Positioning method and system, communication equipment and computer readable storage medium

Abstract

The invention provides a positioning method and system, communication equipment and a computer readable storage medium, and relates to the technical field of wireless communication, and the method comprises the steps: receiving a detection instruction sent by a fixed monitoring station or a server; according to the detection instruction, approaching along a preset angle and detecting through a preset array antenna to obtain a second wireless signal including the target signal; and sending a target parameter corresponding to the target signal to a server, so that the server positions a target signal source corresponding to the target signal according to the target parameter. According to the technical scheme provided by the invention, the angle between the mobile monitoring station and the target signal source can be changed through continuous approaching of the mobile monitoring station in the detection process, so that the target signal source can be detected through different angles, the problem of inaccurate detection caused by interference of a building is avoided, and the detection accuracy is improved. The accuracy and reliability of detecting the target signal source can be improved.

Description

Technical Field

[0001] The present application belongs to the field of wireless communication technology, and in particular, relates to a positioning method, system, communication device, and computer-readable storage medium. Background Art

[0002] With the continuous development of wireless communication technology, the direction of the signal source transmitting the wireless signal can be determined by receiving the wireless signal, thereby achieving the direction of the signal source.

[0003] In the related art, multiple monitoring stations can respectively receive wireless signals and determine the time of arrival (TOA) or the time difference of arrival (TDOA) of the wireless signals, so that the direction of the signal source can be determined by calculation based on each TOA or TDOA.

[0004] However, in actual applications, wireless signals are interfered by buildings such as street buildings. For some signal sources, multiple monitoring stations may not be able to accurately orient the signal source, thus affecting the accuracy of locating the signal source. Summary of the invention

[0005] The present application provides a positioning method, system, communication device and computer-readable storage medium, which solve the problem in the prior art that wireless signals are interfered with by buildings such as street buildings, and multiple monitoring stations may not be able to accurately orient the signal source, thus affecting the accuracy of positioning the signal source.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a positioning method, which is applied to a mobile monitoring station of a positioning system, wherein the positioning system comprises: a server, at least one fixed monitoring station and at least one mobile monitoring station, and the method comprises:

[0008] receiving a detection instruction sent by the fixed monitoring station or the server, wherein the detection instruction is generated by the fixed monitoring station or the server in response to receiving a first wireless signal including a target signal;

[0009] According to the detection instruction, approach along a preset angle and detect through a preset array antenna to obtain a second wireless signal including the target signal;

[0010] The target parameters corresponding to the target signal are sent to the server, so that the server locates the target signal source corresponding to the target signal according to the target parameters.

[0011] Optionally, the approaching along a preset angle according to the detection instruction includes:

[0012] Obtaining a location field of the detection instruction;

[0013] If the location field includes coordinate information, approaching the location indicated by the coordinate information;

[0014] If the position field is empty, approach again along the preset angle.

[0015] Optionally, before sending the target parameter corresponding to the target signal to the server, the method further includes:

[0016] extracting the second wireless signal to obtain the target signal;

[0017] determining an interference type of the target signal;

[0018] If the interference type of the target signal is suppression interference, the target signal is suppressed.

[0019] Optionally, before sending the target parameter corresponding to the target signal to the server, the method further includes:

[0020] extracting the second wireless signal to obtain the target signal;

[0021] The target signal is analyzed to obtain the target parameter, which includes: a direction parameter and a time parameter, the direction parameter is used to indicate the direction of the target signal source, and the time parameter is used to indicate the time corresponding to the direction parameter.

[0022] Optionally, after analyzing the target signal to obtain the target parameter, the method further includes:

[0023] The time parameters are corrected by Coordinated Universal Time.

[0024] In a second aspect, an embodiment of the present application provides a positioning method, which is applied to a fixed monitoring station of a positioning system, wherein the positioning system comprises: a server, at least one of the fixed monitoring stations and at least one mobile monitoring station, and the method comprises:

[0025] Extracting the received first wireless signal to obtain a target signal;

[0026] generating and sending a detection instruction to the mobile monitoring station, wherein the detection instruction is used to control the mobile monitoring station to detect a target signal source corresponding to the target signal;

[0027] Sending target parameters corresponding to the target signal to the server, so that the server locates the source of the target signal according to the target parameters.

[0028] Optionally, before sending the target parameter corresponding to the target signal to the server, the method further includes:

[0029] determining an array antenna state, wherein the array antenna state is used to indicate whether the fixed monitoring station is equipped with an array antenna;

[0030] The target parameter is generated according to the array antenna state.

[0031] Optionally, generating the target parameter according to the array antenna state includes:

[0032] If the array antenna state indicates that the fixed monitoring station is not equipped with an array antenna, the target signal is analyzed to obtain the target parameter, wherein the target parameter includes: a direction parameter and a time parameter, wherein the direction parameter is used to indicate the direction of the target signal source, and the time parameter is used to indicate the time corresponding to the direction parameter;

[0033] If the array antenna state indicates that the fixed monitoring station is equipped with an array antenna, the target signal is directionally measured by the array antenna to generate the target parameters.

