direction of arrival of each of the M received signals based on the direction finding function of the base station; Based on all the incoming wave directions, beamforming processing is performed on each of the received signals to obtain an enhanced signal corresponding to the incoming wave direction, and to obtain a corresponding set of M incoming wave signals.

3. The multi-target separation positioning method according to claim 1, characterized in that: The determining a plurality of arrival signal combinations based on the M arrival signal sets specifically includes: Select one of the incoming wave signals from each of the M incoming wave signal sets for combination to obtain an incoming wave signal combination; When each of the arrival signals in the first arrival signal set has been combined with each of the arrival signals in the second arrival signal set, statistically analyzing historical combination records to obtain a plurality of arrival signal combinations; The first arrival signal set and the second arrival signal set are any two arrival signal sets among the M arrival signal sets.

4. The multi-target separation positioning method according to claim 1, characterized in that: The determining the number of target incoming wave signal combinations to obtain the number of the first signals specifically includes: Counting the number of the incoming signal combinations that meet a preset condition to obtain the number of the first signals; The preset conditions include: Constructing a generalized cross-correlation function for each of the incoming wave signals in the selected incoming wave signal combination; Performing an inverse Fourier transform on the generalized cross-correlation function to obtain a first function, where the first function is the generalized cross-correlation function in the time domain; Wherein, the first functions corresponding to the selected incoming signal combinations all have peaks.

5. The multi-target separation positioning method according to any one of claims 1 to 4, characterized in that: Also includes: When the time delays between different arrival signals in the target arrival signal combination satisfy a time closed loop, the position information of the N aircrafts is determined based on the number of the first signals and the time delays between different arrival signals in the target arrival signal combination.

6. A multi-target separation and positioning device, characterized in that: include: an acquisition module, configured to acquire signals received by M base stations when N aircrafts synchronously send first signals, so as to obtain M received signals, where N is a positive integer greater than or equal to 2, and M is a positive integer greater than or equal to 3; A separation module, configured to perform signal separation on the M received signals to obtain M wave signal sets corresponding to the M base stations one by one, each wave signal set including at least one wave signal, and wave directions corresponding to any two wave signals in each wave signal set are different; A first determination module, configured to determine a plurality of arrival signal combinations based on the M arrival signal sets; A second determination module is used to determine the number of target wave signal combinations to obtain the number of the first signals, wherein the target wave signal combination is the wave signal combination that meets a preset condition; A processing module is used to determine the position information of the N aircraft based on the number of the first signals and the time delay between different arrival signals in the target arrival signal combination.

7. The multi-target separation and positioning device according to claim 6, characterized in that: The separation module is specifically used for: Determine the direction of arrival of each of the M received signals based on the direction finding function of the base station; Based on all the incoming wave directions, beamforming processing is performed on each of the received signals to obtain an enhanced signal corresponding to the incoming wave direction, and to obtain a corresponding set of M incoming wave signals.

8. The multi-target separation and positioning device according to claim 6, characterized in that: The first determining module is specifically configured to: Select one of the incoming wave signals from each of the M incoming wave signal sets for combination to obtain an incoming wave signal combination; When each of the arrival signals in the first arrival signal set has been combined with each of the arrival signals in the second arrival signal set, statistically analyzing historical combination records to obtain a plurality of arrival signal combinations; The first arrival signal set and the second arrival signal set are any two arrival signal sets among the M arrival signal sets.

9. The multi-target separation and positioning device according to claim 6, characterized in that: The second determining module is specifically used to: Counting the number of the incoming signal combinations that meet a preset condition to obtain the number of the first signals; The preset conditions include: Constructing a generalized cross-correlation function for each of the incoming wave signals in the selected incoming wave signal combination; Performing an inverse Fourier transform on the generalized cross-correlation function to obtain a first function, where the first function is the generalized cross-correlation function in the time domain; Wherein, the first functions corresponding to the selected incoming signal combinations all have peaks.

10. The multi-target separation and positioning device according to any one of claims 6 to 9, characterized in that: The processing module is further used for: When the time delays between different arrival signals in the target arrival signal combination satisfy a time closed loop, the position information of the N aircrafts is determined based on the number of the first signals and the time delays between different arrival signals in the target arrival signal combination.

11. An electronic device, characterized in that: Including processor and memory, The memory is used to store codes and related data; The processor is used to execute the code in the memory to implement the method according to any one of claims 1 to 5.

12. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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