Signal arrival time difference measurement method and system, electronic equipment and storage medium

Abstract

The invention provides a signal arrival time difference measurement method and system, electronic equipment and a storage medium. The method comprises the steps that each signal receiver receives a target signal transmitted by a target signal source; sampling the target signal received by each signal receiver to obtain a corresponding sampling data set; based on the sampling data set corresponding to each signal receiver, obtaining the average arrival time of the target signal arriving at the corresponding signal receiver; and based on the average arrival time of the target signal arriving at each signal receiver, obtaining the time difference of the target signal arriving at any two stations. According to the invention, the measured time difference between the target signal and each far-end receiving station is more accurate.

Description

Technical Field

[0001] The present invention relates to the field of positioning control technology, and in particular to a signal arrival time difference measurement method, system, electronic equipment and storage medium. Background Art

[0002] The distributed positioning system uses remote receiving stations distributed in different locations to receive the signals transmitted by the target, and locates the target by measuring the time when the target signal arrives at each remote receiving station or the time difference between stations. The multipoint positioning system is a typical distributed positioning system. The system locates the target by measuring the time difference between the target signal arriving at each remote receiving station and using the time difference positioning system. Therefore, the performance of the system's remote receiving station in detecting the target signal and measuring the arrival time directly determines the system's positioning performance.

[0003] The multi-point positioning system in actual use uses remote receiving stations distributed in different locations to receive target signals, which are mainly A / C / S mode response signals. The system measures the time when the A / C / S mode response signals sent by the target arrive at each remote receiving station, calculates the time difference between the signals arriving at each remote receiving station, and then uses the time difference positioning system to locate the target. The remote receiving station measures the arrival time of the target A / C / S mode response signal, usually using the signal pulse leading edge detection method, that is, when the rising edge level of the signal pulse reaches or exceeds a certain preset threshold, the signal is determined to have arrived and the timing point is used as the target signal arrival time. This target signal arrival determination and time measurement method may cause errors in the measured target signal arrival time due to two reasons. One is that the rising edge level of the signal pulse is advanced or delayed to reach the preset detection threshold due to sudden interference; the other is that the rising edge of the signal pulse is widened due to the multipath effect, and the level delay reaches the preset detection threshold. The target signal arrival time measurement errors caused by these two reasons will ultimately directly lead to errors in the positioning results.

[0004] By detecting the leading edge of the target signal pulse and measuring the arrival time of the target signal, the absolute arrival time of the target signal arriving at a remote receiving station of the positioning system is measured. In this way, the measurement errors caused by the above two reasons cannot be completely avoided in practice. However, for the multi-point positioning system, because the system uses a time difference positioning system to locate the target, it is more important to accurately measure the time difference between the target signal arriving at each remote receiving station than to measure the absolute arrival time of the target signal arriving at each remote receiving station. Therefore, how to accurately measure the time difference between the target signal arriving at each remote receiving station of the multi-point positioning system to reduce the error introduced by the detection of the leading edge of the target signal pulse and the measurement of the arrival time is an important issue that needs to be solved to further improve the positioning accuracy of the multi-point positioning system. Summary of the invention

[0005] In view of the above technical problems, the technical solution adopted by the present invention is:

[0006] According to a first aspect of the present invention, a method for measuring a signal arrival time difference is provided, the method comprising the following steps:

[0007] S100, each signal receiver receives a target signal transmitted by a target signal source.

[0008] S200, when the i-th signal receiver receives the target signal, the received target signal is sampled to obtain a corresponding sampling data set D i =(V i , T i ), V i is the target signal level sampling sequence collected by the i-th signal receiver, V i = {v i1 , v i2 , ..., v ir , ..., v in}, T i V i The corresponding sampling timing sequence, T i ={t i1 , t i2 ,……,t ir ,……,t in},v ir is the rth sampling time t ir The level of the sampled target signal, r is 1 to n, n is the preset number of sampling points, i is 1 to m, m is the number of signal receivers.

[0009] S300, based on D i Determine the response signal type of the target signal, and based on the determined response signal type and D i Determine the number of sampling points N required by the i-th signal receiver to calculate the average arrival time of the target signal i .