[0034] In a third aspect, an embodiment of the present application provides a positioning device, which is applied to a mobile monitoring station of a positioning system, wherein the positioning system comprises: a server, at least one fixed monitoring station and at least one mobile monitoring station, and the device comprises:

[0035] A receiving module, configured to receive a detection instruction sent by the fixed monitoring station or the server, wherein the detection instruction is generated by the fixed monitoring station or the server in response to receiving a first wireless signal including a target signal;

[0036] A detection module, configured to approach along a preset angle and detect through a preset array antenna according to the detection instruction to obtain a second wireless signal including the target signal;

[0037] The sending module is used to send the target parameters corresponding to the target signal to the server, so that the server locates the target signal source corresponding to the target signal according to the target parameters.

[0038] Optionally, the detection module is specifically used to obtain the location field of the detection instruction; if the location field includes coordinate information, approach the location indicated by the coordinate information; if the location field is empty, approach again along the preset angle.

[0039] Optionally, the device further comprises:

[0040] An extraction module, used to extract the second wireless signal to obtain the target signal;

[0041] A determination module, used to determine the interference type of the target signal;

[0042] The suppression module is used to suppress the target signal if the interference type of the target signal is suppression interference.

[0043] Optionally, the device further comprises:

[0044] An extraction module, used to extract the second wireless signal to obtain the target signal;

[0045] The analysis module is used to analyze the target signal to obtain the target parameters, which include: a direction parameter and a time parameter. The direction parameter is used to indicate the direction of the target signal source, and the time parameter is used to indicate the time corresponding to the direction parameter.

[0046] Optionally, the device further comprises:

[0047] The correction module is used to correct the time parameter through the coordinated universal time.

[0048] In a fourth aspect, an embodiment of the present application provides a positioning device, which is applied to a fixed monitoring station of a positioning system, wherein the positioning system comprises: a server, at least one of the fixed monitoring stations and at least one mobile monitoring station, and the device comprises:

[0049] An extraction module, used to extract the received first wireless signal to obtain a target signal;

[0050] A first sending module, used for generating and sending a detection instruction to the mobile monitoring station, wherein the detection instruction is used for controlling the mobile monitoring station to detect a target signal source corresponding to the target signal;

[0051] The second sending module is used to send the target parameters corresponding to the target signal to the server, so that the server locates the source of the target signal according to the target parameters.

[0052] Optionally, the device further comprises:

[0053] A determination module, used to determine an array antenna state, wherein the array antenna state is used to indicate whether the fixed monitoring station is equipped with an array antenna;

[0054] A generating module is used to generate the target parameter according to the array antenna state.

[0055] Optionally, the generating module is specifically used to analyze the target signal to obtain the target parameters if the array antenna status indicates that the fixed monitoring station is not equipped with an array antenna, and the target parameters include: a direction parameter and a time parameter, the direction parameter being used to indicate the direction of the target signal source, and the time parameter being used to indicate the moment corresponding to the direction parameter; if the array antenna status indicates that the fixed monitoring station is equipped with an array antenna, the target signal is directionally measured by means of the array antenna to generate the target parameters.

[0056] In a fifth aspect, an embodiment of the present application provides a positioning system, the positioning system comprising: a server, at least one fixed monitoring station and at least one mobile monitoring station;

[0057] The fixed monitoring station extracts the received first wireless signal to obtain a target signal;

[0058] The fixed monitoring station generates and sends a detection instruction to the mobile monitoring station;

[0059] The fixed monitoring station sends the target parameter corresponding to the target signal to the server;

[0060] The mobile monitoring station receives the detection instruction, and approaches and detects along a preset angle according to the detection instruction to obtain a second wireless signal including the target signal;

[0061] The mobile monitoring station sends the target parameter corresponding to the target signal to the server;

[0062] The server locates the target signal source corresponding to the target signal according to the target parameter sent by the fixed monitoring station and the target parameter sent by the mobile monitoring station.

[0063] In a sixth aspect, an embodiment of the present application provides a communication device, comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute a method as described in any one of the first aspect, or to execute a method as described in any one of the second aspect when calling the computer program.

[0064] In the seventh aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the method described in any one of the first aspect is implemented, or the method described in any one of the second aspect is implemented.

[0065] A positioning method provided by an embodiment of the present application forms a positioning system through a server, at least one fixed monitoring station and at least one mobile monitoring station. Any mobile monitoring station can receive a detection instruction sent by a fixed monitoring station or a server, and then approach and detect along a preset angle according to the detection instruction to obtain a second wireless signal including a target signal. The mobile monitoring station can then send the target parameter corresponding to the target signal in the second wireless signal to the server, so that the server can locate the target signal source corresponding to the target signal according to the target parameter. By the mobile monitoring station continuously approaching during the detection process, the angle between the mobile monitoring station and the target signal source can be changed, so that the target signal source can be detected from different angles, avoiding the problem of inaccurate detection caused by interference from buildings, and improving the accuracy and reliability of detecting the target signal source. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1A A schematic diagram of a scenario of a positioning system involved in a positioning method proposed in an embodiment of the present application;

[0067] Figure 1B A schematic flow chart of generating target parameters proposed in an embodiment of the present application;

[0068] Figure 2 A schematic flow chart of a positioning method provided in an embodiment of the present application;

[0069] Figure 3 A schematic flow chart of detection by a mobile monitoring station provided in an embodiment of the present application;

[0070] Figure 4 A schematic diagram of an approach of a mobile monitoring station provided in an embodiment of the present application;

[0071] Figure 5 A schematic diagram of another approach of a mobile monitoring station provided in an embodiment of the present application;

[0072] Figure 6 A structural block diagram of a positioning device provided in an embodiment of the present application;

[0073] Figure 7 A structural block diagram of another positioning device provided in an embodiment of the present application;

[0074] Figure 8 A schematic diagram of the structure of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0075] In the following description, specific details such as specific system structures, technologies, etc. are proposed for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known communication technologies, wireless positioning technologies, positioning algorithms, and communication devices are omitted to prevent unnecessary details from hindering the description of the present application.

