Positioning method and device and computer readable storage medium

Abstract

The invention discloses a positioning method and device and a computer readable storage medium. The positioning method is applied to a main anchor point and comprises the following steps: sending a first signal to a target node; receiving a second signal sent by the target node, wherein the second signal is a feedback signal of the first signal; receiving a first measurement result sent by the target node, wherein the first measurement result is generated by the target node based on the received first signal; generating a second measurement result based on the second signal; composite information sent by at least one auxiliary anchor point is received, a first composite measurement result indicated by the composite information is generated by the auxiliary anchor point based on a first auxiliary measurement result and a second auxiliary measurement result in a composite mode, and the first auxiliary measurement result is generated when the auxiliary anchor point monitors and measures the first signal; the second auxiliary measurement result is generated by monitoring and measuring the second signal by the auxiliary anchor point; and determining the position of the target node according to the first measurement result, the second measurement result and the first composite measurement result.

Description

Technical Field

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

[0002] With the rapid development of the Internet of Things, smart devices and wireless communication technologies, more and more scenarios need to rely on more accurate positioning. For example, the core technologies of smart cities, the Internet of Things, warehousing and logistics field search, industrial automation, smart medical centers, digital car key positioning, retail industry and emergency warning systems, etc., all need to rely on more accurate positioning technology to provide personalized services and optimize user experience.

[0003] Related art proposes a multi-anchor positioning method to achieve more accurate positioning services. The multi-anchor positioning method can determine the location of the target node by measuring the distance between the target node and multiple known position anchors, and using these distance values ​​and the coordinates of the anchors.

[0004] In the above multi-anchor positioning method, the target node needs to interact with each anchor point in turn to determine the distance between each anchor point and the target node, thereby determining the location of the target node. Therefore, the measurement time required for multi-anchor positioning will continue to increase with the increase in the number of anchor points, thus affecting the overall efficiency of positioning. Summary of the invention

[0005] In view of this, the embodiments of the present application are directed to providing a positioning method, device, and computer-readable storage medium.

[0006] In a first aspect, a positioning method is provided, which is applied to a primary anchor point, and the method includes: sending a first signal to a target node; receiving a second signal sent by the target node, where the second signal is a feedback signal of the first signal; receiving a first measurement result sent by the target node, where the first measurement result is generated by the target node based on the received first signal; generating a second measurement result based on the second signal; receiving composite information sent by at least one auxiliary anchor point, where the first composite measurement result indicated by the composite information is compositely generated by the auxiliary anchor point based on the first auxiliary measurement result and the second auxiliary measurement result, where the first auxiliary measurement result is generated by the auxiliary anchor point monitoring the first signal and measuring, and the second auxiliary measurement result is generated by the auxiliary anchor point monitoring the second signal and measuring; and determining the position of the target node according to the first measurement result, the second measurement result and the first composite measurement result.

[0007] According to the first aspect, the first composite measurement result is obtained by conjugate multiplying the first auxiliary measurement result and the second auxiliary measurement result.

[0008] According to the first aspect, or any implementation of the first aspect above, the position of the target node is determined according to the first measurement result, the second measurement result and the first composite measurement result, including: conjugate multiplying the first composite measurement result and the second measurement result to obtain a second composite measurement result; and determining the position of the target node based on the second composite measurement result.

[0009] According to the first aspect, or any implementation of the first aspect above, determining the position of the target node based on the second composite measurement result includes: estimating a first value using the second composite measurement result; estimating a second distance based on the second measurement result; calculating the first distance based on the first value, the second distance and the third distance; determining the position of the target node based on the first distance; wherein the distance between the auxiliary anchor point and the target node is the first distance, the distance between the main anchor point and the target node is the second distance, the distance between the main anchor point and the auxiliary anchor point is the third distance, and the third distance minus the first distance plus the second distance is equal to the first value.

[0010] According to the first aspect, or any implementation of the first aspect above, before sending a first signal to the target node, the method also includes: sending a first initialization frame to the target node, so that the target node completes one or more of the following operations: measuring SINR, the number of synchronization word error bits; and / or, receiving a second initialization frame sent by the target node, so that the main anchor point completes one or more of the following: time offset estimation, frequency offset estimation.

[0011] According to the first aspect, or any implementation method of the first aspect above, the first signal is sent using the local oscillator of the main anchor point at the kth frequency point; the second signal is sent using the local oscillator of the target node at the kth frequency point; the kth frequency point belongs to multiple frequency points, and the signals sent by the local oscillators of the multiple frequency points are all used to determine the position of the target node.

[0012] In a second aspect, the present application provides a positioning method, which is applied to a secondary anchor point, and the method includes: receiving a first signal sent by a primary anchor point; based on the first signal, measuring and generating a first auxiliary measurement result; receiving a second signal sent by a target node; based on the second signal, measuring and generating a second auxiliary measurement result; compositely generating the first auxiliary measurement result and the second auxiliary measurement result to obtain a first composite measurement result; and sending a first composite measurement result indicating the first composite measurement result to the primary anchor point to determine the position of the target node.

[0013] In a third aspect, the present application provides a positioning device, which runs on an auxiliary anchor point, and the positioning device includes: a sending unit, used to send a first signal to a target node; a receiving unit, used to receive a second signal sent by the target node, the second signal being a feedback signal of the first signal; receiving a first measurement result sent by the target node, the first measurement result being generated by the target node based on the received first signal; receiving composite information sent by at least one auxiliary anchor point, the first composite measurement result indicated by the composite information being compositely generated by the auxiliary anchor point based on the first auxiliary measurement result and the second auxiliary measurement result, the first auxiliary measurement result being generated by the auxiliary anchor point monitoring the first signal and measuring, and the second auxiliary measurement result being generated by the auxiliary anchor point monitoring the second signal and measuring; a positioning unit, used to determine the position of the target node according to the first measurement result, the second measurement result and the first composite measurement result, the second measurement result being generated by the main anchor point based on the second signal.

[0014] In a third aspect, the present application provides a positioning device, which includes a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the computer program is executed by the processor, it implements the positioning method as described in the first aspect or any one of the possible implementation methods of the first aspect.

[0015] In a fifth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the processor executes a positioning method such as the first aspect or any one of the possible implementations of the first aspect.

[0016] In a sixth aspect, an embodiment of the present application provides a computer program, which includes instructions for executing the positioning method in the first aspect and any possible implementation of the first aspect.

