Target positioning method, device, electronic equipment and product

Abstract

The present invention provides a method, device, electronic device and product for target positioning, which obtains estimated target signal information and finally determines the positioning position of the target based on known information in the target signal information and the estimated target signal information. The method, device, electronic device and product for target positioning disclosed by the present invention can achieve higher-precision target positioning with a relatively small amount of calculation compared with existing target positioning methods by using known information in the target signal information.

Description

Technical Field

[0001] The present invention belongs to the field of wireless target positioning, and in particular relates to a method, a device, an electronic device and a product for target positioning. Background Art

[0002] Wireless positioning technology uses the propagation characteristics of radio electromagnetic waves to locate targets by measuring information such as target distance and direction, and has a wide range of applications. In mobile communication systems, passive target positioning technology can adjust the resource allocation of the area by estimating the number of communication base stations and users in the area; in the event of a disaster or when it is impossible to effectively call for help in the wild, passive target positioning technology can effectively shorten the search and rescue time by transmitting signals to the signal source on the rescue target; passive target positioning technology can also provide positioning and navigation for ships and aircraft, such as ocean navigation of ships and route guidance of aircraft.

[0003] Passive target positioning technology can be divided into two categories, positioning methods based on positioning observations and direct positioning methods based on received signals. The positioning method based on positioning observations is also called a two-step positioning method. First, the positioning observation is estimated from the signal received by the receiving device, and then the transmitter position information is solved based on the positioning observation. The process of estimating the transmitter position using the positioning observation requires solving a nonlinear set of observation equations, which is usually complex and computationally intensive. The direct positioning method based on received signals does not require the process of estimating positioning parameters, but directly processes the original sampled signals. Its target positioning accuracy also needs to be further improved. Summary of the invention

[0004] In view of this, the present invention aims to overcome the defects in the prior art and proposes a method, device, electronic equipment and product for target positioning.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] In a first aspect, the present invention discloses a method for target positioning, comprising:

[0007] Calculating time delay information and / or Doppler information between the candidate target position and a receiving device receiving target signal information;

[0008] According to the time delay information and / or Doppler information, the target signal information channel received by the receiving device is inversely transformed to obtain estimated target signal information;

[0009] Calculating metric information based on known information in the target signal information and the estimated target signal information, where the metric information is used to characterize the similarity between the target signal information and the estimated target signal information;

[0010] Based on the similarity of several candidate target locations, the target's location is determined according to preset screening conditions.

[0011] In one embodiment of the present invention, calculating the delay information and / or Doppler information between the candidate target position and a receiving device that receives target signal information includes: calculating the delay information and / or Doppler information based on the coordinate information of the candidate target position, the coordinate information of the receiving device, the speed information of the receiving device, and the carrier frequency of the received signal of the receiving device.

[0012] In one embodiment of the present invention, based on the delay information and / or Doppler information, the target signal information received by the receiving device is inversely transformed to obtain the estimated target signal information, including: based on the delay information and / or Doppler information, a channel model is established from the signal information sent from the candidate target position to the target signal information received by the receiving device; based on the channel model, an inverse transformation channel model is established from the target signal information received by the receiving device to the estimated target signal information.

[0013] In one embodiment of the present invention, calculating the metric information according to the known information in the target signal information and the estimated target signal information includes: establishing a metric function between the metric information and the known information and the estimated target signal information.

[0014] In one embodiment of the present invention, based on the similarity of several candidate target positions and according to preset filtering conditions, determining the positioning position of the target includes: selecting several candidate target positions as coarse candidate target positions within a first set area, calculating the similarities corresponding to all coarse candidate target positions, determining a second set area around the coarse candidate target positions that meet the first filtering conditions, selecting several candidate target positions as fine candidate target positions within the second set area, calculating the similarities corresponding to all fine candidate target positions, wherein the fine candidate target positions that meet the second filtering conditions are the positioning positions of the target.

[0015] In one embodiment of the present invention, the area of ​​the first set region is greater than the area of ​​the second set region.

[0016] In one embodiment of the present invention, both the first screening condition and the second screening condition are set thresholds.

[0017] In a second aspect, the present invention discloses a device for locating a target, the device comprising:

[0018] A calculation module, used to calculate the time delay information and / or Doppler information between the candidate target position and a receiving device receiving target signal information;

[0019] An inverse transformation module is used to perform an inverse transformation on the target signal information channel received by the receiving device according to the time delay information and / or Doppler information to obtain estimated target signal information;

[0020] A metric module, used to calculate metric information based on known information in the target signal information and the estimated target signal information, where the metric information is used to characterize the similarity between the target signal information and the estimated target signal information;

[0021] The positioning module is used to determine the positioning position of the target based on the similarity of several candidate target positions and according to preset screening conditions.