[0076] The terms used in the following embodiments are only for the purpose of describing specific embodiments and are not intended to be limiting of the present application. As used in the specification and appended claims of the present application, the singular expressions "a", "said", "above", and "the" are intended to also include expressions such as "one or more", unless the context clearly indicates otherwise.

[0077] With the continuous development of wireless communication technology, the direction of the signal source transmitting the wireless signal can be determined by receiving the wireless signal, thereby achieving the direction of the signal source.

[0078] In the related art, multiple monitoring stations can receive wireless signals respectively and determine the arrival time or differential arrival time of the wireless signals, so that the direction of the signal source can be determined based on calculations of each TOA or TDOA.

[0079] However, in actual applications, wireless signals are interfered by buildings such as street buildings. For some signal sources, multiple monitoring stations may not be able to accurately orient the signal source, thus affecting the accuracy of locating the signal source.

[0080] Therefore, the embodiment of the present application proposes a positioning method, which forms a positioning system through a server, at least one fixed monitoring station and at least one mobile monitoring station. Any mobile monitoring station can receive a detection instruction sent by a fixed monitoring station or a server, and then approach and detect along a preset angle according to the detection instruction to obtain a second wireless signal including a target signal. The mobile monitoring station can send the target parameters corresponding to the target signal in the second wireless signal to the server, so that the server can locate the target signal source corresponding to the target signal according to the target parameters. By the mobile monitoring station constantly approaching during the detection process, the angle between the mobile monitoring station and the target signal source can be changed, so that the target signal source can be detected from different angles, avoiding the problem of inaccurate detection caused by interference from buildings, and improving the accuracy and reliability of detecting the target signal source.

[0081] See also Figure 1A , Figure 1AA scenario diagram of a positioning system involved in a positioning method proposed in an embodiment of the present application, the positioning system may include: at least one fixed monitoring station 110, at least one mobile monitoring station 120, a server 130 and at least one signal source 140.

[0082] Each signal source 140 can send out a wireless signal, and a wireless signal sent out by a certain signal source 140 may interfere with wireless signals sent out by other signal sources 140 , thereby affecting the reception of other wireless signals.

[0083] Therefore, during the application process, the fixed monitoring station 110 can receive the first wireless signal and analyze the received first wireless signal. If it is determined that the first wireless signal includes the target signal, the fixed monitoring station 110 can generate a detection instruction and send the detection instruction to the mobile monitoring station 120. The target signal can be a wireless signal sent by other signal sources 140, which will affect the fixed monitoring station 110 receiving the first wireless signal.

[0084] Accordingly, the mobile monitoring station 120 can approach along a preset angle according to the received detection instruction, and detect through the array antenna pre-set in the mobile monitoring station 120 to obtain the second wireless signal. Afterwards, the mobile monitoring station 120 can analyze the second wireless signal to obtain the target parameter corresponding to the target signal, and then forward the target parameter to the server 130.

[0085] Similarly, after determining that the first wireless signal includes the target signal, the fixed monitoring station 110 may also generate a target parameter according to the target signal and forward the target parameter to the server 130 .

[0086] The server 130 can respectively receive the target parameters sent by the fixed monitoring station 110 and the mobile monitoring station 120, and perform calculations based on the received target parameters to obtain the target direction corresponding to each target parameter, and then calculate the position of the target signal source corresponding to the target signal based on the positions of the fixed monitoring station 110 and the mobile monitoring station 120 and the intersection between the two target directions.

[0087] The server 130 may also generate and send a detection instruction to the mobile monitoring station 120 according to the location of the target signal source, and the mobile monitoring station 120 may extract the location of the target signal source according to the location field in the detection instruction, so as to approach the target signal source.

[0088] It should be noted that in actual applications, the mobile monitoring station 120 can continuously receive the second wireless signal while approaching the target signal source, and continuously generate and send target parameters to the server 130 based on the second wireless signal, so that it can continuously receive the detection instructions fed back by the server 130, and then can continuously adjust the approach direction of the mobile monitoring station 120 according to the location field in the detection instruction received each time.

[0089] Correspondingly, when the distance between the mobile monitoring station 120 and the target signal source is less than a preset distance, the mobile monitoring station 120 can photograph the target signal source to obtain an image corresponding to the target signal source, so that the staff can process the target signal source according to the photographed image.

[0090] In addition, in actual applications, the monitoring station can be set in a drone, electric vehicle or other device that can approach, and combined to obtain a mobile monitoring station 120, so that the mobile monitoring station 120 can continuously approach according to the received detection instructions. The embodiment of the present application does not specifically limit the device that can approach in the mobile monitoring station 120.