[0010] S400, based on D i and N i Get the average arrival time TOA of the target signal to the i-th signal receiver i .

[0011] S500, based on TOA i and TOA j Get the time difference △TDOA ij As the time difference between the target signal arriving at the i-th signal receiver and the j-th signal receiver, △TDOA ij =(TOA i -TOA j), the value of j ranges from 1 to m.

[0012] According to a second aspect of the present invention, a signal arrival time difference measurement system is provided, the system comprising: m signal receiving subsystems and a signal arrival time difference calculation module, each signal receiving subsystem comprising a signal receiver, a clock, a signal sampling module and a signal arrival time calculation module; wherein each signal receiver is used to receive a target signal emitted by a target signal source and send it to a corresponding signal sampling module; the signal sampling module corresponding to the i-th signal receiver is used to sample the received target signal to obtain a corresponding sampling data set D i And sent to the corresponding signal arrival time calculation module, D i =(V i , T i ), V i is the target signal level sampling sequence collected by the i-th signal receiver, V i = {v i1 , v i2 , ..., v ir , ..., v in}, T i V i The corresponding sampling timing sequence, T i ={t i1 , t i2 ,……,t ir ,……,t in},v ir is the rth sampling time t ir The target signal level obtained by sampling, r is 1 to n, n is the preset sampling point number, i is 1 to m, m is the number of signal receivers; the signal arrival time calculation module corresponding to the i-th signal receiver is used to calculate the signal arrival time based on D i Determine the response signal type of the target signal, and based on the determined response signal type and D i Determine the number of sampling points N required by the i-th signal receiver to calculate the average arrival time of the target signal i , and based on D i and N i Get the average arrival time TOA of the target signal to the i-th signal receiver i The signal arrival time difference calculation module is used based on TOA i and TOA j Get the time difference △TDOA ij As the time difference between the target signal reaching the i-th signal receiver and the j-th signal receiver, △TDOA ij =(TOA i -TOA j ), the value of j ranges from 1 to m.

[0013] According to a third aspect of the present invention, there is provided an electronic device comprising a processor and a memory; the processor is used to execute the steps of the method described in the first aspect of the present invention by calling a program or instruction stored in the memory.

[0014] According to a fourth aspect of the present invention, there is provided a non-transitory computer-readable storage medium storing a program or instructions, wherein the program or instructions enable a computer to execute the steps of the method described in the first aspect of the present invention.

[0015] The present invention has at least the following beneficial effects:

[0016] The signal arrival time difference measurement method provided by the embodiment of the present invention obtains a corresponding sampling data set by sampling and timing the target signal level received by the signal receiver multiple times, and then uses the sampling data set to calculate the average arrival time of the target signal to each signal receiver, rather than just using one timing point as the arrival time. In this way, even if there is an impact due to burst interference or multipath effect, it will not have a serious impact on the arrival time measurement of the target signal, that is, it can ensure that the arrival time measurement of the target signal to each signal receiver is more accurate.

[0017] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A flow chart of a signal arrival time difference measurement method provided by an embodiment of the present invention;

[0020] Figure 2 This is a structural block diagram of a signal arrival time difference measurement system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0023] It should be noted that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the steps as sequential processes, many of the steps can be implemented in parallel, concurrently or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0024] In view of the fact that the method of detecting the leading edge of the target signal pulse and measuring the arrival time of the target signal may cause errors in the measured arrival time of the target signal due to the influence of burst interference or multipath effects, and such errors cannot be completely avoided in practice, an embodiment of the present invention provides a signal arrival time difference measurement method, which is applied to a multi-point positioning system, and can help reduce the impact of such errors and improve the system positioning accuracy.

[0025] The signal arrival time difference measurement method provided by the embodiment of the present invention calculates the average arrival time of the target signal at each remote receiving station by sampling and timing the target signal, such as the A / C / S mode reply signal level, arriving at each remote receiving station of the multi-point positioning system for multiple times, and then calculates the time difference between the target signal arriving at each remote receiving station based on the average arrival time of the target signal measured at each remote receiving station, thereby more accurately measuring the time difference between the target signal arriving at each remote receiving station. Further, if Figure 1 As shown, the signal arrival time difference measurement method provided by the embodiment of the present invention may include the following steps:

[0026] S100, each signal receiver receives a target signal transmitted by a target signal source.