[0017] In the present application, the main anchor point can determine the position of the target node in combination with the first composite measurement result sent by the auxiliary anchor point, the first measurement result generated by the target node based on the first signal, and the second measurement result generated by the main anchor point based on the second signal. Among them, the first composite measurement result can be generated by at least one auxiliary anchor point monitoring the transmission signal (equivalent to the first signal and the second signal) between the main anchor point and the target node, and measuring the transmission signal. Therefore, in the present application, for the first composite measurement result sent by the auxiliary anchor point, the auxiliary anchor point may not send a signal to the target node, but only monitors and measures the signal sent between the main anchor point and the target node to obtain the measurement result. Based on this, the present application can reduce the time used for sending signals between the auxiliary anchor point and the target node, thereby shortening the time for multiple anchor points to locate the target node. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1The figure is a schematic flow chart of a multi-anchor positioning method.

[0019] Figure 2 A schematic flowchart of another multi-anchor positioning method provided in an embodiment of the present application.

[0020] Figure 3 A schematic flowchart of another multi-anchor positioning method provided in an embodiment of the present application.

[0021] Figure 4 A schematic flowchart of another multi-anchor positioning method provided in an embodiment of the present application.

[0022] Figure 5 A schematic flowchart of another multi-anchor positioning method provided in an embodiment of the present application.

[0023] Figure 6 A schematic diagram of a positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0025] The technical solution of the embodiment of the present application can be applied to various communication systems, such as: the fifth generation (5th generation, 5G) system or new radio (newradio, NR), long term evolution (long termevolution, LTE) system, LTE frequency division duplex (frequency division duplex, FDD) system, LTE time division duplex (time division duplex, TDD), universal mobile telecommunication system (universal mobile telecommunication system, UMTS), worldwide interoperability for microwave access (worldwide interoperability for microwave access, WiMAX) communication system, future sixth generation (6th generation, 6G) system, etc. The technical solution of the embodiment of the present application can also be applied to device to device (device to device, D2D) communication, side link (side link, SL) communication, vehicle-to-everything (vehicle-to-everything, V2X) communication, machine to machine (machine to machine, M2M) communication, machine type communication (machine type communication, MTC), and Internet of things (Internet of things, IoT) communication system or other communication systems, etc.

[0026] The present application may provide a method for locating a target node. The target node is described below. The target node may be a node to be located. For example, the target node may be a communication device having a wireless transceiver function and a communication transmission capability, and may represent a redistribution point or a communication endpoint (such as a terminal device). The target node may be, for example, a user equipment UE, a terminal device, a terminal, a wireless communication device, a user agent or a user device. The target node may also be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PAD), a handheld device with a wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a wearable device, a terminal device in a 5G cellular network, or a terminal device in a public land mobile communication network (PLMN). From the perspective of product form, the target node in the embodiment of the present application may be a device supporting an NR air interface, in particular a terminal device, such as a mobile phone, a computer, a tablet, a bracelet, a smart watch, a data card, a sensor and other devices.

[0027] The anchor point in the embodiment of the present application can locate the target node. The anchor point can be a device with a known position, and the position of the target node can be determined based on the measurement result of the anchor point and the position of the anchor point. For example, the anchor point and the target node can exchange signals, and the anchor point can measure the signal sent by the target node. The position of the target node can be determined by combining the measurement results of multiple anchor points and the position coordinates of the anchor point. For example, it can include Bluetooth low energy (bluetooth low energy, BLE) devices, sparklink low energy (sparklink low energy, SLE) devices, etc. For another example, the anchor point can also be a hotspot, a home base station, a transmission point (transmission point, TP), a relay, etc.

[0028] It should be understood that in the embodiments of the present application, there is no special limitation on the specific forms of the target node and the anchor point, which are merely illustrative.

[0029] In today's highly digitalized and Internet-popularized society, the demand for location-based services (LBS) is growing. With the rapid development of the Internet of Things, smart devices, and wireless communication technologies, more and more scenarios need to rely on more accurate positioning to provide personalized services. For example, the core technologies of smart cities, the Internet of Things, warehousing and logistics, industrial automation, smart medical centers, digital car key positioning, retail, and emergency warning systems, etc., all need to rely on more accurate positioning technology to provide personalized services and optimize user experience.

[0030] In related technologies, it is proposed that a multi-anchor positioning method can be used to obtain more accurate positioning. The multi-anchor positioning method can measure the distance between the target node and multiple known position anchors, and use these distance values ​​and the coordinates of the anchors, combined with positioning algorithms (such as triangulation, multilateration or fingerprint positioning), to obtain the precise position of the target node in three-dimensional space, thereby providing personalized services and optimized user experience for specific targets.

[0031] For example, in indoor navigation, it is possible to combine pre-arranged multiple anchor points and channel sounding (CS) technology to achieve more accurate positioning of the target node. Among them, CS technology can use phase ranging (PBR) or round-trip time (RTT) of the signal to achieve distance measurement. When CS is combined with multiple anchor points for positioning, the channel sounding data between the target node and each anchor point can be integrated, and the position data of the target node can be further corrected to achieve higher-precision positioning. It should be understood that this positioning method can be implemented under a variety of communication protocols, such as BLE protocol, SLE protocol, etc.

[0032] The multi-anchor positioning method can use multiple anchors with known positions to more effectively send signals to the target node from different angles and positions, thereby improving the accuracy of positioning. However, in the multi-anchor positioning method, the target node needs to measure the distance with each anchor point in turn, and finally locate the target node based on the measurement data of each anchor point and the target node.

[0033] Below Figure 1 Take as an example to illustrate the implementation process of the multi-anchor positioning method.

[0034] Figure 1The method shown in can locate the target node through multiple anchor points (anchor point 0, anchor point 1, ..., anchor point N). The description of the target node and the anchor point is as described above. Exemplarily, the target node may include a smart bracelet, a mobile phone, a key, etc. The anchor point may include an SLE device, etc.

[0035] like Figure 1 As shown in the figure, when locating the target node, the target node can send a signal to anchor point 0 when frequency k = 0. In response to the signal, anchor point 0 sends a signal to the target node. After the target node receives the signal, it continues to send a signal to anchor point 0 when frequency k = 1. Repeat the above steps until frequency k = K. During the signal transmission process, the target node and anchor point 0 perform ranging according to the received and transmitted signals at each frequency. After the ranging is completed, the target node sends the measurement result.

[0036] When the frequency k=0, the target node sends a signal to the anchor point 1, repeats the above steps, and so on, until the target node and the anchor point N complete the signal transmission and perform ranging based on the signal.

[0037] Afterwards, when the target node completes the distance measurement with all anchor points, all measurement results can be integrated to confirm the location of the target node.

[0038] It should be noted that Figure 1 The method shown can also be that anchor point 0 is used as the first sending node to send a signal to the target node, and so on to anchor point N. This application does not limit this scenario.

