Positioning method, device, equipment and product based on known partial target information

Abstract

The present invention provides a positioning method, device, equipment and product based on partial information of known targets, including obtaining the arrival time offset of each receiving device relative to the uniformly designated target signal reception start time; establishing a time sliding window including several sliding time points; constructing a relative delay function corresponding to each sliding time point; obtaining an estimated target transmission signal; determining the position measurement information of the target candidate position based on the results of similarity measurement between the known information in the target signal and the estimated target transmission signal; determining the positioning position of the target based on the position measurement information of several target candidate positions. The present invention discloses a positioning method, device, equipment and product based on partial information of known targets, which realizes rapid positioning of the target by means of the known target partial information of the target signal, the arrival time offset of the receiving device and the establishment of a time sliding window, and has the characteristics of accurate positioning and small amount of calculation.

Description

Technical Field

[0001] The present invention belongs to the field of wireless target positioning, and in particular relates to a positioning method, device, equipment and product based on known partial target information. Background Art

[0002] Wireless positioning technology uses the propagation characteristics of radio electromagnetic waves to locate the target by measuring information such as target distance and direction. According to the working mode, it is divided into active positioning and passive positioning. Among them, the passive positioning method does not emit electromagnetic signals itself, but uses a single or multiple receiving devices to passively receive electromagnetic signals emitted by the transmitting source to determine the location of the transmitting source. Compared with the active positioning method, passive positioning has the advantages of strong concealment, anti-interference, long reconnaissance distance and wide coverage.

[0003] Passive positioning technology can be divided into two categories of positioning methods, positioning methods based on positioning observations and direct positioning methods based on received signals. Among them, the general direct positioning method only uses the location information of the transmitting source, and does not use any characteristics or information of the transmitting signal itself. There are problems such as large positioning calculation amount and low positioning accuracy. Summary of the invention

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

[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 positioning method based on known partial target information, comprising:

[0007] Obtaining time delay information and Doppler information between the receiving device and the target candidate position;

[0008] According to the correlation between the target signal received by the receiving device and the known information in the target signal, the arrival time offset of each receiving device relative to the uniformly designated target signal reception start time is obtained;

[0009] Confirm that the arrival time offset that meets the preset conditions is the reference arrival time offset, and establish a time sliding window including a plurality of sliding time points with the reference arrival time offset as the center;

[0010] Constructing a relative delay function corresponding to each sliding time point, where the relative delay function is the difference between the delay of the receiving device and the delay of the receiving device that meets the preset conditions;

[0011] Using the relative delay function and Doppler information one by one, the target signal received by the receiving device is subjected to inverse channel transformation to obtain an estimated target transmission signal;

[0012] Determine the position measurement information of the target candidate position according to the results of similarity measurement between the known information in the target signal and the estimated target transmission signal;

[0013] The positioning position of the target is determined based on the position measurement information of several target candidate positions.

[0014] In one embodiment of the present invention, based on the correlation between the target signal received by the receiving device and the known information in the target signal, obtaining the arrival time offset of each receiving device relative to the uniformly designated start time of receiving the target signal includes: establishing a cost function, the cost function is used to characterize the correlation between the target signal received by the receiving device and the known information, the arrival time offset is the time delay when the receiving device receives the target signal relative to the uniformly designated start time of receiving the target signal when the cost function value is maximum.

[0015] In one embodiment of the present invention, the preset condition is to select the arrival time offset with the largest corresponding cost function value as the benchmark arrival time offset, and the two ends of the time sliding window are the benchmark arrival time offset minus the preset threshold and the benchmark arrival time offset plus the preset threshold, respectively, and the sliding step lengths between several sliding time points are the same.

[0016] In one embodiment of the present invention, the relative delay function is the difference between the delay of the receiving device and the delay of the receiving device that meets the preset conditions, including: the delay of the receiving device that meets the preset conditions is the average delay of the receiving device that meets the preset conditions within the signal receiving time, wherein the start time of the signal receiving time is the sum of the uniformly specified target signal reception start time and the sliding time point.

[0017] In one embodiment of the present invention, based on the results of correlation measurement between known information in the target signal and the estimated target transmitted signal, the position measurement information of the target candidate position is determined, including: the maximum value among the correlation measurement results of the estimated target transmitted signal corresponding to different relative delay functions is the position measurement information of the target candidate position.