[0022] In a third aspect, the present invention discloses an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the above method.

[0023] In a fourth aspect, the present invention discloses a computer program product, including a computer program, which implements the above method when executed by a processor.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] The present invention discloses a method, device, electronic device and product for target positioning. By acquiring estimated target signal information, the positioning position of the target is finally determined according to known information in the target signal information and the estimated target signal information. By using the known information in the target signal information, compared with the existing target positioning method, higher-precision target positioning can be achieved with a relatively small amount of calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0027] In the attached picture:

[0028] Figure 1 A schematic diagram of an application scenario of a method for target positioning according to an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of a method for locating a target according to an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of a method for screening a target positioning according to an embodiment of the present invention;

[0031] Figure 4 A schematic diagram of a target positioning device according to an embodiment of the present invention;

[0032] Figure 5 A schematic diagram of an electronic device for target positioning according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0034] In the description of the present invention, it should be further explained that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0035] Under existing technical conditions, the direct positioning method based on received signals does not require the process of estimating positioning parameters, but directly processes the original sampled signals. This results in the inability to fully utilize known information of the target and the problem of limited positioning accuracy.

[0036] The present invention discloses a method, device, electronic device and product for target positioning, which can be applied in the following scenarios: Figure 1 As shown, estimated target signal information is obtained, and the positioning position of the target is finally determined based on the known information in the target signal information and the estimated target signal information. By using the known information in the target signal information, compared with the existing target positioning method, higher-precision target positioning can be achieved with a relatively small amount of calculation.

[0037] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0038] In one embodiment of the present invention, Figure 2 As shown, a method for target positioning includes:

[0039] Step S201, calculating the time delay information and / or Doppler information between the candidate target position and the receiving device receiving the target signal information;

[0040] In an embodiment, the receiving device is used to receive wireless signals sent by the target to be located. The receiving device can be located on a mobile observation platform. For example, the receiving device can be carried on a satellite, a car, a ship, a drone, etc., and can also be carried on a fixed observation site on the ground.

[0041] Exemplarily, the target signal information may be a signal transmitted by a ship, a signal transmitted by an airplane or a drone, or an emergency rescue signal.

[0042] In this embodiment, according to whether the relative position of the candidate target position and the receiving device is stationary or in motion, and the difference of the target signal, either the delay information or the Doppler information or both of them can be selected. Exemplarily, when the relative position of the candidate target position and the receiving device is in motion, the delay information and the Doppler information can be selected at the same time.

[0043] Step S202, according to the delay information and / or Doppler information, the target signal information channel received by the receiving device is inversely transformed to obtain estimated target signal information;

[0044] In this embodiment, the channel inverse transformation is based on the delay information and / or Doppler information to realize the conversion of the target signal information received by the receiving device into the estimated signal information sent by the target to be located.

[0045] Step S203, calculating metric information according to known information in the target signal information and the estimated target signal information, where the metric information is used to characterize the similarity between the target signal information and the estimated target signal information;

[0046] The known information in the target signal information specifically refers to: the target signal information is composed of multi-component information, which includes certain information components that can be used to distinguish target signals from non-target signals, and these certain information components are known. This knownness comes from the characteristic of knowing in advance the target signal information sent by the target to be located. For example, the known information in the target signal information may be any one of the target signal information including a cell reference signal, a synchronization signal, a non-circular signal, a constant modulus signal, and a cyclic stationary signal.

[0047] The metric information is used to characterize the similarity between the target signal information and the estimated target signal information. Based on this similarity, the possibility of whether the candidate target location is the actual location of the target is evaluated.

[0048] Step S204: Based on the similarity of the positions of several candidate targets and according to preset screening conditions, the positioning position of the target is determined.

[0049] In this embodiment, by using known information in the target signal information and estimated target signal information, calculating measurement information, and obtaining similarity to judge whether the candidate target position is the possibility of the actual position of the target, it is achieved that higher-precision target positioning can be achieved with a relatively small amount of calculation, and it has wide adaptability and is suitable for passive positioning of various types of targets.

[0050] Based on the previous embodiment, calculating the delay information and / or Doppler information between the candidate target position and the receiving device that receives the target signal information includes: calculating the delay information and / or Doppler information based on the coordinate information of the candidate target position, the coordinate information of the receiving device, the speed information of the receiving device, and the carrier frequency of the received signal of the receiving device.

