5G antenna array positioning method based on virtual scattering point assistance

Abstract

The invention provides a 5G antenna array positioning method based on virtual scattering point assistance, and the method comprises the steps: S1, obtaining the measurement data of each base station, and at least obtaining a pseudo-range parameter and an azimuth angle parameter under each path based on the measurement data of the base stations; s2, calculating a positioning coordinate based on the pseudo-range parameter; s3, virtual scattering point coordinates are calculated according to the positioning coordinates; s4, updating positioning coordinates according to the virtual scattering point coordinates; and S5, repeating the steps S3 to S4, and obtaining and outputting an optimal positioning coordinate when the positioning coordinate meets a termination condition. The 5G antenna array positioning method based on virtual scattering point assistance provided by the invention is higher in applicability, more accurate in terminal positioning calculation and high in positioning precision.

Description

Technical Field

[0001] The present invention belongs to the field of positioning and navigation, and in particular relates to a 5G antenna array positioning method based on virtual scattering point assistance. Background Art

[0002] Unlike global navigation and positioning systems used in open areas outdoors, indoor environments are full of obstacles, which create non-line-of-sight conditions that hinder the linear transmission of signals and cause the signals to propagate along non-linear paths. These obstacles, including building structures, terrain undulations, and indoor furnishings, cause radio signals to experience multiple reflections during propagation, which in turn causes signal pseudorange measurement deviations and arrival angle distortions. In addition, a radio signal from a signal transmitter may reach the receiver via different paths, allowing the receiver to receive information from multiple paths. This phenomenon is particularly significant in areas such as densely populated cities, indoor spaces, and complex terrain areas, greatly challenging the stability of the positioning system and the accuracy of positioning. For positioning and navigation applications, the non-line-of-sight phenomenon significantly reduces the accuracy and reliability of position calculations.

[0003] In the 5G era, although its powerful transmission capacity makes high-precision positioning possible, the non-line-of-sight effect, especially in indoor scenarios, is still a key factor restricting the performance of 5G positioning. In most cases, the ranging and angle measurement errors caused by non-line-of-sight will lead to a significant decrease in positioning accuracy. In view of this, this technical proposal aims to propose innovative strategies to effectively deal with the challenges brought by the propagation path of reflected signals, and to effectively utilize the information of multiple paths to ensure stable positioning performance in complex environments, thereby overcoming the above technical difficulties.

[0004] Based on the above, this application provides a technical solution to solve the above technical problems. Summary of the invention

[0005] In view of the difficulty of positioning in indoor environments in the prior art, the present invention provides a 5G antenna array positioning method based on virtual scattering point assistance, comprising the following steps:

[0006] Step S1, obtaining measurement data of each base station, and obtaining at least a pseudorange parameter and an azimuth parameter under each path based on the measurement data of the base station;

[0007] Step S2, calculating the positioning coordinates based on the pseudorange parameters;

[0008] Step S3, calculating virtual scattering point coordinates according to the positioning coordinates;

[0009] Step S4, updating the positioning coordinates according to the virtual scattering point coordinates;

[0010] Step S5, repeating steps S3 to S4, when the positioning coordinates meet the termination condition, obtaining and outputting the optimal positioning coordinates.

[0011] In a specific embodiment of the present invention, step S2 includes:

[0012] Step S2.1, screen out the strongest path, and use the maximum likelihood estimation method to obtain the preliminary positioning coordinates through the pseudo-range solution of the strongest path;

[0013] Step S2.2, calculating the pseudorange residual according to the preliminary positioning coordinates, compensating the pseudorange residual and performing positioning calculation again to obtain the positioning coordinates.

[0014] In a specific embodiment of the present invention, step S2.1 specifically includes:

[0015] Among them, B is the number of base stations involved in positioning, is the standard deviation of the measured pseudorange of the strongest amplitude path of the b-th base station, x u =(x u ,y u ,z u ) is the estimated coordinate, x b =(x b ,y b ,z b ) is the coordinate of the b-th base station, is the maximum likelihood function, is the measured pseudorange of the path with the strongest amplitude of the b-th base station, b is a positive integer, b∈[1,B].