[0018] In one embodiment of the present invention, determining the positioning position of a target based on position measurement information of several target candidate positions includes: selecting several target candidate positions as coarse candidate target positions within a first set area, calculating the position measurement information corresponding to all coarse candidate target positions, determining a second set area around the coarse candidate target positions that meet the first filtering condition, selecting several target candidate positions within the second set area as fine candidate target positions, and calculating the position measurement information corresponding to all fine candidate target positions, wherein the fine candidate target positions that meet the second filtering condition are the positioning positions of the target.

[0019] In one embodiment of the present invention, the area of ​​the first set region is larger than the area of ​​the second set region.

[0020] In a second aspect, the present invention discloses a positioning device based on known partial target information, the device comprising:

[0021] An acquisition module, used to acquire time delay information and Doppler information between the receiving device and the target candidate position;

[0022] An arrival time offset determination module, used to obtain an arrival time offset of each receiving device relative to a uniformly designated target signal reception start time according to a correlation between the target signal received by the receiving device and known information in the target signal;

[0023] A time sliding window determination module is used to confirm that the arrival time offset that meets the preset conditions is a reference arrival time offset, and to establish a time sliding window including a plurality of sliding time points with the reference arrival time offset as the center;

[0024] A relative delay module is used to construct a relative delay function corresponding to each sliding time point, where the relative delay function is the difference between the delay of the receiving device and the delay of the receiving device that meets the preset conditions;

[0025] The target transmission signal estimation module is used to use the relative delay function and Doppler information one by one to perform channel inverse transformation on the target signal received by the receiving device to obtain the estimated target transmission signal;

[0026] A measurement module is used to determine the position measurement information of the target candidate position according to the results of similarity measurement between the known information in the target signal and the estimated target transmission signal;

[0027] The determination module is used to determine the positioning position of the target based on the position measurement information of several target candidate positions.

[0028] In a third aspect, an electronic device includes: one or more processors; and 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.

[0029] According to a fourth aspect, a computer program product comprises a computer program, wherein the computer program implements the above method when executed by a processor.

[0030] Compared with the prior art, the present invention has the following advantages:

[0031] The present invention discloses a positioning method, device, equipment and product based on partial information of known targets, including obtaining the arrival time offset of each receiving device relative to the uniformly designated target signal reception start time; establishing a time sliding window including a plurality of sliding time points; constructing a relative delay function corresponding to each sliding time point; obtaining an estimated target transmission signal; determining the position measurement information of the target candidate position based on the results of similarity measurement between the known information in the target signal and the estimated target transmission signal; determining the positioning position of the target based on the position measurement information of the plurality of target candidate positions. The present invention realizes rapid positioning of the target by means of the known target partial information of the target signal, the arrival time offset of the receiving device and the establishment of a time sliding window, and has the characteristics of accurate positioning and small amount of calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] 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.

[0033] In the attached picture:

[0034] Figure 1 A schematic diagram of an application scenario of a positioning method based on known partial target information according to an embodiment of the present invention;

[0035] Figure 2 A schematic diagram of a positioning method based on known partial target information according to an embodiment of the present invention;

[0036] Figure 3 A schematic diagram of position measurement information for determining a target candidate position using a positioning method based on known partial target information according to an embodiment of the present invention;

[0037] Figure 4 A schematic diagram of determining the location of a target using a positioning method based on known partial target information according to an embodiment of the present invention;

[0038] Figure 5 A schematic diagram of a positioning device based on known partial target information according to an embodiment of the present invention;

[0039] Figure 6 The present invention is a schematic diagram of a positioning electronic device based on known partial target information according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] 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.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0043] 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.

[0044] The general direct positioning method only uses the location information of the transmitting source, without using any characteristics or information of the transmitting signal itself. There are problems such as large positioning calculation amount and low positioning accuracy. The application scenarios of the present invention are as follows: Figure 1 As shown, the present invention discloses a positioning method, device, equipment and product based on known partial target information, including obtaining the arrival time offset of each receiving device relative to the uniformly designated target signal reception start time; establishing a time sliding window including several sliding time points; constructing a relative delay function corresponding to each sliding time point; obtaining an estimated target transmission signal; determining the position measurement information of the target candidate position based on the results of similarity measurement between the known information in the target signal and the estimated target transmission signal; determining the positioning position of the target based on the position measurement information of several target candidate positions. The present invention realizes rapid positioning of the target by means of the known target partial information of the target signal, the arrival time offset of the receiving device and the establishment of a time sliding window, and has the characteristics of accurate positioning and small amount of calculation.