[0051] In this embodiment, i represents the i-th receiving device, and the delay information is expressed as , Doppler information is expressed as , calculated as follows:

[0052] ,

[0053]

[0054] in represents the speed of light, represents the coordinate position vector of the i-th receiving device, represents the coordinate position vector of the candidate target position, represents the distance between the i-th receiving device and the candidate target location, represents the velocity vector of the i-th receiving device, It is the carrier frequency of the signal received by the receiving device.

[0055] In this embodiment, the delay information Characterizes the signal transmission delay difference caused by the distance between the candidate target location and the receiving device, Doppler information It characterizes the Doppler shift caused by the movement between the target and the receiving device, takes into account the positioning of the target when the target and the receiving device are relatively stationary, and the positioning of the target when the target and the receiving device are relatively moving, and has the characteristics of a wide range of positioning applicability.

[0056] In another embodiment of the present invention, based on the delay information and / or Doppler information, the target signal information received by the receiving device is inversely transformed to obtain the estimated target signal information, including: based on the delay information and / or Doppler information, a channel model is established from the signal information sent from the candidate target position to the target signal information received by the receiving device, and based on the channel model, an inverse transformation channel model is established from the target signal information received by the receiving device to the estimated target signal information.

[0057] In this embodiment, the channel model is expressed as , the signal information sent by the candidate target location is expressed as , the target signal information received by the receiving device is expressed as , t represents the sampling time ， The i-th generation represents the i-th receiving device, and the relationship is as follows:

[0058]

[0059] The inverse transform channel model is expressed as , the target signal information received by the receiving device is expressed as , the estimated target signal information is expressed as , t represents the sampling time ， The i-th generation represents the i-th receiving device, and the relationship is as follows:

[0060]

[0061] Exemplarily, in one embodiment of the present invention, the estimated target signal information is expressed as , the inverse transformation is The process is as follows:

[0062] in, is the subscript index of the discrete sampling point, i represents the i-th receiving device, and the target signal information received by the receiving device is expressed as , for No. elements, Represents a time-varying Doppler information sequence The phase gradually increases.

[0063] calculate The process is as follows:

[0064] .

[0065] is the sampling point offset sequence, i represents the i-th receiving device, is the sampling rate, It is delayed information. for No. elements.

[0066] calculate The process is as follows:

[0067] In some implementations, You can round it first, that is , at this time Can be obtained directly.

[0068] In some implementations, No rounding, Need to be interpolated, such as linear interpolation:

[0069] ,

[0070]

[0071] in Integer index of the sampling point.

[0072] calculate The process is as follows:

[0073] Represents a time-varying Doppler information sequence The phase gradually increases. for The k-th element of , i represents the i-th receiving device.

[0074] calculate The corresponding interpolated Doppler information must be calculated first .

[0075] The linear interpolation is calculated as follows:

[0076] ,

[0077]

[0078] in Integer index of the sampling point.

[0079] Getting Doppler information back, It can be calculated as follows:

[0080]

[0081] Sampling point =0,1,…,k-1, the total number of sampling points is , t represents the sampling point time.

[0082] In another embodiment of the present invention, calculating the metric information according to the known information in the target signal information and the estimated target signal information includes: establishing a metric function between the metric information and the known information and the estimated target signal information.

[0083] In this embodiment, the metric function is expressed as , Represents known information. Represents estimated target signal information;

[0084] when When it is the additive component information of the target signal, for example, when the target signal is a base station signal of the LTE system, It is the cell reference signal, synchronization signal, etc. of the target base station. It can be obtained by any of the following formulas (1), (2) and (3):

[0085] (1)

[0086] (2)

[0087] (3)

[0088] Where T is the signal length, yes The conjugate of , real() represents the real part operation, and abs() represents the modulo operation.

[0089] Based on the above embodiment, the target signal information sent by the target at the candidate target position, the metric information corresponding to the nth segment of the target signal information received by the i-th receiving device is expressed as the information sequence , , is the total number of segments.

[0090] If there are M receiving devices, we can get M through the metric function calculation , integrating multiple Measuring the comprehensive similarity of information sequences as a candidate location can effectively improve the target positioning accuracy.

[0091] The comprehensive similarity is expressed as W, and the calculation process is as follows:

[0092]

[0093] Among them, abs() represents the modulo operation.