[0039] Based on the above steps, the measurement time required to locate the target node can be shown as follows:

[0040] T=(N+1)*(K*T perFre +T CSI )+T DisRet

[0041] Where T is the measurement time required for positioning, (N+1) is the total number of anchor points, K is the total number of frequency points, and T perFre T is the time required for two devices to send signals to each other at one frequency point. CSI The time required for the target node to report the measurement results, T DisRet The time required to generate distance estimation results for each anchor point interaction.

[0042] From the above formula, we can see that the value of T increases linearly with the increase of the number of anchor points. Therefore, although multi-anchor positioning can improve the positioning accuracy, the increase in the number of anchor points will also lead to an increase in the measurement time of positioning, thus affecting the overall efficiency of positioning.

[0043] In order to solve the above-mentioned technical problems that arise when locating the target node through multiple anchor points, in the present application, the main anchor point can determine the position of the target node in combination with the first composite measurement result sent by the auxiliary anchor point, the first measurement result generated by the target node based on the first signal, and the second measurement result generated by the main anchor point based on the second signal. Therefore, the first composite measurement result sent by the auxiliary anchor point can be a measurement result obtained by the auxiliary anchor point not sending signals to the target node, but only monitoring and measuring the signals sent between the main anchor point and the target node. Based on this, the present application can reduce the time used to send signals between the auxiliary anchor point and the target node, thereby shortening the time for multiple anchor points to locate the target node.

[0044] Figure 2 It is a schematic flow chart of a positioning method provided in an embodiment of the present application to solve the above-mentioned problem.

[0045] Figure 2 The method shown can locate the target node through a main anchor point and multiple auxiliary anchor points. The description of the target node is as described above. Exemplarily, the target node may include a car key, a mobile phone, or a smart bracelet, etc. The anchor point may be a device whose position is known and can measure the signals interacting between other anchor points and the target node. Exemplarily, the anchor point may include a BLE device, or an SLE device, etc. Multiple anchor points may include auxiliary anchor points and a main anchor point. Any of the multiple anchor points may be an auxiliary anchor point or a main anchor point.

[0046] Figure 2 The method shown can be applied to the primary anchor point. It should be noted that the auxiliary anchor point and the primary anchor point are in the same communication network, and the positions of the auxiliary anchor point and the primary anchor point in the network are known.

[0047] Figure 2 The illustrated method may include steps S210 to S250.

[0048] In step S210, the primary anchor point may send a first signal to the target node.

[0049] When the target node needs to be positioned, the main anchor point may send a first signal to the target node.

[0050] In some embodiments, the first signal may contain information for positioning measurements.

[0051] Exemplarily, the first signal may include frequency information of the signal, such as the first signal may be a single-tone signal or a multi-tone signal. For example, a single-tone signal is a simple and pure frequency waveform, which can provide a stable and easy-to-identify reference signal for both parties. A multi-tone signal can send frequency signals at different frequency points and perform positioning based on multi-frequency point signals.

[0052] In some embodiments, the primary anchor point may generate a frequency signal based on a fixed frequency point through its own LO. A local oscillator (LO) is a key component in a wireless communication system, which can generate a stable frequency signal based on a fixed frequency point. Exemplarily, the first signal may be generated and sent using the LO of the primary anchor point at the kth frequency point.

[0053] For example, when the target node is G, T0 is the main anchor point, at the kth frequency point, the frequency signal of the main anchor point T0, that is, the first signal can be:

[0054]

[0055] The specific parameter information is described in detail in the embodiments below.

[0056] Exemplarily, the first signal may include a timestamp of sending the signal. For example, the receiving time and sending time of the first signal may be acquired.

[0057] Exemplarily, the first signal may include phase information of the transmitted signal. For example, in the multi-anchor CS technology mentioned above, phase ranging may be used for positioning.

[0058] In step S220, the primary anchor point may receive a second signal sent by the target node.

[0059] In some embodiments, after receiving the first signal sent by the primary anchor point, the target node may send a second signal to the primary anchor point, and the second signal may serve as a feedback signal of receiving the first signal.

[0060] In some embodiments, the second signal may contain information for positioning measurements.

[0061] Exemplarily, the second signal may include frequency information of the signal, for example, the second signal may be a single-tone signal or a multi-tone signal.

[0062] In some embodiments, the target node may generate a frequency signal based on a fixed frequency point through its own LO. Exemplarily, the second signal may be generated and sent using the LO of the target node at the kth frequency point.

[0063] For example, when the target node is G, T o As the main anchor point, at the kth frequency point, the frequency signal of the target node G, that is, the second signal can be:

[0064]

[0065] Exemplarily, the second signal may include a timestamp of when the signal is sent.

[0066] Exemplarily, the second signal may include phase information of the transmitted signal.

[0067] In some embodiments, when the target node receives the first signal containing positioning information, the target node may perform measurement based on the first signal, generate a first measurement result, and send the first measurement result to the primary anchor point.

[0068] Exemplarily, the first measurement result may include frequency information, phase information, or time difference information of the first signal. For example, the target node may obtain the phase information of the first signal at the main anchor point and the phase information when the target node receives the first signal based on the first signal, and the distance between the main anchor point and the target node may be determined based on the difference between the two phases. Since the position of the main anchor point is known, the position of the target node may be obtained.

[0069] In some embodiments, when the primary anchor point receives the second signal sent by the target node, it may generate a second measurement result based on the second signal.

[0070] Exemplarily, the second measurement result may also include frequency information, phase information, or time difference information of the first signal.

[0071] In some embodiments, the location of the target node may be determined according to the first measurement result and the second measurement result, for example, the CS technology mentioned above.

[0072] In some embodiments, the order in which step S210 and step S220 are executed may not be limited.

[0073] In step S230, the secondary anchor point may monitor and receive a first signal sent by the primary anchor point to the target node.

[0074] When the primary anchor point sends a first signal to the target node, the secondary anchor point may monitor and receive the first signal. In some embodiments, the secondary anchor point may measure the first signal and generate a first auxiliary measurement result.

[0075] Exemplarily, the first auxiliary measurement result may be obtained by the auxiliary anchor point directly from the first signal. For example, the first signal may include a timestamp when the primary anchor point sends the first signal, and the auxiliary anchor point may receive and compare the timestamp with the timestamp of the first signal received to locate the target node.

[0076] Exemplarily, the first auxiliary measurement result may be obtained after the auxiliary anchor point performs data processing on the first signal.

[0077] For example, the measurement of the first auxiliary measurement result can be obtained by mixing down the LO at the kth frequency point using the auxiliary anchor point. Mixing refers to the process of modulating two input signals using nonlinear elements (such as LO) using two different frequency signals (for example, one is the input signal and the other is its own LO signal). Mixing will generate a new frequency signal, whose frequency can be the difference between the frequencies of the two original signals.