[0016] In a specific embodiment of the present invention, step S2.2 specifically includes:

[0017] Calculating the pseudorange residual according to the preliminary positioning coordinates and the pseudorange comprises:

[0018] in, is the pseudorange residual of the path with the strongest amplitude at the b-th base station;

[0019] The compensating the pseudorange residual and performing positioning calculation again comprises:

[0020] x u For positioning coordinates.

[0021] In a specific embodiment of the present invention, step S3 includes:

[0022] Step S3.1, obtaining a virtual scattering point pseudorange error function according to the positioning coordinates, the base station coordinates and the measured pseudorange;

[0023] Step S3.2, obtaining a virtual scattering point angle error function according to the positioning coordinates, base station coordinates and azimuth parameters;

[0024] Step S3.3: normalize the pseudorange error function and the angle error function and add them together to obtain the scattering point error function, and minimize it to obtain the scattering point coordinates.

[0025] In a specific embodiment of the present invention, step S3.1 includes: obtaining the base station coordinates x b and the pseudorange ρ of the lth path received by the bth base station b,l , x b =(x b ,y b ,z b ), according to the positioning coordinate x u 、x b and ρ b,l Calculate the ellipsoidal surface of the virtual scattering point, the ellipsoidal surface of the virtual scattering point is x b and x u is the focus, the major semi-axis Minor semi-axis

[0026] The expression of the ellipsoid of the virtual scattering point in the local coordinate system is:

[0027]

[0028] The first coordinate of the virtual scattering point in the local coordinate system is represented by x' s =(x' s ,y' s ,z' s ), based on the transformation matrix, the first coordinate is transformed into the global coordinate system to obtain the second coordinate in the entire coordinate system, and the second coordinate is represented by x s =(x s ,y s ,z s ), the coordinate transformation process is expressed as [x s 1]=[x' s 1]M(θ r ,φ r ,v t ), the transformation matrix is ​​M(θ r ,φ r ,v t ), Rotation vector (x u -x b ) and the horizontal angle between the x-axis is denoted by φ r ,φ r ∈[0,2π),(x u -xb ) and the z-axis is denoted by θ r ,θ r ∈[0,π), v t Represents the translation vector x u =(x u ,y u ,z u ) is the estimated coordinate, x b =(x b ,y b ,z b ) is the coordinate of the b-th base station;

[0029] Among them, the transformation matrix M(θ r ,φ r ,v t ) is expressed as:

[0030]

[0031] The coordinate x of the virtual scattering point of the lth path s satisfy:

[0032] Among them, the pseudorange error function ε(ρ b,l ) is expressed as:

[0033]

[0034] a, b represent the lengths of the major and minor semi-axis in the transformed coordinate system, a=a s ,b=b s .

[0035] In a specific embodiment of the present invention, step S3.2 includes: obtaining the scattering point coordinates, the base station coordinates, the angle θ between the arrival direction angle of the lth path received by the bth base station and the reference vector b,l , calculate the angle error function;

[0036] Among them, the scattering point coordinate x s =(x s ,y s ,z s ), and obtain the angle error function ε(θ b,l ):

[0037]

[0038] Coordinate x of the scattering point s satisfy:

[0039] In a specific embodiment of the present invention, step S3.3 includes:

[0040] The pseudorange error function ε(ρ b,l ) and the angle error function ε(θ b,l ) are normalized and added to obtain the scattering point error function E s :

[0041]

[0042] Among them, the weight ||h b,l || 2 Reflecting the importance of the scattering point model, by minimizing the scattering point error function E s , obtain the coordinates of the virtual scattering points of each path of all base stations.