[0094] when It is the structural meta-information of the target signal. For example, when the target signal is a signal of a CDMA communication system, It is the spreading code information used by the signal transmitter:

[0095] at this time It can be calculated by the following function:

[0096]

[0097] Where T is the signal length, yes The conjugation of.

[0098] Based on the previous embodiment, the target signal information sent by the target at the candidate target position, i The receiving device receives the nThe metric information corresponding to the segment target signal information is represented as the information sequence , , is the total number of segments.

[0099] If there are M receiving devices, we can get M through the metric function calculation , integrating multiple Measuring the comprehensive similarity of information sequences as a candidate location can effectively improve the target positioning accuracy.

[0100] The comprehensive similarity is expressed as W, and the specific calculation process is as follows:

[0101]

[0102] Among them, abs() represents the modulo operation, yes The conjugate of i It is i A receiving device, j It is j A receiving device.

[0103] When the target signal is a compressed vector signal, the N-norm error distance integral can be selected. dt as the metric function.

[0104] In this embodiment, the measurement function measures the similarity with the help of known information in the target signal information, and can measure the energy accumulation of the signal with a long correlation time. Therefore, even if the receiving device receives low-energy target signal information sent by the target, it can still perform high-precision target positioning from a large amount of noise.

[0105] In another embodiment of the present invention, Figure 3 As shown, based on the similarity of several candidate target positions and according to preset filtering conditions, determining the positioning position of the target includes: selecting several candidate target positions as coarse candidate target positions in a first set area, calculating the similarities corresponding to all coarse candidate target positions, determining a second set area around the coarse candidate target positions that meet the first filtering conditions, selecting several candidate target positions as fine candidate target positions in the second set area, calculating the similarities corresponding to all fine candidate target positions, wherein the fine candidate target positions that meet the second filtering conditions are the positioning positions of the target.

[0106] In this embodiment, the area of ​​the first set region is greater than the area of ​​the second set region.

[0107] In this embodiment, the area of ​​the first set area is larger than the area of ​​the second set area, so that a rough positioning search is first performed in a large area, and then a further fine positioning search is performed.

[0108] In this embodiment, both the first screening condition and the second screening condition are set thresholds.

[0109] In this embodiment, in order to achieve efficient screening calculations, parallel computing architecture is used for parallel processing, including the use of graphics processors GPU, multi-core processors CPU and large computing cluster systems, and parallel computing software architecture, including the use of efficient computing libraries numpy, cupy and pytorch.

[0110] The present invention also discloses a target positioning device, such as Figure 4 As shown, including:

[0111] A calculation module 301, used to calculate the time delay information and / or Doppler information between the candidate target position and a receiving device receiving target signal information;

[0112] An inverse transformation module 302 is used to perform an inverse transformation on the target signal information channel received by the receiving device according to the delay information and / or Doppler information to obtain estimated target signal information;

[0113] A metric module 303, used to calculate metric information based on known information in the target signal information and the estimated target signal information, where the metric information is used to characterize the similarity between the target signal information and the estimated target signal information;

[0114] The positioning module 304 is used to determine the positioning position of the target based on the similarity of several candidate target positions and according to preset screening conditions.

[0115] The present invention also discloses an electronic device, such as Figure 5 As shown, an embodiment is disclosed, which is a block diagram of an electronic device suitable for the above-mentioned target positioning method.

[0116] The electronic device 40 of this embodiment includes a processor 401, which can perform various appropriate actions and processes according to the program stored in the ROM 402 or the program loaded from the storage part 408 into the RAM 403. The processor 401 may include, for example, a general-purpose microprocessor, an instruction set processor and / or a related chipset and / or a dedicated microprocessor, etc. The processor 401 may also include an onboard memory for caching purposes. The processor 401 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0117] In RAM403, various programs and data required for the operation of electronic device 40 are stored. Processor 401, ROM402 and RAM403 are connected to each other through bus 404, and processor 401 performs various operations of the method flow according to the embodiment of the present invention by executing the program in ROM402 and / or RAM403. It should be noted that the program can also be stored in one or more memories other than ROM402 and RAM403, and processor 401 can also perform various operations of the method flow according to the embodiment of the present invention by executing the program stored in one or more memories.

[0118] According to an embodiment of the present invention, the electronic device 40 may further include an I / O interface 405, which is also connected to the bus 404. The electronic device 40 may further include one or more of the following components connected to the I / O interface 405: an input portion 406 including a keyboard, a mouse, etc.; an output portion 407 including a cathode ray tube, a liquid crystal display, and a speaker; a storage portion 408 including a hard disk, etc.; and a communication portion 409 including a network interface card such as a LAN card, a modem, etc. The communication portion 409 performs communication processing via a network such as the Internet. A drive 4010 is also connected to the I / O interface 405 as needed. A removable medium 4011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 4010 as needed, so that a computer program read therefrom is installed into the storage portion 408 as needed.