[0078] When the target node is G, T0 is the main anchor point, T i When (i=1, ..., N) is the auxiliary anchor point, at the kth frequency point, the frequency signal of the main anchor point T0, that is, the first signal can be:

[0079]

[0080] Auxiliary anchor point T i The frequency signal can be:

[0081]

[0082] Auxiliary anchor point T i The first auxiliary measurement can be obtained using mixing:

[0083]

[0084] The mixing signal can contain key channel characteristic information of the input signal during the transmission process. By analyzing the characteristics of these mixing signals, the accuracy and efficiency of data transmission in the communication system can be improved.

[0085] In some embodiments, the first auxiliary measurement result may include channel state information of the current channel. Channel state information (CSI) may include not only signal attenuation and delay information, but also signal phase and multipath information, as well as signal strength and other information.

[0086] Exemplarily, the first auxiliary measurement result may include channel state information between the auxiliary anchor point and the primary anchor point. Exemplarily, the channel state information may be generated by the auxiliary anchor point based on the frequency signal after mixing.

[0087] For example, the auxiliary anchor point T i In t i，2 At time t, the first auxiliary measurement result may be the CSI of the measured received signal, which may be recorded as:

[0088]

[0089] Step S240: The secondary anchor point monitors and receives a second signal sent by the target node to the primary anchor point.

[0090] When the target node sends the second signal to the primary anchor point, the secondary anchor point may monitor and receive the second signal.

[0091] In some embodiments, the auxiliary anchor point may measure the second signal and generate a second auxiliary measurement result.

[0092] Exemplarily, the second auxiliary measurement result may be obtained by the auxiliary anchor point directly from the second signal.

[0093] Exemplarily, the second auxiliary measurement result may be obtained after the auxiliary anchor point performs data processing on the second signal.

[0094] For example, the measurement of the second auxiliary measurement result can be obtained by down-mixing the LO at the kth frequency point using the auxiliary anchor point. i When (i=1, ..., N) is the auxiliary anchor point, at the kth frequency point, the frequency signal of the target node G, that is, the second signal can be:

[0095]

[0096] Auxiliary anchor point T i The frequency signal can be:

[0097]

[0098] Auxiliary anchor point T i A second auxiliary measurement can be obtained using mixing:

[0099]

[0100] In some embodiments, the first auxiliary measurement result may include channel state information of the current channel. Exemplarily, the second auxiliary measurement result may include channel state information between the auxiliary anchor point and the target node.

[0101] For example, the auxiliary anchor point T i In t i，1 At time t, the second auxiliary measurement result may be the CSI of the measured received signal, which may be recorded as:

[0102]

[0103] In step S150, the primary anchor point may receive the composite information sent by the secondary anchor point.

[0104] In some embodiments, the primary anchor point may receive composite information sent by at least one secondary anchor point, and the first composite measurement result indicated by the composite information may be compositely generated by the first auxiliary measurement result and the second auxiliary measurement result.

[0105] In some embodiments, under the premise that the positions of the primary anchor point and the secondary anchor point are known, the primary anchor point may determine the position of the target node according to the first measurement result, the second measurement result, and the first composite measurement result.

[0106] In some embodiments, the first signal may be sent using the local oscillator of the main anchor point at the kth frequency point; the second signal may be sent using the local oscillator of the target node at the kth frequency point; the kth frequency point belongs to multiple frequency points, and the signals sent by the local oscillators of the multiple frequency points are all used to determine the position of the target node.

[0107] It is understandable that the main anchor point can send the first signal and the second signal to the target node at the kth frequency point, and at least one auxiliary anchor point can measure based on the kth frequency point to obtain the first composite measurement result when monitoring the first signal and the second signal. After the main anchor point and the target node complete signal transmission at the kth frequency point, the main anchor point can traverse all frequencies, or part of the frequencies, and continue to send the first signal to the target node. Compared with a single frequency point, the main anchor point can further improve the positioning accuracy by locating the target node based on multiple frequencies.

[0108] by Figure 3 Take the example of the present application for explanation. Figure 3 A schematic diagram of a multi-anchor positioning method proposed in an embodiment of the present application.

[0109] Figure 3 In the method shown, the target node can be located by multiple anchor points (anchor point 0, anchor point 1, ..., anchor point N). The description of the target node and the anchor point is as described above. Exemplarily, the target node may include a smart bracelet, a mobile phone, etc. The anchor point may include a BLE device, etc. Among them, anchor point 0 may be the main anchor point, and anchor points 1-anchor points N may be auxiliary anchor points. The signal sent by anchor point 0 to the target node is the first signal, and the signal sent by the target node to anchor point 0 is the second signal.

[0110] like Figure 3 As shown in the figure, when locating the target node, the target node can send a signal to anchor point 0 at frequency k=0. In response to the signal, anchor point 0 sends a signal to the target node. After the target node receives the signal, it sends a signal to anchor point 0 at frequency k=1. Repeat the above steps until frequency k=K. After the signal is sent, the target node and anchor point 0 perform ranging according to the received and sent signals at each frequency. After the ranging is completed, the target node sends a first measurement result.

[0111] During the process of the target node sending signals with anchor point 0 at different frequencies, anchor points 1-anchor point N monitor the sent signals in the process and calculate the first composite measurement result of the auxiliary anchor point. Among them, anchor point 1-anchor point N measures the first signal to obtain a first auxiliary measurement result, and anchor point 1-anchor point N measures the second signal to obtain a second auxiliary measurement result. The first auxiliary measurement result and the second auxiliary measurement result generate the first composite measurement result of anchor point 1-anchor point N.

[0112] After the target node traverses K frequency points, it completes signal transmission with the main anchor point, and based on the first composite measurement result sent by anchor point 1-anchor point N, the target node and anchor point 1-anchor point N are positioned to confirm the position of the target node.

[0113] It should be noted that Figure 3 The method shown can also be sent from anchor point 0 to the target node first.

[0114] Based on the above steps, the measurement time required to locate the target node can be shown as follows:

[0115] T=K*T perFre +T CSI +N*T CSIRet

[0116] Where T is the measurement time required for positioning, N is the number of auxiliary anchor points, K is the total number of frequency points, and T perFre T is the time required for a target node and the main anchor point to send a signal to each other on a frequency point. CSIRet It is the time consumed by the auxiliary anchor point to send the first composite measurement result to the primary anchor point.

[0117] From the above formula, we can see that as the number of anchor points increases, the value of T only increases linearly with the time it takes for the auxiliary anchor point to send the measurement result to the primary anchor point. Figure 1 The time required for measurement, in the embodiment of the present application, by reducing the time used for signal transmission between the auxiliary anchor point and the target node, the time for multiple anchor points to locate the target node is shortened.