[0043] In a specific embodiment of the present invention, step S4 includes: updating the positioning coordinates based on maximum likelihood estimation according to the remaining observed distance between the virtual scattering point coordinates and the positioning coordinates;

[0044] Among them, the remaining observation distance of the lth path of the bth base station is expressed as:

[0045]

[0046] Vector The joint probability density function is:

[0047]

[0048] Where d=[d1,…,d S ] T , For positioning coordinates and scatter points The estimated distance, C ρ For ρ res The noise variance matrix; taking the logarithm of the joint probability density function to obtain the positioning error function, minimizing the positioning error function to obtain the updated positioning coordinates

[0049]

[0050] In a specific embodiment of the present invention, step S5 includes:

[0051] Repeat steps S3 and S4, alternately minimizing the scattering point error function and the positioning error function to update the scattering point coordinates and positioning coordinates When the change value of the positioning coordinates meets the termination condition, the loop is completed and the optimal positioning coordinates are output.

[0052] The termination condition is: the change value of the positioning coordinates is less than the set threshold ε, or the number of iterations is greater than the set threshold N, where n=0,1...N represents the positioning coordinate value at the end of the nth cycle.

[0053] The present invention can bring at least one of the following beneficial effects: The present invention proposes a 5G antenna array positioning method assisted by virtual scattering points, obtains the pseudorange and arrival direction angle of each path from all base stations, and obtains the initial positioning coordinates based on maximum likelihood estimation and pseudorange residual compensation, and updates the virtual scattering point coordinates and the positioning coordinates through iterative calculation until the termination condition is reached and the final positioning coordinates are obtained, which solves the defect of the existing technology in complex scenes that the positioning results have large errors due to the non-line-of-sight propagation path. The positioning method of the 5G antenna array assisted by virtual scattering points proposed in the present invention can make full use of the information of all direct paths and non-direct paths, is more applicable in complex spatial environments, and the terminal positioning calculation is more accurate and the positioning accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The preferred implementation scheme will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and their implementation methods.

[0055] Figure 1 A schematic diagram of the steps of a 5G antenna array positioning method based on virtual scattering point assistance provided by an embodiment of the present invention;

[0056] Figure 2 A schematic diagram of scattering routes and scattering points of multiple paths of a base station in an embodiment of the present invention;

[0057] Figure 3 It is a schematic diagram comparing cumulative distribution functions of virtual scattering points assisted by the positioning method in the embodiment of the present invention and the positioning method in the embodiment of the present invention. DETAILED DESCRIPTION

[0058] Various aspects of the present invention are described in further detail below.

[0059] Unless otherwise defined or indicated, all professional and scientific terms used herein have the same meanings as those familiar to those skilled in the art. In addition, any methods and materials similar or equivalent to those described herein can be applied to the present invention.

[0060] The following is an explanation of the terms.

[0061] Unless otherwise clearly specified and limited, the "or" mentioned in the present invention includes the relationship of "and". The "and" is equivalent to the Boolean logic operator "AND", the "or" is equivalent to the Boolean logic operator "OR", and "AND" is a subset of "OR".

[0062] It is to be understood that although the terms "first", "second", etc. may be used herein to describe different elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. Therefore, the first element may be referred to as the second element without departing from the teachings of the present invention.

[0063] In the present invention, the terms "comprising", "including" or "comprising" indicate that various components can be applied together in the mixture or composition of the present invention. Therefore, the term "consisting mainly of..." is included in the terms "comprising", "including" or "comprising".

[0064] Unless otherwise clearly specified and limited, the terms "connected", "connected" and "connection" in the present invention should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0065] For example, if an element (or component) is referred to as being on, coupled to, or connected to another element, the element may be directly formed on, coupled to, or connected to the other element, or there may be one or more intervening elements between them. In contrast, if the expressions "directly on," "directly coupled to," and "directly connected to" are used herein, then no intervening elements are indicated. Other words used to describe the relationship between elements should be similarly interpreted, such as "between" and "directly between," "attached" and "directly attached," "adjacent" and "directly adjacent," and the like.

[0066] It should also be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings. The words "inner" and "outer" used refer to directions toward or away from the geometric center of a particular component, respectively. It can be understood that these terms are used here to describe the relationship of one element, layer or region relative to another element, layer or region as shown in the drawings. In addition to the orientations described in the drawings, these terms should also include other orientations of the device.