[0119] Embodiments of the present invention also include a computer program product.

[0120] The computer program product includes a computer program, which contains program codes for executing the method provided by the embodiment of the present invention. When the computer program product runs on an electronic device, the program codes are used to enable the electronic device to implement the method provided by the embodiment of the present invention.

[0121] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of a signal on a network medium. The program code included in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0122] According to an embodiment of the present invention, the program code for executing the computer program provided by the embodiment of the present invention can be written by any combination of one or more programming languages, and specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages. Programming languages ​​include but are not limited to programming languages ​​such as Java, C++, python, C language or similar. The program code can be executed completely on the user computing device, partially on the user device, partially on the remote computing device, or completely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network or a wide area network, or can be connected to an external computing device.

[0123] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments and / or claims of the present invention can be combined and / or combined in various ways, even if such a combination or combination is not explicitly recorded in the present invention. In particular, without departing from the spirit and teaching of the present invention, the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present invention.

[0124] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination. The scope of the present invention is limited by the attached claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A method for target positioning, characterized in that: include: Calculating time delay information and / or Doppler information between the candidate target position and a receiving device receiving target signal information; According to the time delay information and / or the Doppler information, the target signal information received by the receiving device is channel-inverse transformed to obtain estimated target signal information; Calculating metric information according to known information in the target signal information and the estimated target signal information, wherein the metric information is used to characterize the similarity between the target signal information and the estimated target signal information; Based on the similarity of the positions of the plurality of candidate targets, according to a preset screening condition, determining the positioning position of the target; The inverse transformation of the target signal information channel received by the receiving device according to the delay information and / or the Doppler information to obtain the estimated target signal information includes: based on the delay information and / or the Doppler information, establishing a channel model from the signal information sent by the candidate target position to the target signal information received by the receiving device, and based on the channel model, establishing an inverse transformation channel model from the target signal information received by the receiving device to the estimated target signal information.

2. A method for target positioning according to claim 1, characterized in that: The method for calculating the time delay information and / or Doppler information between the candidate target position and the receiving device that receives the target signal information includes: calculating the time delay information and / or the Doppler information based on the coordinate information of the candidate target position, the coordinate information of the receiving device, the speed information of the receiving device, and the carrier frequency of the received signal of the receiving device.

3. A method for locating a target according to claim 1, characterized in that: The calculating of the metric information according to the known information in the target signal information and the estimated target signal information comprises: establishing a metric function between the metric information and the known information and the estimated target signal information.

4. A method for locating a target according to claim 1, characterized in that: The method of determining the positioning position of the target based on the similarity of the plurality of candidate target positions according to preset filtering conditions includes: selecting a plurality of the candidate target positions as coarse candidate target positions in a first set area, calculating the similarities corresponding to all the coarse candidate target positions, determining a second set area around the coarse candidate target positions that meet the first filtering conditions, selecting a plurality of the candidate target positions as fine candidate target positions in the second set area, calculating the similarities corresponding to all the fine candidate target positions, wherein the fine candidate target positions that meet the second filtering conditions are the positioning positions of the target.

5. A method for target positioning according to claim 4, characterized in that: The area of ​​the first set region is larger than the area of ​​the second set region.

6. A method for target positioning according to claim 4, characterized in that: The first screening condition and the second screening condition are both set thresholds.

7. A device for locating a target, characterized in that: The device comprises: A calculation module, used to calculate the time delay information and / or Doppler information between the candidate target position and a receiving device receiving target signal information; an inverse transformation module, for establishing a channel model from the signal information sent by the candidate target position to the target signal information received by the receiving device based on the time delay information and / or the Doppler information, and establishing an inverse transformation channel model from the target signal information received by the receiving device to the estimated target signal information based on the channel model, and performing inverse transformation of the channel of the target signal information received by the receiving device to obtain the estimated target signal information based on the time delay information and / or the Doppler information; A metric module, configured to calculate metric information based on known information in the target signal information and the estimated target signal information, wherein the metric information is used to characterize the similarity between the target signal information and the estimated target signal information; The positioning module is used to determine the positioning position of the target based on the similarity of the positions of the plurality of candidate targets and according to preset screening conditions.

8. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the method according to any one of claims 1 to 6.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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