[0027] In the embodiment of the present invention, the signal receiver may be deployed in a remote receiving station in the multi-point positioning system.

[0028] In the embodiment of the present invention, the target signal source may be a signal source capable of generating a response signal, and may be an A-mode response signal, a C-mode response signal, or an S-mode response signal.

[0029] In the embodiment of the present invention, each signal receiver is provided with a signal detection threshold. If the received signal level is greater than or equal to the signal detection threshold, it indicates that the target signal is received. The signal detection threshold may be an empirical value or may be determined according to the usage scenario, and the present invention does not specifically limit it.

[0030] S200, when the i-th signal receiver receives the target signal, the received target signal is sampled to obtain a corresponding sampling data set D i =(V i , T i ), V i is the target signal level sampling sequence collected by the i-th signal receiver, V i = {v i1 , v i2 , ..., v ir , ..., v in}, T i V i The corresponding sampling timing sequence, T i ={t i1 , t i2 ,……,t ir ,……,t in},v ir is the rth sampling time t ir The level of the sampled target signal, r is 1 to n, n is the preset number of sampling points, i is 1 to m, m is the number of signal receivers.

[0031] In an exemplary embodiment of the present invention, according to the International Civil Aviation Organization standard (ICAO Annex 10), the maximum duration of the A / C / S mode reply signal for target positioning is 120 μs of the S mode 112 information bit reply signal, and n is set according to this maximum duration, that is, n=rounddown (120 μs / t S ), rounddown() means round down, t s The preset sampling time interval.

[0032] In the embodiment of the present invention, according to the International Civil Aviation Organization standard (ICAO Annex 10), the shortest duration of the A / C / S mode reply signal pulse used for target positioning is 0.35 μs of the A / C mode reply signal, and the corresponding maximum frequency is 2.857 MHz. The signal is sampled according to the sampling law, that is, the sampling time interval should satisfy: t c ≤t s≤0.175μs, t c is the preset clock cycle. In practical applications, the setting of the clock cycle and the sampling time interval should be a compromise between performance and efficiency, and the sampling time interval should be an integer multiple of the clock cycle.

[0033] According to the International Civil Aviation Organization standard (ICAO Annex 10), the pulse rise time of the A / C / S mode reply signal used for target positioning is 0.05μs to 0.1μs. In order to ensure that the signal is sampled and timed for the first time when the signal pulse front level reaches the detection threshold, the clock period should meet the following requirements: t c ≤0.05μs.

[0034] S300, based on D i Determine the response signal type of the target signal, and based on the determined response signal type and D i Determine the number of sampling points N required by the i-th signal receiver to calculate the average arrival time of the target signal i .

[0035] Furthermore, S300 specifically includes:

[0036] S301, from V i In the above example, we obtain the level v corresponding to the p1th sampling moment. ip1 , the level v corresponding to the p2th sampling moment ip2 , the level v corresponding to the p3th sampling moment ip3 , the level v corresponding to the p4th sampling moment ip4 and the level v corresponding to the p5th sampling moment ip5 ; Among them, p1 = rounddown (1.25μs / t S ), p2 = rounddown (3.75 μs / t S ), p3 = rounddown (4.75 μs / t S ), p4 = rounddown (64.25 μs / t S ), p5 = rounddown (64.75 μs / t S ).

[0037] Those skilled in the art will appreciate that p1 to p5 may be determined based on ICAO standards.

[0038] S302, if v ip1 、v ip2 and v ip3 At least one of them is low level, it is determined that the response signal type of the target signal is an A mode response signal or a C mode response signal, and S303 is executed. If v ip1 、v ip2and v ip3 If both are high level, it is determined that the response signal type of the target signal is an S-mode response signal, and S304 is executed.

[0039] S303, set N i =rounddown(20.3μs / t S ).