[0118] In some embodiments, the anchor points may communicate with each other via a wireless network, which may improve the flexibility of implementation of the embodiments of the present application.

[0119] In some embodiments, the anchor points can communicate with each other through a wired network, which can shorten T CSIRet , in order to further shorten the positioning time.

[0120] In the related art, although the positioning method using multiple anchor points can improve the positioning accuracy, in this method, the target node needs to send signals to each anchor point in turn, resulting in the time for positioning the target node to increase linearly with the increase in the number of anchor points, thereby affecting the overall efficiency of positioning. In the embodiment of the present application, the main anchor point may not send signals to the target node based on the auxiliary anchor point, but only monitors the signals sent between the main anchor point and the target node and measures the first composite measurement result to locate the target node. The present application can reduce the time used for sending signals between the auxiliary anchor point and the target node, thereby shortening the time for multiple anchor points to locate the target node and improving the overall efficiency of positioning.

[0121] In some embodiments, before the primary anchor point sends the first signal to the target node, initialization may be performed between the primary anchor point and the target node.

[0122] Exemplarily, when the master anchor sends a first initialization frame to the target node, the initialization frame may include a synchronization header, which may be used for the receiving target node to identify and align the received signal. The synchronization header may include some predefined bit patterns or signals. For example, the synchronization header may be measurement frame 3 in an SLE signal, or mode 1 in a BLE signal.

[0123] In some embodiments, the target node may perform one or more of the following operations based on the received first initialization frame sent by the primary anchor point: measuring the signal-to-interference-plus-noise ratio (SINR); the number of synchronization word error bits.

[0124] SINR can be used to evaluate the quality of a communication system. Exemplarily, SINR can be the ratio of useful signal power to the sum of interference signal power and noise power. For example, a high SINR value indicates that the signal is subject to less interference and noise, and the communication quality is better. On the contrary, a low SINR value indicates that the signal is subject to more interference and noise, resulting in poor communication quality.

[0125] The number of synchronization word error bits, which can also be understood as synchronization word error bit detection, can be used to evaluate the accuracy of data transmission and channel quality in a communication system. Exemplarily, the number of synchronization word error bits can be the number of error bits in a received synchronization word compared with a synchronization word predefined by a transmitter.

[0126] In some embodiments, after the target node completes SINR and / or synchronization word error bit number operations based on the first initialization frame sent by the primary anchor point, the channel quality between the current primary anchor point and the target node can be evaluated, and channel optimization can be performed based on the evaluation results.

[0127] In some embodiments, the target node may send a second initialization frame to the primary anchor point. The second initialization frame may include the synchronization header mentioned above, which may be the measurement frame 3 in the SLE signal, or the mode 1 in the BLE signal. Optionally, in some embodiments, when the primary anchor point receives the second initialization frame sent by the target node, one or more of the following may be completed: time offset estimation; frequency offset estimation.

[0128] Time offset estimation is the process of estimating the time deviation of the received signal relative to the transmitted signal; frequency offset estimation is the process of estimating the frequency deviation of the received signal relative to the transmitted signal. Therefore, when the main anchor point performs time offset estimation and / or frequency offset estimation, the time and / or phase of the main anchor point and the target node can be synchronized, thereby improving the communication quality and the accuracy of data transmission.

[0129] In some embodiments, when the primary anchor point sends a first initialization frame to the target node, the secondary anchor point may receive the first initialization frame. Optionally, the secondary anchor point may complete one or more of the following operations based on the first initialization frame: SINR; number of synchronization word error bits.

[0130] In some embodiments, when the target node sends a second initialization frame to the primary anchor point, the secondary anchor point may receive the second initialization frame. Optionally, the secondary anchor point may complete one or more of the following operations based on the second initialization frame: time offset estimation, frequency offset estimation.

[0131] In some embodiments, the main anchor point, as the first sending node, sends a first initialization frame. After the target node receives the first initialization frame, it can send a second initialization frame, and the auxiliary anchor point can monitor and receive the first initialization frame and the second initialization frame. The target node, the auxiliary anchor point and the main anchor point can perform initialization operations based on the first initialization frame and the second initialization frame to avoid the large error in sending signals caused by some low-precision devices (which may include target nodes and anchor point devices) after working for a long time, thereby affecting the accuracy of subsequent positioning of the target node.

[0132] In some embodiments, the distance between the auxiliary anchor point and the target node may be determined through the first composite measurement result, which may be referred to as a first distance.

[0133] In some embodiments, based on a first composite measurement result generated by measuring a first signal using an auxiliary anchor point to obtain a first auxiliary measurement result and measuring a second signal using an auxiliary anchor point to obtain a second auxiliary measurement result, on the premise that the positions of the main anchor point and the auxiliary anchor point are known, the first distance between the auxiliary anchor point and the target node can be inferred, and the position of the target node can be further inferred.

[0134] In some embodiments, the first composite measurement result may be obtained by conjugate multiplying the first auxiliary measurement result and the second auxiliary measurement result.

[0135] Exemplarily, the first auxiliary measurement result and the second auxiliary measurement result may include channel state information. Since the channel state information may include the phase, strength, and multipath information of the signal, etc., the first composite measurement result may be obtained by performing channel composite on the first auxiliary measurement result and the second auxiliary measurement result. The first composite measurement result may include channel state information between the auxiliary anchor point and the main anchor point, and between the auxiliary anchor point and the target node.

[0136] For example, the auxiliary anchor point performs conjugate multiplication on the first auxiliary measurement result and the second auxiliary measurement result to obtain a first composite measurement result, which is expressed as:

[0137]

[0138] From the above formula, we can see that and Therefore, in the embodiment of the present application, the conjugate multiplication can eliminate the influence of factors such as the initial phase of the auxiliary anchor point.

[0139] In some embodiments, the first composite measurement result may be used to determine a second composite measurement result, and the second composite measurement result may be obtained by conjugate multiplying the first composite measurement result and the second measurement result, wherein the second measurement result is obtained by measuring the main anchor point based on the second signal.

[0140] During the process of signal transmission between the main anchor point and the target node, the main anchor point may obtain a second measurement result based on the second signal measurement.

[0141] In some embodiments, the first composite measurement result may be obtained by conjugate multiplying the first auxiliary measurement result and the second auxiliary measurement result. The second composite measurement result may be obtained by conjugate multiplying the first composite measurement result and the second measurement result.