[0045] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0046] In one embodiment of the present invention, Figure 2 and Figure 3 As shown, the present invention discloses a positioning method based on known partial target information, comprising:

[0047] Step S201, obtaining the time delay information and Doppler information between the receiving device and the target candidate position;

[0048] In this embodiment, the delay information is expressed as , the Doppler information is expressed as , the calculation process is as follows:

[0049] ,

[0050]

[0051] in, represents the speed of light, Indicates i The receiving device The coordinate position vector at the moment, represents the coordinate position vector of the target candidate position, Indicated in Time receiving device i The distance between the candidate position and the target position, Indicates i The receiving device The velocity vector at time, is the carrier frequency of the transmitted signal.

[0052] 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.

[0053] Exemplarily, the target signal information may be a signal emitted by a ship, a signal emitted by an airplane or a drone, or an emergency rescue signal.

[0054] 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 Characterizes the Doppler shift caused by the motion between the target and the receiving device.

[0055] Step S202, obtaining the arrival time offset of each receiving device relative to the uniformly designated target signal reception start time according to the correlation between the target signal received by the receiving device and the known information in the target signal;

[0056] In this embodiment, all receiving devices obtain synchronized time information through GNSS navigation timing, ensuring that the time reference on each receiving device is consistent, so that all receiving devices use a uniformly designated target signal reception start time.

[0057] Exemplarily, the known information in the target signal may be any one of a cell reference signal, a synchronization signal, a non-circular signal, a constant modulus signal, and a cyclic stationary signal.

[0058] Step S203, confirming that the arrival time offset that meets the preset conditions is a reference arrival time offset, and establishing a time sliding window including a plurality of sliding time points with the reference arrival time offset as the center;

[0059] In this embodiment, the arrival time offset can be expressed as TOA (Time of Arrival, TOA), and the arrival time offset TOA of each receiving device is obtained. When a reference arrival time offset TOA is selected, its function is to roughly estimate the positioning position of the target.

[0060] Step S204, constructing a relative delay function corresponding to each sliding time point, where the relative delay function is the difference between the delay of the receiving device and the delay of the receiving device that meets the preset conditions;

[0061] In this embodiment, if Figure 3 As shown, each sliding time point corresponds to a relative delay function, and the relative delay function represents the relative delay between the corresponding receiving device and the receiving device serving as a reference at this sliding time point.

[0062] Step S205: Figure 3 As shown, the relative delay function is used one by one in combination with the Doppler information to perform inverse channel transformation on the target signal received by the receiving device to obtain an estimated target transmission signal;

[0063] In this embodiment, channel inverse transformation is performed on each received signal to obtain channel inverse transformation information. Indicates i The first device receives the target signal n Receive fragment signals, represents the estimated target transmission signal obtained by inverse channel transformation, t Represents time, the formula is as follows:

[0064]

[0065] Express i The first device receives the target signal n The channel inverse transform of the received segment signal is performed.

[0066] Step S206, determining the position measurement information of the target candidate position according to the result of similarity measurement between the known information in the target signal and the estimated target transmission signal;

[0067] In this embodiment, in this embodiment, the metric function is expressed as , Represents known information. Sending a signal on behalf of an estimated target;

[0068] when When it is the additive component information of the target transmission signal, for example, when the target transmission 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):

[0069] (1)

[0070] (2)

[0071] (3)

[0072] Where T is the signal length, yes The conjugate of , real() represents the real part operation, and abs() represents the modulo operation.

[0073] On this basis, the target signal sent by the target at the target candidate position, i The receiving device receives the n The metric information corresponding to the segment target signal is represented as the information sequence , , is the total number of segments.

[0074] 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.

[0075] The comprehensive similarity is expressed as W, and the calculation process is as follows:

[0076]

[0077] Among them, abs() represents the modulo operation.

[0078] 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:

[0079] at this time It can be calculated by the following function:

[0080]

[0081] Where T is the signal length, yes The conjugation of.

[0082] On this basis, the target sends the signal information sent by the target at the candidate target position. i The receiving device receives the n The metric information corresponding to the signal information sent by the segment target is represented as an information sequence , , is the total number of segments.

[0083] 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.

[0084] The comprehensive similarity is expressed as W, and the specific calculation process is as follows:

[0085]

[0086] 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.