[0091] In addition, the mobile monitoring station 120 is equipped with an array antenna, while the fixed monitoring station 110 may or may not be equipped with an array antenna. Accordingly, the fixed monitoring station 110 may also generate target parameters in different ways depending on whether it is equipped with an array antenna.

[0092] The following describes the process of generating target parameters by the fixed monitoring station 110 by taking the fixed monitoring station 110 equipped with an array antenna as an example. Figure 1B , Figure 1B A schematic flow chart of generating target parameters proposed in an embodiment of the present application, applied to Figure 1A In the fixed monitoring station 110 shown in FIG. , the method includes:

[0093] Step 101: extract a received first wireless signal to obtain a target signal.

[0094] The target signal may be a wireless signal emitted by a target signal source, which may affect the fixed monitoring station from receiving the first wireless signal.

[0095] During the operation of the positioning system, the fixed monitoring station can continuously receive the first wireless signal and analyze the first wireless signal received each time to determine whether the first wireless signal includes the target signal, so that in subsequent steps, the fixed monitoring station can determine whether it is necessary to generate a detection instruction to control the mobile monitoring station to continue detection based on the analysis results.

[0096] Specifically, after receiving the first wireless signal, the fixed monitoring station can first analyze and extract various parameters in the first wireless signal, and then cluster the data corresponding to each parameter. If a parameter is clustered into multiple categories, it means that the first wireless signal may include a target signal. Correspondingly, the fixed monitoring station can extract the data with a smaller clustering ratio after clustering various parameters to obtain the target signal.

[0097] Of course, in practical applications, the fixed monitoring station may also extract the target signal from the first wireless signal in other ways, and the embodiment of the present application does not specifically limit the way of extracting the target signal.

[0098] Step 102: Determine the array antenna status.

[0099] The array antenna status is used to indicate whether the fixed monitoring station is equipped with an array antenna.

[0100] After extracting the target signal, the fixed monitoring station can first obtain the array antenna state and then generate the target parameters, so that in subsequent steps, the target parameters can be generated in different ways according to the array antenna state.

[0101] Specifically, the fixed monitoring station can obtain preset configuration parameters, find the field corresponding to the array antenna status from the configuration parameters, and then determine whether the fixed monitoring station is equipped with an array antenna based on the field, thereby determining the array antenna status of the fixed monitoring station.

[0102] For example, the field corresponding to the array antenna status may be "0" or "1". If the field is "0", it may indicate that the fixed monitoring station is not equipped with an array antenna; if the field is "1", it may indicate that the fixed monitoring station is equipped with an array antenna.

[0103] Step 103: Generate target parameters according to the array antenna state.

[0104] After determining the array antenna state, the fixed monitoring station can generate target parameters in different ways according to whether the array antenna is installed. The following takes the fixed monitoring station equipped with an array antenna as an example to illustrate the process of generating target parameters for the fixed monitoring station.

[0105] If the array antenna state indicates that the fixed monitoring station is equipped with an array antenna, the target signal can be directionally measured through the array antenna to obtain the direction corresponding to the target signal source, so that the target parameters can be generated according to the data corresponding to the direction, and then the target parameters can be sent to the server.

[0106] The target signal source is a signal source that transmits the target signal.

[0107] It should be noted that the embodiment of the present application is explained by taking the example of a fixed monitoring station generating and sending target parameters after extracting the target signal. In actual applications, the timing of the fixed monitoring station generating and sending the target parameters to the server can be adjusted according to the steps performed by the mobile monitoring station, so that the server can be positioned according to the target parameters sent by the mobile monitoring station and the fixed monitoring station respectively. The embodiment of the present application does not specifically limit the timing of the fixed monitoring station generating and sending the target parameters to the server.

[0108] Accordingly, the above application embodiment is described by taking the generation of target parameters by a fixed monitoring station as an example, and the following takes the positioning system as an example to introduce in detail the process of positioning the fixed monitoring station, the mobile monitoring station and the server.

[0109] Figure 2 A schematic flowchart of a positioning method provided in an embodiment of the present application is provided as an example rather than a limitation. Figure 2 , the method comprising:

[0110] Step 201: The fixed monitoring station extracts the received first wireless signal to obtain a target signal.

[0111] The process of step 201 is similar to that of step 101 and will not be described again here.

[0112] Step 202: The fixed monitoring station generates and sends a detection instruction to the mobile monitoring station.

[0113] The detection instruction is used to control the mobile monitoring station to detect the target signal source corresponding to the target signal.

[0114] After determining that the first wireless signal includes the target signal, the fixed monitoring station can generate a detection instruction, so that the mobile monitoring station can be controlled by the detection instruction to detect the target signal source corresponding to the target signal, thereby completing the positioning of the target signal source. The target signal source is the signal source that transmits the target signal.

[0115] Moreover, in the process of generating the detection instruction, the fixed monitoring station can also add some parameters of the target signal to the detection instruction, so that the mobile monitoring station can extract the same target signal according to the detection instruction during the detection process.

[0116] Step 203: The fixed monitoring station determines the array antenna status.

[0117] The array antenna status is used to indicate whether the fixed monitoring station is equipped with an array antenna.

[0118] The process of step 203 is similar to that of step 102 and will not be described again here.

[0119] Step 204: The fixed monitoring station generates target parameters according to the array antenna status.