[0142] Exemplarily, the second measurement result may be obtained by down-mixing the LO of the main anchor point at the kth frequency point. It may be expressed as:

[0143]

[0144] Optionally, the second measurement result may also be a CSI obtained according to the mixing result, which may be expressed as:

[0145]

[0146] The first composite measurement result and the second measurement result may be channel composited by conjugate multiplication to generate a second composite measurement result, which may be expressed as:

[0147]

[0148] As can be seen from the above formula, the first composite measurement result and the second measurement result are composited by conjugate multiplication, so that the influence of the initial phase of the auxiliary anchor point and the main anchor point can be eliminated.

[0149] In some embodiments, the distance between the auxiliary anchor point and the target node may be a first distance, and the distance between the primary anchor point and the target node may be a second distance, and optionally, the second distance may be estimated based on the second measurement result. The third distance minus the first distance plus the second distance equals the first value, and the first distance may be calculated based on the first value, the second distance, and the third distance.

[0150] The positions of the primary anchor point and the secondary anchor point in the communication network are known. Therefore, it can be considered that the distance between the primary anchor point and the secondary anchor point is known, that is, the third distance is known.

[0151] In some embodiments, the main anchor point sends a first signal to the target node, and in response to the first signal, the target node sends a second signal to the main anchor point. The main anchor point can determine the distance between the main anchor point and the target node based on the first signal sent and the second signal received. Optionally, the target node can also determine the distance between the main anchor point and the target node based on the first signal received and the second signal sent. Optionally, the distance between the main anchor point and the target node, i.e., the second distance, can be determined by combining the measurement results of the target node and the main anchor point.

[0152] In some embodiments, the first value may be obtained according to the second composite measurement result. Exemplarily, the second composite measurement result is obtained by conjugate multiplying the first composite measurement result and the second measurement result.

[0153] Below Figure 4 , Figure 5 Take the embodiment of the present application as an example to describe in detail.

[0154] Figure 4 A schematic diagram of a multi-anchor positioning method flow chart provided in an embodiment of the present application.

[0155] like Figure 4 As shown in , it includes a target node G and 5 anchor points. Among them, T_0 is the main anchor point, T_1, T_2, T_3, T_4 are auxiliary anchor points. The second distance is the distance between the target node G and the main anchor point, as shown in Figure 4 The third distance is the distance between the auxiliary anchor point and the main anchor point, such as Figure 4 The positions of the auxiliary anchor point and the main anchor point are known, so the third distance is known.

[0156] Figure 4 It includes step S410 and step S420.

[0157] Step S410, the target node G sends a signal to the main anchor point T_0.

[0158] The main anchor point T_0 may serve as a first sending node and send a first signal to the target node G. After receiving the first signal, the target node G sends a second signal to the main anchor point T_0.

[0159] Step S420, the auxiliary anchor point T_i (i=1, 2, 3, 4) measures the signal sent between the target node G and the primary anchor point T_0.

[0160] The auxiliary anchor point T_i measures the first signal to obtain a first auxiliary measurement result, and the auxiliary anchor point T_i measures the second signal to obtain a second auxiliary measurement result. The distance between the auxiliary anchor point T_0 and the target node G is inferred based on the first auxiliary measurement result and the second auxiliary measurement result, thereby determining the position of the target node G.

[0161] In some embodiments, the first composite measurement result is used to determine a second composite measurement result, the second composite measurement result is obtained by conjugate multiplying the first composite measurement result and the second measurement result, and the second measurement result is obtained by measuring the main anchor point based on the second signal.

[0162] In some embodiments, the distance between the auxiliary anchor point and the main anchor point is the third distance, the distance between the main anchor point and the target node is the second distance, the second composite measurement result is used to estimate the first value of the third distance minus the first distance plus the second distance, the second measurement result is used to estimate the second distance, and the first distance is calculated based on the first value, the second distance and the third distance.

[0163] In some embodiments, the secondary anchor point may perform one or more of the following operations based on the first signal: measuring SINR; and measuring the number of synchronization word error bits.

[0164] In some embodiments, the auxiliary anchor point may complete one or more of the following based on the second signal: time offset estimation; frequency offset estimation.

[0165] In some embodiments, the first signal may be sent using the LO of the main anchor point at the kth frequency point; the second signal may be sent using the LO of the target node at the kth frequency point; and the measurements of the first auxiliary measurement result and the second auxiliary measurement result may be obtained by down-mixing using the LO of the auxiliary anchor point at the kth frequency point.

[0166] Figure 5 A schematic flow chart of another multi-anchor positioning method provided in an embodiment of the present application.

[0167] like Figure 5As shown, it includes a target node G and multiple anchor points. Among them, one anchor point is designated as the main anchor point T0, and the other anchor points are designated as auxiliary anchor points T i (i=1, ..., N), the positions of the auxiliary anchor point and the main anchor point are known. The measurement signal sent by the main anchor point T0 to the target node G is the first signal, and the measurement signal sent by the target node G to the main anchor point T0 is the second signal.

[0168] Figure 5 Includes steps S510 to S580.

[0169] Optionally, before step S510, the target node and multiple anchor points may be initialized.

[0170] For example, the primary anchor point T0 can be used as a first-transmitting node to send an initialization frame to the target node. i After receiving the signal, the target node G can complete the calculation of SINR and the number of synchronization word error bits. As a late-transmitting node, after receiving the main anchor point T0, the target node G continues to send initialization frames to the main anchor point T0. i After receiving the signal, (i=1, ..., N) can complete the time offset estimation or frequency offset estimation, etc. The auxiliary anchor point and the main anchor point can complete the alignment with the target node in the time and frequency domains according to the estimation results.

[0171] Optionally, before step S510, the target node and multiple anchor points do not need to be initialized, and step S510 is directly entered.

[0172] Step S510: The main anchor point sends a measurement signal at the kth frequency point.

[0173] Step S520: the target node G receives a measurement signal at the kth frequency point, and the auxiliary anchor point receives a measurement signal at the kth frequency point.

[0174] At the kth frequency point, the frequency signal of the target node G is:

[0175]

[0176] The frequency signal of the main anchor point T0 is:

[0177]

[0178] Auxiliary anchor point T i The frequency signal is:

[0179]

[0180] in, is the LO frequency of the target node G, is the T0 node LO frequency, Auxiliary anchor point T i LO frequency, t G is the timing deviation of the target node G, Auxiliary anchor point T i Timing deviation, Auxiliary anchor point T i The timing deviation, is the initial phase of LO at node G, is the initial LO phase of the main anchor point T0, Auxiliary anchor point T i where k is the frequency number, j is the imaginary unit, i is the auxiliary anchor point number, and t is the time.