[0087] When the target transmission signal is a compressed vector signal, the N-norm error distance integral can be selected. dt as the metric function.

[0088] Step S207, determining the positioning position of the target based on the position measurement information of several target candidate positions.

[0089] In this embodiment, the purpose of setting a time sliding window is that the arrival time offset TOA estimated by each receiving device after processing the received signal is a value with an estimation error. By setting the time sliding window, a relatively small floating interval of the arrival time offset TOA is obtained. This interval takes into account the influence of the arrival time offset TOA estimation error to ensure that the true arrival time offset TOA is included in the interval, so that when traversing all sliding time points in the interval, a result closer to the true arrival time offset TOA can be determined, thereby improving the final target positioning accuracy. In addition, setting the time sliding window can narrow the scope of time search and improve target positioning efficiency.

[0090] In another embodiment of the present invention, based on the correlation between the target signal received by the receiving device and the known information in the target signal, obtaining the arrival time offset of each receiving device relative to the uniformly designated start time of receiving the target signal includes: establishing a cost function, the cost function is used to characterize the correlation between the target signal received by the receiving device and the known information, the arrival time offset is the time delay when the target signal is received by the receiving device relative to the uniformly designated start time of receiving the target signal when the cost function value is maximum.

[0091] In one embodiment, the cost function is expressed as , the uniformly specified target signal reception start time is expressed as , the known information is expressed as , the formula is as follows:

[0092]

[0093] Indicates i The first device receives the target signal n Receive fragment signals, Indicates the time when the receiving device receives the target signal relative to The delay of sliding, The receiving device receives the target signal n The signal duration of each segment, Indicates known information The conjugate of t Indicates time, i Indicates i A receiving device, Represents the modulus of a complex number.

[0094] In another embodiment, if the signal is known It has the characteristics of periodic repetition, and the interval between each segment of the received signal is Repeat cycle is an integer multiple of It is expressed as follows:

[0095]

[0096] Indicates i The first receiving device receives the target signal n The arrival time offset TOA of each segment, Indicates the time when the receiving device receives the target signal relative to The delay of sliding, The receiving device receives the target signal n The signal duration of each segment, Indicates known information The conjugate of Indicates the sliding time that calculates the output to maximize the cost function value , Represents the modulus of a complex number;

[0097] On this basis, further calculations are as follows:

[0098] The arrival time offset TOA is expressed as :

[0099]

[0100] in N The receiving device receives the target signal. N A collection segment.

[0101] In another embodiment, taking into account the Doppler , the cost function is expressed as :

[0102]

[0103] Indicates i The first device receives the target signal n Receive fragment signals, Indicates the time when the receiving device receives the target signal relative to The delay of sliding, Indicates known information The conjugate of t Indicates time, i Indicates i A receiving device, represents the modulus of a complex number, Represents Doppler information.

[0104] In one embodiment of the present invention, the preset condition is to select the arrival time offset with the largest corresponding cost function value as the benchmark arrival time offset, and the two ends of the time sliding window are the benchmark arrival time offset minus the preset threshold and the benchmark arrival time offset plus the preset threshold, respectively, and the sliding step lengths between several sliding time points are the same.

[0105] In this embodiment, the time sliding window is expressed as , the reference arrival time offset is expressed as , the preset threshold is expressed as , the time sliding window is expressed as It is expressed as follows:

[0106]

[0107] In another embodiment, the preset threshold value may also be an adaptive threshold value. The larger the signal-to-noise ratio, The smaller the signal-to-noise ratio, the smaller the The bigger.

[0108] Furthermore, the sliding time point is expressed as , specifically expressed as follows:

[0109] Time sliding window Equally spaced sampling The arrival time offset of the receiving device is expressed as , then the mth sliding time point It is expressed as follows:

[0110]

[0111] In one embodiment of the present invention, the relative delay function is the difference between the delay of the receiving device and the delay of the receiving device that meets the preset conditions, including: the delay of the receiving device that meets the preset conditions is the average delay of the receiving device that meets the preset conditions within the signal receiving time, wherein the start time of the signal receiving time is the sum of the uniformly specified target signal reception start time and the sliding time point.

[0112] In this embodiment, the relative delay function is expressed as , the formula is as follows:

[0113] ,

[0114] ,

[0115] ,

[0116]

[0117] in, Indicates the uniformly designated target signal reception start time, The corresponding sliding moment, is the total time the receiving device receives the target signal, It is the delay information of the receiving device corresponding to the reference arrival time offset.