[0120] After determining whether the fixed monitoring station is equipped with an array antenna, it can operate according to the target signal in different ways according to different array antenna states, thereby obtaining target parameters generated by different data.

[0121] If the array antenna state indicates that the fixed monitoring station is not equipped with an array antenna, the fixed monitoring station can analyze the target signal to obtain multiple signal parameters corresponding to the target signal. Afterwards, the fixed monitoring station can screen the multiple signal parameters corresponding to the target signal according to a preset parameter standard to obtain a target parameter that meets the parameter standard.

[0122] The target parameter may include: a direction parameter and a time parameter. The direction parameter is used to indicate the direction of the target signal source, and the time parameter is used to indicate the time corresponding to the direction parameter.

[0123] However, if the array antenna state indicates that the fixed monitoring station is equipped with an array antenna, the fixed monitoring station can perform direction finding on the target signal through the array antenna to generate target parameters. The process of generating target parameters when the fixed monitoring station is equipped with an array antenna is similar to the process of generating target parameters in step 103, and will not be repeated here.

[0124] Step 205: The fixed monitoring station sends target parameters corresponding to the target signal to the server, so that the server locates the source of the target signal according to the target parameters.

[0125] After generating the target parameters, the fixed monitoring station can send the generated target parameters to the server, so that in subsequent steps, the server can complete the positioning of the target signal source based on the target parameters sent by the fixed monitoring station and the target parameters sent by the mobile monitoring station.

[0126] It should be noted that, the present application is explained by taking the example that the fixed monitoring station executes step 203 and step 204 after completing step 202. In actual applications, the fixed monitoring station may execute step 203 and step 204 at any time before the mobile monitoring station executes step 211, or the fixed monitoring station may execute step 203 and step 204 at the same time as the mobile monitoring station executes step 211. Of course, the fixed monitoring station may execute step 203 and step 204 after executing step 201 and before executing step 202, or it may execute step 203 and step 204 at the same time as the fixed monitoring station executes step 202. The embodiment of the present application does not specifically limit the timing of the fixed monitoring station executing step 203 and step 204.

[0127] Step 206: The mobile monitoring station receives a detection instruction sent by the fixed monitoring station or the server.

[0128] The detection instruction is generated by a fixed monitoring station or a server in response to receiving a first wireless signal including a target signal.

[0129] Corresponding to step 205, the mobile monitoring station may receive the detection instruction sent by the fixed monitoring station, so that the target signal may be detected in subsequent steps through the detection instruction, thereby locating the source of the target signal.

[0130] It should be noted that in actual applications, the server will also generate a detection instruction and send the generated detection instruction to the mobile monitoring station. After receiving the target parameters sent by the fixed monitoring station and the mobile monitoring station respectively, the server can locate the target signal source according to the two target parameters, and thus can generate a detection instruction according to the positioning result and send the detection instruction to the mobile monitoring station.

[0131] Step 207: The mobile monitoring station approaches along a preset angle according to the detection instruction and detects through a preset array antenna to obtain a second wireless signal including a target signal.

[0132] After receiving the detection instruction, the mobile monitoring station can detect according to the detection instruction and use the array antenna to obtain the second wireless signal, so that in the subsequent steps, the mobile monitoring station can generate target parameters according to the target signal in the second wireless signal.

[0133] Since the detection instructions are sent by fixed monitoring stations or servers, mobile monitoring stations can use different methods to detect according to different sending ends. Figure 3 , Figure 3 A schematic flow chart of a mobile monitoring station performing detection provided in an embodiment of the present application, step 207 may include the following steps:

[0134] Step 207a: Obtain the location field of the detection instruction.

[0135] The mobile monitoring station may first identify the location field in the detection instruction, and then obtain the parameters corresponding to the location field, so as to determine whether the detection instruction is sent by the fixed monitoring station or the server according to the parameters corresponding to the location field.

[0136] For example, the parameter corresponding to the location field may be "(x, y)", "(0, 0)" or a null value. If the parameter corresponding to the location field is the coordinate information "(x, y)", it may indicate that the detection instruction includes the location of the target signal source, indicating that the detection instruction is generated by the server; if the parameter corresponding to the location field is the coordinate information "(0, 0)", it may indicate that the server did not identify the location of the target signal source, indicating that the detection instruction is generated by the server; if the parameter corresponding to the location field is a null value, it means that the detection instruction is generated by a fixed monitoring station.

[0137] Step 207b: If the location field includes coordinate information, approach the location indicated by the coordinate information.

[0138] Corresponding to step 207a, if the location field obtained by the mobile monitoring station includes coordinate information, it means that the detection instruction is sent by the server. The mobile monitoring station can approach according to the location indicated by the coordinate information, and continue to detect and feedback to the server during the approach process, and continue to receive the detection instructions continuously sent by the server, so that the approach direction of the mobile monitoring station can be corrected according to the coordinate information in the detection instruction until the distance between the mobile monitoring station and the target signal source is less than the preset distance.

[0139] Correspondingly, when the distance between the mobile monitoring station and the target signal source is less than a preset distance, the mobile monitoring station can photograph the target signal source to obtain an image corresponding to the target signal source, so that the staff can process the target signal source based on the photographed image.