[0040] S304, if v ip4 and v ip5 At least one of them is high level, it is determined that the response signal type of the target signal is an S mode 112 information bit response signal, and N is set i =n; if v ip4 and v ip5 All are low level, confirm that the response signal type of the target signal is S mode 56 information bit response signal, set N i =rounddown(64μs / t S ).

[0041] S400, based on D i and N i Get the average arrival time TOA of the target signal to the i-th signal receiver i .

[0042] In the embodiment of the present invention, TOA i The following conditions must be met:

[0043] TOA i =(∑ H r＝1 v ir ×t ir ) / ∑ H r＝1 v ir H=N i (1).

[0044] S500, based on TOA i and TOA j Get the time difference △TDOA ij The time difference between the target signal reaching the i-th signal receiver and the j-th signal receiver. The value of j ranges from 1 to m.

[0045] △TDOA ij The following conditions must be met:

[0046] △TDOA ij =(TOA i -TOA j ) (2).

[0047] The signal arrival time difference measurement method provided by the embodiment of the present invention obtains a corresponding sampling data set by sampling and timing the target signal level received by the signal receiver multiple times, and then uses the sampling data set to calculate the average arrival time of the target signal to each signal receiver, rather than just using one timing point as the arrival time. In this way, even if there is an impact due to burst interference or multipath effect, it will not have a serious impact on the arrival time measurement of the target signal, that is, it can ensure that the arrival time measurement of the target signal to each signal receiver is more accurate.

[0048] One application scenario of the signal arrival time difference measurement method provided by the embodiment of the present invention is a multi-point positioning system. In a specific application, the time difference between the target signal arriving at each signal receiver can be measured by the method provided by the present invention to locate the position of the target signal source. The specific positioning method can adopt the existing method, which is not described in detail in the present invention. Since the method provided by the embodiment of the present invention can accurately measure the time difference between the target signal arriving at each signal receiver, the positioning accuracy of the multi-point positioning system can be improved.

[0049] (Example)

[0050] In this embodiment, a multipoint positioning system with three remote receiving stations is used to receive the target A / C / S mode reply signal, the average arrival time of the target signal at the three remote receiving stations is measured, and the time difference between the target signal arriving at the 1-2, 1-3, and 2-3 remote receiving station pairs is calculated.

[0051] The implementation conditions are set as follows: the distance difference between the target signal source and remote receiving stations 1 and 2 is 150m, and the distance difference between the target signal source and remote receiving stations 1 and 3 is 450m. Theoretically, the time difference between the target signal reaching remote receiving stations 1 and 2 is 500ns, the time difference between the target signal reaching remote receiving stations 1 and 3 is 1500ns, and the time difference between the target signal reaching remote receiving stations 2 and 3 can be calculated to be 1000ns. In this embodiment, the target signal source randomly sends an A / C / S mode reply signal with a signal-to-noise ratio of 20dB, and multiple tests are performed to obtain the statistical characteristics of the system time difference measurement results.

[0052] In this embodiment, the method for measuring the arrival time difference of signals of three remote receiving stations may include the following steps:

[0053] The signal detection threshold R=6db is set for the three remote receiving stations. When the signal level is greater than or equal to 6dB, it is determined that the target signal is received.

[0054] Set the clock period t c =10ns, sampling time interval t s= 150ns, where the sampling time interval is 15 times of the clock period, and the preset sampling point number n = 800. The received target signal level is sampled and timed, the target signal level sampling sequence is V, and the corresponding sampling timing sequence is T.

[0055] The target response signal type is determined according to the target signal level sampling sequence, and the target signal average arrival time is calculated using the corresponding target signal level sampling sequence and the corresponding sampling timing sequence.

[0056] In the target signal level sampling sequence of this embodiment, if v8, v 25 and v 31 If one of the three sampling levels is low, the target signal is the A / C mode response signal, and the number of sampling points used to calculate the average arrival time of the target signal is 135. 25 and v 31 If the three sampling levels are all high, the target signal is an S-mode response signal, and v 428 and v 431 If one of the two sampling levels is high, the target signal is an S-mode 112 information bit response signal, and the number of samples used to calculate the average arrival time of the target signal is 800.