[0067] Other aspects of the present invention will be apparent to those skilled in the art in view of the disclosure herein.

[0068] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0069] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show the components related to the present application and are not drawn according to the number, shape and size of the components in actual implementation. The type, quantity and proportion of each component in actual implementation may be changed arbitrarily, and the component layout may also be more complicated. For example, the thickness of the components in the drawings may be exaggerated for the sake of clarity.

[0070] Terminology Note:

[0071] Scattering points refer to points where signals are reflected from surfaces such as walls due to non-line-of-sight.

[0072] Example

[0073] For scenes where positioning is difficult in indoor environments in existing technologies, see Figure 1 The present invention provides a 5G antenna array positioning method based on virtual scattering point assistance, comprising the following steps:

[0074] Step S1, obtaining measurement data of each base station, and obtaining at least a pseudorange parameter and an azimuth parameter under each path based on the measurement data of the base station;

[0075] Step S2, calculating the positioning coordinates based on the pseudorange parameters;

[0076] Step S3, calculating virtual scattering point coordinates according to the positioning coordinates;

[0077] Step S4, updating the positioning coordinates according to the virtual scattering point coordinates;

[0078] Step S5, repeating steps S3 to S4, when the positioning coordinates meet the termination condition, obtaining and outputting the optimal positioning coordinates.

[0079] Preferably, the azimuth parameter is the arrival direction angle, and obtaining the measurement data of each base station includes: the positioning server obtains the measurement data of the 5G distributed base station in real time.

[0080] In a preferred embodiment of the present invention, see Figure 2, step S2 comprises:

[0081] Step S2.1, screen out the strongest path, and use the maximum likelihood estimation method to obtain the preliminary positioning coordinates through the pseudo-range solution of the strongest path;

[0082] Step S2.2, calculating the pseudorange residual according to the preliminary positioning coordinates, compensating the pseudorange residual and performing positioning calculation again to obtain the positioning coordinates.

[0083] In step S2.1, the strongest path is the path with the largest signal strength; in step S2.2, since the error caused by non-line-of-sight to pseudorange measurement will only make the measurement value larger, the pseudorange residual should be a value greater than 0, and the residual value less than 0 is set to 0.

[0084] Preferably, step S2.1 specifically includes:

[0085] Among them, B is the number of base stations involved in positioning, is the standard deviation of the measured pseudorange of the strongest amplitude path of the b-th base station, x u =(x u ,y u ,z u ) is the estimated coordinate, x b =(x b ,y b ,z b ) is the coordinate of the b-th base station, is the maximum likelihood function, is the measured pseudorange of the path with the strongest amplitude of the b-th base station, b is a positive integer, b∈[1,B].

[0086] Furthermore, step S2.2 specifically includes:

[0087] Calculating the pseudorange residual according to the preliminary positioning coordinates and the pseudorange comprises:

[0088] in, is the pseudorange residual of the path with the strongest amplitude at the b-th base station;

[0089] The compensating the pseudorange residual and performing positioning calculation again comprises:

[0090] x u For positioning coordinates.

[0091] In a preferred embodiment of the present invention, step S3 comprises:

[0092] Step S3.1, obtaining a virtual scattering point pseudorange error function according to the positioning coordinates, the base station coordinates and the measured pseudorange;

[0093] Step S3.2, obtaining a virtual scattering point angle error function according to the positioning coordinates, base station coordinates and azimuth parameters;

[0094] Step S3.3: normalize the pseudorange error function and the angle error function and add them together to obtain the scattering point error function, and minimize it to obtain the scattering point coordinates.