[0140] For example, see Figure 4 , Figure 4 A schematic diagram of an approach of a mobile monitoring station is provided in an embodiment of the present application. After the mobile monitoring station 120 receives the detection command sent by the fixed monitoring station 110, it approaches point A from the fixed monitoring station 110 along a preset angle, and then approaches point B toward the target signal source 140 after receiving the detection command sent by the server.

[0141] It should be noted that if the coordinate information in the detection instruction (such as (0, 0)) does not indicate a clear location, it means that the server has not identified the location of the target signal source, and the mobile monitoring station can approach along a pre-set preset angle and continue detecting.

[0142] It should also be noted that the mobile monitoring station can perform detection periodically during the approach process. For example, the mobile monitoring station can periodically detect the target signal based on time or approach distance. Of course, the mobile monitoring station can also perform periodic detection in other ways, and the embodiments of the present application do not specifically limit this.

[0143] Step 207c: If the location field is empty, approach again along the preset angle.

[0144] However, different from step 207b, when the location field obtained by the mobile monitoring station is a null value, it indicates that the detection instruction is generated by the fixed monitoring station, and the mobile monitoring station can approach according to a preset angle.

[0145] Wherein, a first connection line may be formed between the mobile monitoring station and the fixed monitoring station, and a second connection line may be formed between the fixed monitoring station and the target signal source, and the preset angle may be the angle between the first connection line and the second connection line. For example, if the preset angle is 90 degrees, the mobile monitoring station may approach along an angle perpendicular to the second connection line after receiving the detection instruction.

[0146] Moreover, during the approach process, the mobile monitoring station can periodically detect and photograph the target signal source. This process is similar to the process in step 207b and will not be repeated here.

[0147] Step 208: The mobile monitoring station extracts the second wireless signal to obtain a target signal.

[0148] The process of step 208 is similar to that of step 201 and will not be described again here.

[0149] It should be noted that the mobile monitoring station can also determine the interference type of the target signal after extracting the target signal, so as to determine whether the target signal needs to be suppressed according to different interference types.

[0150] If the interference type of the target signal is suppression interference, it means that the target signal has a greater impact on the fixed monitoring station receiving the first wireless signal, and the mobile monitoring station can suppress the target signal through the array antenna installed. If the interference type of the target signal is deception interference, it means that the target signal has a smaller impact on the fixed monitoring station receiving the first wireless signal, and there is no need to suppress the target signal.

[0151] Step 209: The mobile monitoring station analyzes the target signal to obtain target parameters.

[0152] The process of obtaining the target parameters in step 209 is similar to the process of obtaining the target parameters in step 204. The target parameters obtained in step 209 may also include: direction parameters and time parameters. The direction parameters are used to indicate the direction of the target signal source, and the time parameters are used to indicate the moment corresponding to the direction parameters. They will not be repeated here.

[0153] Step 210: The mobile monitoring station corrects the time parameters using the Coordinated Universal Time.

[0154] Since the mobile monitoring station obtains the second wireless signal through array antenna detection, and the fixed monitoring station may be equipped with an array antenna or may not be equipped with an array antenna, the mobile monitoring station can adjust the time parameters in the target parameters before sending the target parameters to the server to reduce the time error between different target parameters, thereby improving the accuracy of locating the target signal source.

[0155] Specifically, the mobile monitoring station can compare the coordinated universal time with the current time to obtain the time error between the two, and then adjust the time parameter in the target parameter according to the time error to complete the correction of the time parameter.

[0156] Step 211: The mobile monitoring station sends target parameters corresponding to the target signal to the server, so that the server locates the target signal source corresponding to the target signal according to the target parameters.

[0157] The process of sending the target parameters to the server in step 211 is similar to the process of sending the target parameters to the server in step 205, and will not be repeated here.

[0158] Correspondingly, after receiving the target parameters sent by the mobile monitoring station and the fixed monitoring station respectively, the server can perform positioning according to the two target parameters, determine the position of the target signal source, and generate and send a detection instruction to the mobile monitoring station based on the position of the target signal source, so that the mobile monitoring station can perform part of the actions in step 206, extract the position of the target signal source according to the position field in the detection instruction, and thus approach the target signal source.

[0159] It should be noted that the above description uses the example of a positioning system including a mobile monitoring station and a fixed monitoring station. In actual applications, positioning can be performed through multiple mobile monitoring stations and multiple fixed monitoring stations in combination with a server. The embodiments of the present application do not limit the number of mobile monitoring stations and fixed monitoring stations.

[0160] For example, see Figure 5 , Figure 5 A schematic diagram of another approach of a mobile monitoring station provided in an embodiment of the present application, if the positioning system includes two mobile monitoring stations 120, and the preset angle is pre-set to 90 degrees, then after the two mobile monitoring stations 120 receive the detection command issued by the fixed monitoring station 110, based on the preset angle of 90 degrees, the two mobile monitoring stations 120 can approach point A and point B respectively along two directions of the same straight line, thereby performing detection at point A and point B respectively.

[0161] In summary, a positioning method proposed in an embodiment of the present application forms a positioning system through a server, at least one fixed monitoring station and at least one mobile monitoring station. Any mobile monitoring station can receive a detection instruction sent by a fixed monitoring station or a server, and then approach and detect along a preset angle according to the detection instruction to obtain a second wireless signal including a target signal. The mobile monitoring station can then send the target parameters corresponding to the target signal in the second wireless signal to the server, so that the server can locate the target signal source corresponding to the target signal according to the target parameters. By continuously approaching the mobile monitoring station during the detection process, the angle between the mobile monitoring station and the target signal source can be changed, so that the target signal source can be detected from different angles, avoiding the problem of inaccurate detection caused by interference from buildings, and improving the accuracy and reliability of detecting the target signal source.