[0181] The main anchor point T0 sends the frequency signal generated by its own LO to the target node G. After receiving the frequency signal, the target node G mixes the frequency signal with the frequency signal generated by its own LO:

[0182]

[0183] While the main anchor point T0 sends a frequency signal to the target node G, the auxiliary anchor point T i The frequency signal is received and measured. Auxiliary anchor point T i This frequency signal can be mixed with a frequency signal generated by its own LO:

[0184]

[0185] The target node G measures the CSI of the received signal at time t2, which is recorded as:

[0186]

[0187] Auxiliary anchor point T i In t i，2 The CSI of the received signal is measured at all times and is recorded as:

[0188]

[0189] Step S530: The target node G sends a measurement signal at the kth frequency point.

[0190] Step S540: the primary anchor point receives a measurement signal at the kth frequency point, and the secondary anchor point receives a measurement signal at the kth frequency point.

[0191] After receiving the frequency signal of the main anchor point T0, the target node G sends a frequency signal generated based on its own LO to the main anchor point T0. After receiving the frequency signal, the main anchor point T0 mixes the frequency signal with the frequency signal generated by its own LO:

[0192]

[0193] While the target node G sends a frequency signal to the main anchor point T0, the secondary anchor point T i listens to and receives the frequency signal. The secondary anchor point T i mixes the frequency signal with the frequency signal generated by its own LO:

[0194]

[0195] The main anchor point T0 measures the CSI of the received signal at time t1, denoted as:

[0196]

[0197] The secondary anchor point T i measures the CSI of the received signal at time t i，1 and is denoted as:

[0198]

[0199] Step S550, when k < K, jump to step S510; or, jump to step S560.

[0200] Step S560, the target node G feeds back the measured value to the main anchor point, and the secondary anchor point calculates the composite channel according to the measured value.

[0201] Step S570, the secondary anchor point feeds back the composite information to the main anchor point.

[0202] Among them, the secondary anchor point T i performs channel composition on the CSI generated in the above two times to obtain the first composite measurement result:

[0203]

[0204] After the target node G feeds back the measurement information to the main anchor point T0 (after traversing all frequency points or some frequency points), the main anchor point T0 obtains The main anchor point T0 composes the measurement results to obtain:

[0205]

[0206] The main anchor point T0 composes with (if

[0207] then compose with ) to obtain the second composite measurement result:

[0208]

[0209]

[0210] Step S580: multi-anchor positioning.

[0211] The second composite measurement result obtained through the above steps can be used to estimate the distance of the target node G by modulating the frequency at different frequency points and according to the phase difference of each frequency point or other algorithms.

[0212] For example, in the above formula, the first composite measurement result The second distance can be estimated According to the second composite measurement result The first value can be estimated: Because the third distance When the anchor points are arranged, the first distance can be estimated by combining the phase difference of different frequencies or other algorithms. Thus, multi-anchor positioning is completed and the position of the target node G is determined.

[0213] In some embodiments, the present application also proposes a positioning method, which is applied to a secondary anchor point, and the method includes: receiving a first signal sent by a primary anchor point; based on the first signal, measuring and generating a first auxiliary measurement result; receiving a second signal sent by a target node; based on the second signal, measuring and generating a second auxiliary measurement result; compositely generating the first auxiliary measurement result and the second auxiliary measurement result to obtain a first composite measurement result; and sending a first composite measurement result indicating the first composite measurement result to the primary anchor point to determine the position of the target node.

[0214] As can be seen from the above, in the present application, the main anchor point can determine the position of the target node in combination with the first composite measurement result sent by the auxiliary anchor point, the first measurement result generated by the target node based on the first signal, and the second measurement result generated by the main anchor point based on the second signal. Therefore, the first composite measurement result sent by the auxiliary anchor point can be a measurement result obtained by the auxiliary anchor point not sending signals to the target node, but only monitoring and measuring the signals sent between the main anchor point and the target node. Based on this, the present application can reduce the time used to send signals between the auxiliary anchor point and the target node, thereby shortening the time for multiple anchor points to locate the target node.

[0215] The method embodiments of the present application are described in detail above. Based on the above content, the present application also proposes a positioning device. Figure 6 The device embodiment of the present application is described in detail. It should be understood that the description of the above method embodiment corresponds to the description of the device embodiment, so the parts not described in detail can refer to the above method embodiment.

[0216] Figure 6A positioning device 600 is provided in an embodiment of the present application. The positioning device 600 can operate at a main anchor point. The positioning device 600 may include: a sending unit 610, a first receiving unit 620, a second receiving unit 630, a generating unit 640, a third receiving unit 650 and a positioning unit 660.

[0217] The sending unit 610 is configured to send a first signal to a target node;

[0218] A first receiving unit 620 is configured to receive a second signal sent by a target node, where the second signal is a feedback signal of the first signal;

[0219] A second receiving unit 630 is configured to receive a first measurement result sent by the target node, where the first measurement result is generated by the target node based on a received first signal;

[0220] A generating unit 640, configured to generate a second measurement result based on the second signal;

[0221] The third receiving unit 650 is configured to receive composite information sent by at least one auxiliary anchor point, where the composite information indicates a first composite measurement result that is compositely generated by the auxiliary anchor point based on the first auxiliary measurement result and the second auxiliary measurement result, where the first auxiliary measurement result is generated by the auxiliary anchor point monitoring the first signal and measuring, and the second auxiliary measurement result is generated by the auxiliary anchor point monitoring the second signal and measuring;

[0222] The positioning unit 660 is used to determine the position of the target node according to the first measurement result, the second measurement result and the first composite measurement result.

[0223] The first auxiliary measurement result and the second auxiliary measurement result are used to infer a first distance, the first distance is the distance between the auxiliary anchor point and the target node, and the first distance is used to determine the position of the target node.

[0224] Optionally, the first composite measurement result is obtained by conjugate multiplying the first auxiliary measurement result and the second auxiliary measurement result.

[0225] Optionally, determining the position of the target node according to the first measurement result, the second measurement result and the first composite measurement result includes: conjugate multiplying the first composite measurement result and the second measurement result to obtain a second composite measurement result; and determining the position of the target node based on the second composite measurement result.

[0226] Optionally, determining the position of the target node based on the second composite measurement result includes: estimating a first value using the second composite measurement result; estimating a second distance based on the second measurement result; calculating the first distance according to the first value, the second distance and the third distance; determining the position of the target node based on the first distance; wherein the distance between the auxiliary anchor point and the target node is the first distance, the distance between the main anchor point and the target node is the second distance, the distance between the main anchor point and the auxiliary anchor point is the third distance, and the third distance minus the first distance plus the second distance equals the first value.