[0095] Preferably, step S3.1 includes: obtaining the base station coordinates x b and the pseudorange ρ of the lth path received by the bth base station b,l , x b =(x b ,y b ,z b ), according to the positioning coordinate x u 、x b and ρ b,l Calculate the ellipsoidal surface of the virtual scattering point, the ellipsoidal surface of the virtual scattering point is x b and x u is the focus, the major semi-axis Minor semi-axis

[0096] The expression of the ellipsoid of the virtual scattering point in the local coordinate system is:

[0097]

[0098] The first coordinate of the virtual scattering point in the local coordinate system is represented by x' s =(x' s ,y' s ,z' s ), based on the transformation matrix, the first coordinate is transformed into the global coordinate system to obtain the second coordinate in the entire coordinate system, and the second coordinate is represented by x s =(x s ,y s ,z s ), the coordinate transformation process is expressed as [x s 1]=[x' s 1]M(θ r ,φ r ,v t ), the transformation matrix is ​​M(θ r ,φ r ,v t ), Rotation vector (x u -x b ) and the horizontal angle between the x-axis is denoted by φ r ,φ r ∈[0,2π),(x u -x b) and the z-axis is denoted by θ r ,θ r ∈[0,π), v t Represents the translation vector x u =(x u ,y u ,z u ) is the estimated coordinate, x b =(x b ,y b ,zb) is the coordinate of the b-th base station;

[0099] Among them, the transformation matrix M(θ r ,φ r ,v t ) is expressed as:

[0100]

[0101] The coordinate x of the virtual scattering point of the lth path s satisfy:

[0102] Among them, the pseudorange error function ε(ρ b,l ) is expressed as:

[0103]

[0104] a, b represent the lengths of the major and minor semi-axis in the transformed coordinate system, a=a s ,b=b s .

[0105] More preferably, step S3.2 includes: obtaining the scattering point coordinates, the base station coordinates, the angle θ between the arrival direction angle of the lth path received by the bth base station and the reference vector b,l , calculate the angle error function;

[0106] Among them, the scattering point coordinate x s =(x s ,y s ,z s ), and obtain the angle error function ε(θ b,l ):

[0107]

[0108] Coordinate x of the scattering point s satisfy:

[0109] In step S3.2, when the scattering point overlaps with the base station coordinates, x s =x b, then the path corresponding to the sth scattered point is line of sight, which is equivalent to the sth scattered point being located at the base station coordinates, x s =x u , and let the angle error function ε(θ b,l ) is 0.

[0110] Further, step S3.3 includes:

[0111] The pseudorange error function ε(ρ b,l ) and the angle error function ε(θ b,l ) are normalized and added to obtain the scattering point error function E s :

[0112]

[0113] Among them, the weight ||h b,l || 2 The importance of the scattering point model is reflected. When the weight amplitude is stronger, the error of the 5G antenna array positioning method based on virtual scattering points will have a greater impact on the positioning calculation results. By minimizing the scattering point error function E s , obtain the coordinates of the virtual scattering points of each path of all base stations.

[0114] In a preferred embodiment of the present invention, step S4 includes: updating the positioning coordinates based on maximum likelihood estimation according to the remaining observed distance between the virtual scattering point coordinates and the positioning coordinates;

[0115] Among them, the remaining observation distance of the lth path of the bth base station is expressed as:

[0116]

[0117] Vector The joint probability density function is:

[0118]

[0119] Where d=[d1,…,d S ] T , For positioning coordinates and scatter points The estimated distance, C ρ For ρ res The noise variance matrix; taking the logarithm of the joint probability density function to obtain the positioning error function, minimizing the positioning error function to obtain the updated positioning coordinates

[0120]

[0121] In step S4, due to Cρ Unable to know, As a weight, the larger the amplitude or the smaller the distance, the greater the weight when the scattering point assists in positioning.

[0122] In a preferred embodiment of the present invention, step S5 comprises:

[0123] Repeat steps S3 and S4, alternately minimizing the scattering point error function and the positioning error function to update the scattering point coordinates and positioning coordinates When the change value of the positioning coordinates meets the termination condition, the loop is completed and the optimal positioning coordinates are output.

[0124] The termination condition is: the change value of the positioning coordinates is less than the set threshold ε, or the number of iterations is greater than the set threshold N, where n=0,1...N represents the positioning coordinate value at the end of the nth cycle.