[0162] Moreover, by correcting the time parameters in the target parameters by using the coordinated universal time, the time error between the target parameters generated by the mobile monitoring station and the target parameters generated by the fixed monitoring station can be reduced, thereby further improving the accuracy of locating the target signal source.

[0163] In addition, by determining the type of the target signal, when the type of the target signal is interference suppression, the target signal is suppressed, thereby reducing the interference caused by the target signal.

[0164] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0165] Corresponding to the positioning method described in the above embodiment, Figure 6 This is a structural block diagram of a positioning device provided in an embodiment of the present application. For the sake of convenience of explanation, only the parts related to the embodiment of the present application are shown.

[0166] See also Figure 6 , the device comprises:

[0167] The receiving module 601 is used to receive a detection instruction sent by the fixed monitoring station or the server, where the detection instruction is generated by the fixed monitoring station or the server in response to receiving a first wireless signal including a target signal;

[0168] A detection module 602 is used to approach along a preset angle and detect through a preset array antenna according to the detection instruction to obtain a second wireless signal including the target signal;

[0169] The sending module 603 is used to send the target parameters corresponding to the target signal to the server, so that the server locates the target signal source corresponding to the target signal according to the target parameters.

[0170] Optionally, the detection module 602 is specifically used to obtain the location field of the detection instruction; if the location field includes coordinate information, approach the location indicated by the coordinate information; if the location field is empty, approach again along the preset angle.

[0171] Optionally, the device further comprises:

[0172] An extraction module 604 is used to extract the second wireless signal to obtain the target signal;

[0173] A determination module 605 is used to determine the interference type of the target signal;

[0174] The suppression module 606 is configured to suppress the target signal if the interference type of the target signal is suppression interference.

[0175] Optionally, the device further comprises:

[0176] An extraction module 604 is used to extract the second wireless signal to obtain the target signal;

[0177] The analysis module 607 is used to analyze the target signal to obtain the target parameters, which include: a direction parameter and a time parameter. The direction parameter is used to indicate the direction of the target signal source, and the time parameter is used to indicate the time corresponding to the direction parameter.

[0178] Optionally, the device further comprises:

[0179] The correction module 608 is used to correct the time parameter by using the Coordinated Universal Time.

[0180] In summary, a positioning device proposed in an embodiment of the present application forms a positioning system through a server, at least one fixed monitoring station and at least one mobile monitoring station. Any mobile monitoring station can receive a detection instruction sent by a fixed monitoring station or a server, and then approach and detect along a preset angle according to the detection instruction to obtain a second wireless signal including a target signal. The mobile monitoring station can then send the target parameters corresponding to the target signal in the second wireless signal to the server, so that the server can locate the target signal source corresponding to the target signal according to the target parameters. By the mobile monitoring station continuously approaching during the detection process, the angle between the mobile monitoring station and the target signal source can be changed, so that the target signal source can be detected from different angles, avoiding the problem of inaccurate detection caused by interference from buildings, and improving the accuracy and reliability of detecting the target signal source.

[0181] Figure 7 This is a structural block diagram of another positioning device provided in an embodiment of the present application. For the sake of convenience of explanation, only the parts related to the embodiment of the present application are shown.

[0182] See also Figure 7 , the device comprises:

[0183] An extraction module 701 is used to extract the received first wireless signal to obtain a target signal;

[0184] A first sending module 702, configured to generate and send a detection instruction to the mobile monitoring station, wherein the detection instruction is used to control the mobile monitoring station to detect a target signal source corresponding to the target signal;

[0185] The second sending module 703 is used to send the target parameters corresponding to the target signal to the server, so that the server locates the source of the target signal according to the target parameters.

[0186] Optionally, the device further comprises:

[0187] A determination module 704 is used to determine an array antenna state, where the array antenna state is used to indicate whether the fixed monitoring station is equipped with an array antenna;

[0188] The generating module 705 is used to generate the target parameter according to the array antenna state.

[0189] Optionally, the generation module 705 is specifically used to analyze the target signal to obtain the target parameters if the array antenna state indicates that the fixed monitoring station is not equipped with an array antenna, and the target parameters include: a direction parameter and a time parameter, the direction parameter is used to indicate the direction of the target signal source, and the time parameter is used to indicate the moment corresponding to the direction parameter; if the array antenna state indicates that the fixed monitoring station is equipped with an array antenna, the target signal is directionally measured by the array antenna to generate the target parameters.

[0190] In summary, a positioning device proposed in an embodiment of the present application forms a positioning system through a server, at least one fixed monitoring station and at least one mobile monitoring station. Any fixed monitoring station can first extract the received first wireless signal to obtain the target signal, and then generate and send a detection instruction to the mobile monitoring station, so that the mobile monitoring station approaches and detects along a preset angle according to the detection instruction, and feeds back the target parameters to the target server. Moreover, the fixed monitoring station can also send the target parameters corresponding to the target signal in the first wireless signal to the server, so that the server can locate the target signal source corresponding to the target signal according to the target parameters. By sending the detection instruction to the mobile monitoring station by the fixed monitoring station during the detection process, the angle between the mobile monitoring station and the target signal source can be changed, so that the mobile monitoring station can be controlled to detect the target signal source at different angles, avoiding the problem of inaccurate detection caused by interference from buildings, and improving the accuracy and reliability of detecting the target signal source.