[0227] Optionally, before sending the first signal to the target node, the method further includes: sending a first initialization frame to the target node so that the target node completes one or more of the following operations: measuring SINR, the number of synchronization word error bits; and / or, receiving a second initialization frame sent by the target node so that the main anchor point completes one or more of the following: time offset estimation, frequency offset estimation. Optionally, the first signal is sent using the local oscillator of the main anchor point at the kth frequency point; the second signal is sent using the local oscillator of the target node at the kth frequency point; the kth frequency point belongs to multiple frequency points, and the signals sent by the local oscillators of the multiple frequency points are all used to determine the position of the target node.

[0228] An embodiment of the present application further proposes a positioning device, which may include a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the computer program is executed by the processor, the positioning method described in the above embodiment is implemented.

[0229] In addition, an embodiment of the present application further proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a computer, the operations in the positioning method provided in the above embodiment are implemented, and the specific steps are not repeated here.

[0230] It should be understood that the terms "system" and "network" in this application can be used interchangeably. In addition, the terms used in this application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application. The terms "first", "second", "third" and "fourth" in the specification and claims of this application and the accompanying drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions.

[0231] In the embodiments of the present application, a "field" may also be referred to as a "field", a "subfield" or a "subfield". A field may occupy one or more bytes (byte / octet), or a field may occupy one or more bits (bit).

[0232] In the embodiments of the present application, the "indication" mentioned can be a direct indication, an indirect indication, or an indication of an association relationship. For example, A indicates B, which can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, and B can be obtained through C; it can also mean that there is an association relationship between A and B.

[0233] In the embodiment of the present application, "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0234] In the embodiments of the present application, the term "corresponding" may indicate that there is a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship of indication and being indicated, configuration and being configured, etc.

[0235] In the embodiments of the present application, "pre-definition" or "pre-configuration" can be implemented by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in the device, and the present application does not limit the specific implementation method. For example, pre-definition can refer to what is defined in the protocol.

[0236] In the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0237] In the embodiments of the present application, the term "include" may refer to direct inclusion or indirect inclusion. Optionally, the term "include" mentioned in the embodiments of the present application may be replaced with "indicate" or "used to determine". For example, "A includes B" may be replaced with "A indicates B" or "A is used to determine B".

[0238] In various embodiments of the present application, the size of the serial numbers of the above-mentioned processes 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.

[0239] In the embodiments of the present application, the "protocol" may refer to a standard protocol in the communication field, for example, it may include a WiFi protocol and related protocols used in future WiFi communication systems, and the present application does not limit this.

[0240] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. 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.

[0241] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0242] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0243] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that can be read by a computer or a data storage device such as a server or data center that contains one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0244] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A positioning method, characterized in that: The positioning method is applied to the main anchor point, and the method comprises: Sending a first signal to a target node; receiving a second signal sent by the target node, where the second signal is a feedback signal of the first signal; receiving a first measurement result sent by the target node, where the first measurement result is generated by the target node based on the received first signal; generating a second measurement result based on the second signal; receiving composite information sent by at least one auxiliary anchor point, where a first composite measurement result indicated by the composite information is compositely generated by the auxiliary anchor point based on a first auxiliary measurement result and a second auxiliary measurement result, where the first auxiliary measurement result is generated by the auxiliary anchor point monitoring the first signal and measuring, and the second auxiliary measurement result is generated by the auxiliary anchor point monitoring the second signal and measuring; The location of the target node is determined according to the first measurement result, the second measurement result and the first composite measurement result.

2. The method according to claim 1, characterized in that The first composite measurement result is obtained by conjugate multiplying the first auxiliary measurement result and the second auxiliary measurement result.

3. The method according to claim 2, characterized in that The determining the location of the target node according to the first measurement result, the second measurement result and the first composite measurement result includes: Conjugate multiplying the first composite measurement result and the second measurement result to obtain a second composite measurement result; The location of the target node is determined based on the second composite measurement result.

4. The method according to claim 3, characterized in that Determining the location of the target node based on the second composite measurement result includes: estimating a first value using the second composite measurement; estimating a second distance based on the second measurement result; Calculate a first distance according to the first value, the second distance and the third distance; Determine a location of the target node based on the first distance; Among them, the distance between the auxiliary anchor point and the target node is the first distance, the distance between the main anchor point and the target node is the second distance, the distance between the main anchor point and the auxiliary anchor point is the third distance, and the third distance minus the first distance plus the second distance is equal to the first value.

5. The method according to claim 1, characterized in that Before sending the first signal to the target node, the method further includes: Sending a first initialization frame to the target node so that the target node completes one or more of the following operations: measuring a signal interference plus noise ratio and a number of synchronization word error bits; and / or, A second initialization frame sent by the target node is received, so that the main anchor point completes one or more of the following: time offset estimation and frequency offset estimation.

6. The method according to claim 1, characterized in that The first signal is sent using a local oscillator of the primary anchor point at a kth frequency point; The second signal is sent using a local oscillator of the target node at the kth frequency point; The kth frequency point belongs to a plurality of frequency points, and signals sent by local oscillators of the plurality of frequency points are all used to determine the position of the target node.

7. A positioning method, characterized in that: The positioning method is applied to the auxiliary anchor point, and the method comprises: receiving a first signal sent by a main anchor point; Based on the first signal, measuring and generating a first auxiliary measurement result; receiving a second signal sent by the target node; Based on the second signal, measuring and generating a second auxiliary measurement result; Composite-generating the first auxiliary measurement result and the second auxiliary measurement result to obtain a first composite measurement result; A first composite measurement result indicating the first composite measurement result is sent to the primary anchor point to determine a location of the target node.

8. A positioning device, characterized in that: The positioning device operates at the auxiliary anchor point, and the positioning device includes: A sending unit, configured to send a first signal to a target node; A first receiving unit, configured to receive a second signal sent by the target node, where the second signal is a feedback signal of the first signal; A second receiving unit, configured to receive a first measurement result sent by the target node, where the first measurement result is generated by the target node based on the received first signal; a generating unit, configured to generate a second measurement result based on the second signal; a third receiving unit, configured to receive composite information sent by at least one auxiliary anchor point, where a first composite measurement result indicated by the composite information is compositely generated by the auxiliary anchor point based on a first auxiliary measurement result and a second auxiliary measurement result, where the first auxiliary measurement result is generated by the auxiliary anchor point monitoring the first signal and measuring, and the second auxiliary measurement result is generated by the auxiliary anchor point monitoring the second signal and measuring; A positioning unit is used to determine the position of the target node according to the first measurement result, the second measurement result and the first composite measurement result.

9. A positioning device, characterized in that: The positioning device includes a memory and a processor. The memory stores a computer program that can be run on the processor. When the computer program is executed by the processor, the positioning method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a positioning program, and when the positioning program is executed by a processor, the positioning method according to any one of claims 1 to 7 is implemented.

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