[0125] See also Figure 3 , Figure 3 A comparison diagram of the error cumulative distribution function generated by using virtual scattering points to assist and use all arrival paths, using virtual scattering points to assist but only using the strongest arrival path of each base station, and not using virtual scattering points to assist positioning is shown. In the figure, the yellow curve represents the error cumulative distribution function graph of positioning using virtual scattering points to assist and use all arrival paths, the red curve represents the error cumulative distribution function graph of positioning using virtual scattering points to assist but only using the strongest arrival path of each base station, and the blue curve represents the error cumulative distribution function graph of positioning without using virtual scattering points to assist. Figure 3 It can be seen that the 5G antenna array positioning method based on virtual scattering point assistance provided by the present invention can effectively utilize the information of all arrival paths and effectively improve the positioning accuracy in complex environments.

[0126] In summary, the present invention has achieved the following effects:

[0127] The present invention proposes a 5G antenna array positioning method based on the assistance of virtual scattering points, obtains the pseudorange and arrival direction angle of each path from all base stations, and obtains the initial positioning coordinates based on maximum likelihood estimation and pseudorange residual compensation, and updates the virtual scattering point coordinates and the positioning coordinates through iterative calculation until the termination condition is reached and the final positioning coordinates are obtained. This solves the defect of the existing technology in complex scenes that large errors in positioning results occur due to non-line-of-sight propagation paths. The positioning method of the 5G antenna array based on the assistance of virtual scattering points proposed in the present invention can make full use of the information of all direct paths and non-direct paths, has stronger applicability in complex spatial environments, more accurate terminal positioning calculation, and high positioning accuracy.

[0128] Based on this application, it should be understood by those skilled in the art that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0129] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0130] It should be noted that the above embodiments can be freely combined as needed. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.

[0131] All documents mentioned in the present invention are cited as references in this application, just as each document is cited as reference separately. In addition, it should be understood that after reading the above content of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the claims attached to this application.

Claims

1. A 5G antenna array positioning method based on virtual scattering point assistance, characterized in that: The following steps are involved: Step S1, obtaining measurement data of each base station, and obtaining at least a pseudorange parameter and an azimuth parameter under each path based on the measurement data of the base station; Step S2, calculating the positioning coordinates based on the pseudorange parameters; Step S3, calculating virtual scattering point coordinates according to the positioning coordinates; Step S4, updating the positioning coordinates according to the virtual scattering point coordinates; Step S5, repeating steps S3 to S4, when the positioning coordinates meet the termination condition, obtaining and outputting the optimal positioning coordinates.

2. The 5G antenna array positioning method based on virtual scattering point assistance according to claim 1 is characterized in that: Step S2 includes: Step S2.1, screen out the strongest path, and use the maximum likelihood estimation method to obtain the preliminary positioning coordinates through the pseudo-range solution of the strongest path; Step S2.2, calculating the pseudorange residual according to the preliminary positioning coordinates, compensating the pseudorange residual and performing positioning calculation again to obtain the positioning coordinates.

3. The 5G antenna array positioning method based on virtual scattering point assistance according to claim 2 is characterized in that: Step S2.1 includes: Among them, B is the number of base stations involved in positioning, is the standard deviation of the measured pseudorange of the strongest amplitude path of the b-th base station, x u =(x u ,y u ,z u ) is the estimated coordinate, x b =(x b ,y b ,z b ) is the coordinate of the b-th base station, is the maximum likelihood function, is the measured pseudorange of the path with the strongest amplitude of the b-th base station, b is a positive integer, b∈[1,B].

4. The 5G antenna array positioning method based on virtual scattering point assistance according to claim 3 is characterized in that: Step S2.2 includes: Calculating the pseudorange residual according to the preliminary positioning coordinates and the pseudorange comprises: in, is the pseudorange residual of the path with the strongest amplitude at the b-th base station; The compensating the pseudorange residual and performing positioning calculation again comprises: x u For positioning coordinates.

5. The 5G antenna array positioning method based on virtual scattering point assistance according to claim 4 is characterized in that: Step S3 includes: Step S3.1, obtaining a virtual scattering point pseudorange error function according to the positioning coordinates, the base station coordinates and the measured pseudorange; Step S3.2, obtaining a virtual scattering point angle error function according to the positioning coordinates, base station coordinates and azimuth parameters; Step S3.3: normalize the pseudorange error function and the angle error function and add them together to obtain the scattering point error function, and minimize it to obtain the scattering point coordinates.