[0118] The target signal received by the receiving device may be a signal collected in segments at certain time intervals.

[0119] In this embodiment, if Figure 3 As shown, the relative delay function is used one by one with Doppler information to perform channel inverse transformation on the target signal received by the receiving device to obtain the estimated target transmission signal, including: Indicates i The receiving device receives the k The estimated target transmission signal corresponding to the target signal of sampling points is , is the total number of samples of the target signal received by the receiving device, and the channel inverse transformation of the target signal received by the receiving device is performed as follows:

[0120]

[0121] in, is the sampling point offset, represents the phase accumulation caused by Doppler frequency deviation, j represents the imaginary unit;

[0122]

[0123] in, is the sampling rate, is the sampling time interval, Indicates the uniformly designated target signal reception start time, The corresponding sliding moment;

[0124] The calculation process is as follows:

[0125] In some implementations, You can round it first, that is , at this time It can be directly approximated as .

[0126] In some implementations, No rounding, Need to be interpolated, such as linear interpolation:

[0127]

[0128]

[0129] in Integer index of the sampling point.

[0130] The calculation process is as follows:

[0131]

[0132] is the sampling time interval, At the sampling point The corresponding Doppler information , is the sampling time interval, The calculation process is as follows;

[0133]

[0134]

[0135] In one embodiment of the present invention, based on the results of correlation measurement between known information in the target signal and the estimated target transmitted signal, the position measurement information of the target candidate position is determined, including: the maximum value among the correlation measurement results of the estimated target transmitted signal corresponding to different relative delay functions is the position measurement information of the target candidate position.

[0136] In this embodiment, the position measurement information of the target candidate position is expressed as , the calculation process is as follows:

[0137]

[0138] For the i The similarity measurement result of the relative delay function corresponding to the sliding time point, Indicates shared Sliding moment, It means taking the maximum value of the correlation measurement results of the estimated target transmitted signal corresponding to different relative delay functions.

[0139] In one embodiment of the present invention, Figure 4As shown, determining the positioning position of the target based on the position measurement information of several target candidate positions includes: selecting several target candidate positions as coarse candidate target positions in a first set area, calculating the position measurement information corresponding to all coarse candidate target positions, determining a second set area around the coarse candidate target positions that meet the first filtering condition, selecting several target candidate positions as fine candidate target positions in the second set area, calculating the position measurement information corresponding to all fine candidate target positions, wherein the fine candidate target positions that meet the second filtering condition are the positioning positions of the target.

[0140] In one embodiment of the present invention, the area of ​​the first set region is larger than the area of ​​the second set region.

[0141] Exemplarily, the first screening condition and the second screening condition are both setting thresholds.

[0142] like Figure 5 As shown, the present invention also discloses a positioning device based on known target partial information, including:

[0143] An acquisition module 301 is used to acquire the time delay information and Doppler information between the receiving device and the target candidate position;

[0144] The arrival time offset determination module 302 is used to obtain the arrival time offset of each receiving device relative to the uniformly designated target signal reception start time according to the correlation between the target signal received by the receiving device and the known information in the target signal;

[0145] A time sliding window determination module 303 is used to confirm that the arrival time offset that meets the preset conditions is a reference arrival time offset, and to establish a time sliding window including a plurality of sliding time points with the reference arrival time offset as the center;

[0146] A relative delay module 304 is used to construct a relative delay function corresponding to each sliding time point, where the relative delay function is the difference between the delay of the receiving device and the delay of the receiving device that meets the preset conditions;

[0147] The target transmission signal estimation module 305 is used to perform channel inverse transformation on the target signals received by the receiving device by using the relative delay function and Doppler information one by one to obtain the estimated target transmission signal;

[0148] A measurement module 306 is used to determine the position measurement information of the target candidate position according to the results of similarity measurement between the known information in the target signal and the estimated target transmission signal;

[0149] The determination module 307 is used to determine the positioning position of the target according to the position measurement information of several target candidate positions.