[0057] If v8, v 25 and v 31 The three sampling levels are all high, and v 428 and v 431 If both sampling levels are low, the target signal is an S-mode 56-information-bit response signal, and the number of samples used to calculate the average arrival time of the target signal is 426.

[0058] The above formula (1) is used to calculate the average arrival time of the target signal at the three remote receiving stations.

[0059] Based on the average arrival time of the target signal measured by the three remote receiving stations, the time difference between the target signal arriving at the remote receiving station pair is calculated using the above formula (2).

[0060] In this embodiment, the target signal source randomly transmits A / C / S mode response signals 1000 times, and the system receives and measures the time difference between the target signals arriving at three remote receiving station pairs. The measurement results are shown in Table 1.

[0061] Table 1

[0062] Remote receiving station site pair 1-2 1-3 2-3 Theoretical time difference (ns) 500 1500 1000 Measured time difference mean (ns) 499.9 1499.7 1000.1 Measured time difference standard deviation (ns) 11.9 11.4 11.6

[0063] Based on the same inventive concept, an embodiment of the present invention provides a signal arrival time difference measurement system, such as Figure 2As shown, the system includes: m signal receiving subsystems 1 and a signal arrival time difference calculation module 2, each signal receiving subsystem includes a signal receiver 101, a clock 102, a signal sampling module 103 and a signal arrival time calculation module 104.

[0064] Among them, each signal receiver is used to receive the target signal emitted by the target signal source and send it to the corresponding signal sampling module.

[0065] The signal sampling module corresponding to the i-th signal receiver is used to sample the received target signal to obtain the corresponding sampling data set D i And sent to the corresponding signal arrival time calculation module, D i =(V i , T i ), V i is the target signal level sampling sequence collected by the i-th signal receiver, V i = {v i1 , v i2 , ..., v ir , ..., v in}, T i V i The corresponding sampling timing sequence, T i ={t i1 , t i2 ,……,t ir ,……,t in},v ir is the rth sampling time t ir The target signal level obtained by sampling, r is 1 to n, n is the preset number of sampling points, i is 1 to m, m is the number of signal receivers.

[0066] The signal arrival time calculation module corresponding to the i-th signal receiver is used to calculate the signal arrival time based on D i Determine the response signal type of the target signal, and based on the determined response signal type and D i Determine the number of sampling points N required by the i-th signal receiver to calculate the average arrival time of the target signal i , and based on D i and N i Get the average arrival time TOA of the target signal to the i-th signal receiver i .

[0067] The signal arrival time difference calculation module is used to calculate the signal arrival time difference based on TOA. i and TOA j Get the time difference △TDOA ij As the time difference between the target signal reaching the i-th signal receiver and the j-th signal receiver, △TDOA ij=(TOA i -TOA j ), j ranges from 1 to m. The device can be used to perform Figure 1 Therefore, for the functions that can be realized by each functional module of the device, please refer to Figure 1 The description of the illustrated embodiment is not repeated in detail.

[0068] An embodiment of the present invention also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are configured to execute the method described in the embodiment of the present invention.

[0069] The embodiment of the present invention further provides a non-transitory computer-readable storage medium storing computer-executable instructions, wherein the computer instructions are used to execute the method described in the embodiment of the present invention.

[0070] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0071] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for measuring a signal arrival time difference, characterized in that: The method comprises the following steps: S100, each signal receiver receives a target signal transmitted by a target signal source; S200, when the i-th signal receiver receives the target signal, the received target signal is sampled to obtain a corresponding sampling data set D i =(V i , T i ), V i is the target signal level sampling sequence collected by the i-th signal receiver, V i = {v i1 , v i2 , ..., v ir , ..., v in }, T i V i The corresponding sampling timing sequence, T i ={t i1 , t i2 ,……,t ir ,……,t in },v ir is the rth sampling time t ir The level of the sampled target signal, r is 1 to n, n is the number of preset sampling points, i is 1 to m, m is the number of signal receivers; S300, based on D i Determine the response signal type of the target signal, and based on the determined response signal type and D i Determine the number of sampling points N required by the i-th signal receiver to calculate the average arrival time of the target signal i ; S400, based on D i and N i Get the average arrival time TOA of the target signal to the i-th signal receiver i ; S500, based on TOA i and TOA j Get the time difference △TDOA ij As the time difference between the target signal reaching the i-th signal receiver and the j-th signal receiver, △TDOA ij =(TOA i -TOA j ), the value of j ranges from 1 to m.