6. The 5G antenna array positioning method based on virtual scattering point assistance according to claim 5 is characterized in that: Step S3.1 includes: Get base station coordinates x b and the pseudorange ρ of the lth path received by the bth base station b,l , x b =(x b ,y b ,z b ), according to the positioning coordinate x u 、x b and ρ b,l Calculate the ellipsoidal surface of the virtual scattering point, the ellipsoidal surface of the virtual scattering point is x b and x u is the focus, the major semi-axis Minor semi-axis The expression of the ellipsoid of the virtual scattering point in the local coordinate system is: The first coordinate of the virtual scattering point in the local coordinate system is represented by x' s =(x' s ,y' s ,z' s ), based on the transformation matrix, the first coordinate is transformed into the global coordinate system to obtain the second coordinate in the entire coordinate system, and the second coordinate is represented by x s =(x s ,y s ,z s ), the coordinate transformation process is expressed as [x s 1]=[x' s 1]M(θ r ,φ r ,v t ), the transformation matrix is ​​M(θ r ,φ r ,v t ), Rotation vector (x u -x b ) and the horizontal angle between the x-axis is denoted by φ r ,φ r ∈[0,2π),(x u -x b ) and the z-axis is denoted by θ r ,θ r ∈[0,π), v t Represents the translation vector x u =(x u ,y u ,z u ) is the estimated coordinate, x b =(x b ,y b ,z b ) is the coordinate of the b-th base station; Among them, the transformation matrix M(θ r ,φ r ,v t ) is expressed as: The coordinate x of the virtual scattering point of the lth path s satisfy: Among them, the pseudorange error function ε(ρ b,l ) is expressed as: a, b represent the lengths of the major and minor semi-axis in the transformed coordinate system, a=a s ,b=b s .

7. The 5G antenna array positioning method based on virtual scattering point assistance according to claim 6 is characterized in that: Step S3.2 includes: Get the scattering point coordinates, base station coordinates, the angle θ between the arrival direction angle of the lth path received by the bth base station and the reference vector b,l , calculate the angle error function; Among them, the scattering point coordinate x s =(x s ,y s ,z s ), and obtain the angle error function ε(θ b,l ): Coordinate x of the scattering point s satisfy:

8. The 5G antenna array positioning method based on virtual scattering point assistance according to claim 7 is characterized in that: Step S3.3 includes: The pseudorange error function ε(ρ b,l ) and the angle error function ε(θ b,l ) are normalized and added to obtain the scattering point error function E s : Among them, the weight ||h b,l || 2 Reflecting the importance of the scattering point model, by minimizing the scattering point error function E s , obtain the coordinates of the virtual scattering points of each path of all base stations.

9. The 5G antenna array positioning method based on virtual scattering point assistance according to claim 8 is characterized in that: Step S4 includes: updating the positioning coordinates based on maximum likelihood estimation according to the remaining observed distance between the virtual scattering point coordinates and the positioning coordinates; Among them, the remaining observation distance of the lth path of the bth base station is expressed as: Vector The joint probability density function is: Where d=[d1,…,d S ] T , For positioning coordinates and scatter points The estimated distance, C ρ For ρ res The noise variance matrix; taking the logarithm of the joint probability density function to obtain the positioning error function, minimizing the positioning error function to obtain the updated positioning coordinates 10. The 5G antenna array positioning method based on virtual scattering point assistance according to claim 9 is characterized in that: Step S5 includes: Repeat steps S3 and S4, alternately minimizing the scattering point error function and the positioning error function to update the scattering point coordinates and positioning coordinates When the change value of the positioning coordinates meets the termination condition, the loop is completed and the optimal positioning coordinates are output. The termination condition is: the change value of the positioning coordinates is less than the set threshold ε, or the number of iterations is greater than the set threshold N, where Indicates the positioning coordinate value at the end of the nth loop.

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