[0150] The present invention also discloses an electronic device, such as Figure 6 As shown, an embodiment is disclosed, which is a block diagram of an electronic device suitable for positioning based on known target part information as described above.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] Embodiments of the present invention also include a computer program product.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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 positioning method based on partial information of a known target, characterized in that: include: Obtaining time delay information and Doppler information between the receiving device and the target candidate position; Obtaining, according to the correlation between the target signal received by the receiving device and the known information in the target signal, an arrival time offset of each receiving device relative to a uniformly designated target signal reception start time; Confirming that the arrival time offset that meets the preset conditions is a reference arrival time offset, and establishing a time sliding window including a plurality of sliding time points with the reference arrival time offset as the center; Constructing a relative delay function corresponding to each sliding time point, wherein the relative delay function is the difference between the delay of the receiving device and the delay of the receiving device that meets the preset condition; Using the relative delay function and the Doppler information one by one, performing inverse channel transformation on the target signal received by the receiving device to obtain an estimated target transmission signal; Determine the position measurement information of the target candidate position according to the results of similarity measurement between the known information in the target signal and the estimated target transmission signal; The positioning position of the target is determined according to the position measurement information of a plurality of the target candidate positions.

2. A positioning method based on known partial target information according to claim 1, characterized in that: The method of obtaining the arrival time offset of each receiving device relative to a uniformly designated start time of receiving the target signal based on the correlation between the target signal received by the receiving device and the known information in the target signal includes: establishing a cost function, wherein the cost function is used to characterize the correlation between the target signal received by the receiving device and the known information, and the arrival time offset is the time delay when the target signal is received by the receiving device relative to the uniformly designated start time of receiving the target signal when the value of the cost function is maximum.

3. A positioning method based on known target partial information according to claim 2, characterized in that: The preset condition is to select the arrival time offset corresponding to the largest cost function value as the benchmark arrival time offset, the two ends of the time sliding window are the benchmark arrival time offset minus the preset threshold and the benchmark arrival time offset plus the preset threshold, and the sliding step lengths between the several sliding time points are the same.

4. A positioning method based on known target partial information according to claim 1, characterized in that: The relative delay function is the difference between the delay of the receiving device and the delay of the receiving device that meets the preset conditions, including: the delay of the receiving device that meets the preset conditions is the average delay of the receiving device that meets the preset conditions within the signal receiving time, wherein the starting time of the signal receiving time is the sum of the uniformly designated target signal reception starting time and the sliding time point.

5. A positioning method based on known target partial information according to claim 1, characterized in that: The method of determining the position measurement information of the target candidate position based on the results of correlation measurement between the known information in the target signal and the estimated target sent signal includes: the maximum value among the correlation measurement results of the estimated target sent signal corresponding to different relative delay functions is the position measurement information of the target candidate position.

6. A positioning method based on known target partial information according to claim 1, characterized in that: The method of determining the positioning position of the target based on the position measurement information of the target candidate positions includes: selecting a plurality of the target candidate positions as coarse candidate target positions within a first set area, calculating the position measurement information corresponding to all the coarse candidate target positions, determining a second set area around the coarse candidate target positions that meet a first filtering condition, selecting a plurality of the target candidate positions as fine candidate target positions within the second set area, and calculating the position measurement information corresponding to all the fine candidate target positions, wherein the fine candidate target positions that meet the second filtering condition are the positioning positions of the target.

7. A positioning method based on known target partial information according to claim 6, characterized in that: The area of ​​the first set region is larger than the area of ​​the second set region.

8. A positioning device based on known partial information of a target, characterized in that: The device comprises: An acquisition module, used to acquire time delay information and Doppler information between the receiving device and the target candidate position; An arrival time offset determination module, configured to obtain an arrival time offset of each receiving device relative to a uniformly designated target signal reception start time according to a correlation between the target signal received by the receiving device and known information in the target signal; A time sliding window determination module, used to confirm that the arrival time offset that meets the preset conditions is a reference arrival time offset, and to establish a time sliding window including a plurality of sliding time points with the reference arrival time offset as the center; A relative delay module, used to construct a relative delay function corresponding to each sliding time point, wherein the relative delay function is the difference between the delay of the receiving device and the delay of the receiving device that meets the preset condition; A target transmission signal estimation module is used to use the relative delay function and the Doppler information one by one to perform channel inverse transformation on the target signal received by the receiving device to obtain an estimated target transmission signal; A measurement module, used to determine the position measurement information of the target candidate position according to the results of similarity measurement between the known information in the target signal and the estimated target transmission signal; A determination module is used to determine the positioning position of the target based on the position measurement information of several target candidate positions.

9. 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 perform the method according to any one of claims 1 to 7.

10. 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 7 is implemented.

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