2. The method according to claim 1, characterized in that The target signal is an A-mode response signal, a C-mode response signal or an S-mode response signal.

3. The method according to claim 2, characterized in that n=rounddown(120μs / t S ), rounddown() means round down.

4. The method according to claim 3, characterized in that S300 specifically includes: S301, from V i In the above example, we obtain the level v corresponding to the p1th sampling moment. ip1 , the level v corresponding to the p2th sampling moment ip2 , the level v corresponding to the p3th sampling moment ip3 , the level v corresponding to the p4th sampling moment ip4 and the level v corresponding to the p5th sampling moment ip5 ; Among them, p1 = rounddown (1.25μs / t S ), p2 = rounddown (3.75 μs / t S ), p3 = rounddown (4.75 μs / t S ), p4 = rounddown (64.25 μs / t S ), p5 = rounddown (64.75 μs / t S ), t s is the preset sampling time interval; S302, if v ip1 、v ip2 and v ip3 At least one of them is low level, it is determined that the response signal type of the target signal is an A mode response signal or a C mode response signal, and S303 is executed. If v ip1 、v ip2 and v ip3 All are high level, it is determined that the response signal type of the target signal is an S-mode response signal, and S304 is executed; S303, set N i =rounddown(20.3μs / t S ); S304, if v ip4 and v ip5 At least one of them is high level, it is determined that the response signal type of the target signal is an S mode 112 information bit response signal, and N is set i =n; if v ip4 and v ip5 All are low level, confirm that the response signal type of the target signal is S mode 56 information bit response signal, set N i =rounddown(64μs / t S ).

5. The method according to claim 2, characterized in that: WARRIOR i =(∑ H r＝1 v ir ×t ir ) / ∑ H r＝1 v ir ,H=N i 。 6. The method according to claim 3, characterized in that t c ≤t s ≤0.175μs, t c is the preset clock period.

7. A signal arrival time difference measurement system, characterized in that: The system comprises: m signal receiving subsystems and a signal arrival time difference calculation module, each signal receiving subsystem comprises a signal receiver, a clock, a signal sampling module and a signal arrival time calculation module; Wherein, each signal receiver is used to receive the target signal emitted by the target signal source and send it to the corresponding signal sampling module; The signal sampling module corresponding to the i-th signal receiver is used to sample the received target signal to obtain the corresponding sampling data set D i And sent to the corresponding signal arrival time calculation module, D i =(V i , T i ), V i is the target signal level sampling sequence collected by the i-th signal receiver, V i = {v i1 , v i2 , ..., v ir , ..., v in }, T i V i The corresponding sampling timing sequence, T i ={t i1 , t i2 ,……,t ir ,……,t in },v ir is the rth sampling time t ir The target signal level obtained by sampling, r is 1 to n, n is the preset number of sampling points, i is 1 to m, m is the number of signal receivers; The signal arrival time calculation module corresponding to the i-th signal receiver is used to calculate the signal arrival time based on D i Determine the response signal type of the target signal, and based on the determined response signal type and D i Determine the number of sampling points N required by the i-th signal receiver to calculate the average arrival time of the target signal i , and based on D i and N i Get the average arrival time TOA of the target signal to the i-th signal receiver i ; The signal arrival time difference calculation module is used to calculate the signal arrival time difference based on TOA. i and TOA j Get the time difference △TDOA ij As the time difference between the target signal reaching the i-th signal receiver and the j-th signal receiver, △TDOA ij =(TOA i -TOA j ), the value of j ranges from 1 to m.

8. An electronic device, characterized in that: including a processor and a memory; The processor is used to execute the steps of the method according to any one of claims 1 to 6 by calling the program or instruction stored in the memory.

9. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium is used to store a program or instruction, and the program or instruction enables a computer to execute the steps of the method according to any one of claims 1 to 6.

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