[0191] Based on the same inventive concept, an embodiment of the present application also provides a communication device. Figure 8 A schematic diagram of the structure of a communication device provided in an embodiment of the present application, such as Figure 8 As shown, the communication device provided in this embodiment includes: a memory 81 and a processor 82, the memory 81 is used to store a computer program 83; the processor 82 is used to execute the method described in the above method embodiment when calling the computer program 83.

[0192] The communication device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0193] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method described in the above method embodiment is implemented.

[0194] The embodiment of the present application also provides a computer program product. When the computer program product is run on a communication device, the communication device implements the method described in the above method embodiment when executing the computer program product.

[0195] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, USB flash drive, mobile hard disk, disk or optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0196] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0197] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0198] In the embodiments provided in the present application, it should be understood that the disclosed devices / equipment and methods can be implemented in other ways. For example, the device / equipment embodiments described above are merely schematic, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0199] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0200] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0201] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0202] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0203] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0204] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 application.

Claims

1. A positioning method, characterized in that: A mobile monitoring station applied to a positioning system, the positioning system comprising: a server, at least one fixed monitoring station and at least one mobile monitoring station, the method comprising: receiving a detection instruction sent by the fixed monitoring station or the server, wherein the detection instruction is generated by the fixed monitoring station or the server in response to receiving a first wireless signal including a target signal; According to the detection instruction, approach along a preset angle and detect through a preset array antenna to obtain a second wireless signal including the target signal; The target parameters corresponding to the target signal are sent to the server, so that the server locates the target signal source corresponding to the target signal according to the target parameters.

2. The method according to claim 1, characterized in that The step of approaching along a preset angle according to the detection instruction comprises: Obtaining a location field of the detection instruction; If the location field includes coordinate information, approaching the location indicated by the coordinate information; If the position field is empty, approach again along the preset angle.

3. The method according to claim 1, characterized in that Before sending the target parameter corresponding to the target signal to the server, the method further includes: extracting the second wireless signal to obtain the target signal; determining an interference type of the target signal; If the interference type of the target signal is suppression interference, the target signal is suppressed.

4. The method according to claim 1, characterized in that: Before sending the target parameter corresponding to the target signal to the server, the method further includes: extracting the second wireless signal to obtain the target signal; The target signal is analyzed to obtain the target parameter, which includes: a direction parameter and a time parameter, the direction parameter is used to indicate the direction of the target signal source, and the time parameter is used to indicate the time corresponding to the direction parameter.

5. The method according to claim 4, characterized in that After analyzing the target signal to obtain the target parameter, the method further includes: The time parameters are corrected by Coordinated Universal Time.

6. A positioning method, characterized in that: A fixed monitoring station applied to a positioning system, the positioning system comprising: a server, at least one of the fixed monitoring stations and at least one mobile monitoring station, the method comprising: Extracting the received first wireless signal to obtain a target signal; generating and sending a detection instruction to the mobile monitoring station, wherein the detection instruction is used to control the mobile monitoring station to detect a target signal source corresponding to the target signal; Sending target parameters corresponding to the target signal to the server, so that the server locates the source of the target signal according to the target parameters.

7. The method according to claim 6, characterized in that Before sending the target parameter corresponding to the target signal to the server, the method further includes: determining an array antenna state, wherein the array antenna state is used to indicate whether the fixed monitoring station is equipped with an array antenna; The target parameter is generated according to the array antenna state.

8. The method according to claim 7, characterized in that The generating the target parameter according to the array antenna state comprises: If the array antenna state indicates that the fixed monitoring station is not equipped with an array antenna, the target signal is analyzed to obtain the target parameter, wherein the target parameter includes: a direction parameter and a time parameter, wherein the direction parameter is used to indicate the direction of the target signal source, and the time parameter is used to indicate the time corresponding to the direction parameter; If the array antenna state indicates that the fixed monitoring station is equipped with an array antenna, the target signal is directionally measured by the array antenna to generate the target parameters.

9. A positioning system, characterized in that: The positioning system comprises: a server, at least one fixed monitoring station and at least one mobile monitoring station; The fixed monitoring station extracts the received first wireless signal to obtain a target signal; The fixed monitoring station generates and sends a detection instruction to the mobile monitoring station; The fixed monitoring station sends the target parameter corresponding to the target signal to the server; The mobile monitoring station receives the detection instruction, and approaches and detects along a preset angle according to the detection instruction to obtain a second wireless signal including the target signal; The mobile monitoring station sends the target parameter corresponding to the target signal to the server; The server locates the target signal source corresponding to the target signal according to the target parameter sent by the fixed monitoring station and the target parameter sent by the mobile monitoring station.

10. A communication device, characterized in that: include: A memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the method according to any one of claims 1 to 5, or execute the method according to any one of claims 6 to 8 when calling the computer program.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented, or the method according to any one of claims 6 to 8 is implemented.

Images