Method, device and equipment for multi-device collaborative indoor positioning based on information coupling

Abstract

The present invention provides a method, device and equipment for collaborative indoor positioning of multiple devices based on information coupling, which can be applied to the field of signal processing technology. The method for collaborative indoor positioning of multiple devices based on information coupling includes: using wireless access points to respectively receive channel state signals sent by terminals; determining initial azimuth information corresponding to the wireless access points according to the channel state signals; determining the first target initial azimuth corresponding to the wireless access point from the first initial azimuth and the second initial azimuth based on the angle focusing criterion; obtaining the target pitch angle corresponding to the wireless access point according to the first target initial azimuth corresponding to the wireless access point and the geographical location information of the wireless access point, and calculating the target azimuth based on the target pitch angle corresponding to the wireless access point and the first target initial azimuth corresponding to the wireless access point; determining the target position of the terminal according to the target azimuth and the target pitch angle corresponding to the wireless access point.

Description

Technical Field

[0001] The present invention relates to the field of signal processing technology, and more specifically to a method, device and equipment for multi-device collaborative indoor positioning based on information coupling. Background Art

[0002] Accurately positioning a target is one of the most important scientific researches nowadays. Outdoors, the global positioning system can be used for accurate positioning. However, indoors, due to the obstruction of buildings and the diversity of the building environment, the positioning performance of the global positioning system is poor, and accurate positioning cannot be performed in indoor environments. Furthermore, the existing technology processes WIFI (Wireless Fidelity, mobile hotspot) signals to obtain indoor positioning results.

[0003] In the process of realizing the above-mentioned inventive concept, it was found through research that: in the related technology, since it is difficult to determine the position angle information of the target terminal relative to the wireless access point based on the WIFI signal, and due to the complexity and diversity of the indoor environment where the target is located and the height difference between the wireless access point and the target terminal, the positioning accuracy and robustness of the target terminal in indoor positioning are poor, it is difficult to locate the indoor target terminal in real time, and the positioning efficiency is low. Summary of the invention

[0004] In view of the above problems, the present invention provides a method, apparatus and device for multi-device collaborative indoor positioning based on information coupling.

[0005] According to a first aspect of the present invention, a method for multi-device collaborative indoor positioning based on information coupling is provided, comprising: using I wireless access points to respectively receive channel state signals sent by a terminal, wherein I≥2, and I is a positive integer; for an i-th wireless access point among the I wireless access points, according to the i-th channel state signal, determining the i-th initial azimuth information corresponding to the i-th wireless access point, wherein the i-th initial azimuth information includes an i-th first initial azimuth and an i-th second initial azimuth, the i-th first initial azimuth and the i-th second initial azimuth are azimuths of equal magnitude and opposite rotation directions, 1≤i≤I, and i is a positive integer; based on an angle focusing criterion, from the i-th first initial azimuth and the i-th second initial azimuth, a plurality of initial azimuths are located at a certain position, and a plurality of initial azimuths are located at a certain position. determining a first target initial azimuth corresponding to an i-th wireless access point; obtaining a target elevation angle corresponding to the i-th wireless access point according to the first target initial azimuth corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point, and calculating a target azimuth based on the target elevation angle corresponding to the i-th wireless access point and the first target initial azimuth corresponding to the i-th wireless access point; determining a target position of the terminal according to the target azimuths corresponding to each of the I wireless access points and the target elevation angles corresponding to each of the I wireless access points.

[0006] According to an embodiment of the present invention, for an i-th wireless access point among I wireless access points, determining, according to an i-th channel state signal, i-th initial azimuth information corresponding to the i-th wireless access point includes: dividing, according to a preset accuracy, a predetermined azimuth angle range and a predetermined elevation angle range of the i-th wireless access point respectively to obtain a plurality of azimuth angle grid points and a plurality of elevation angle grid points; constructing a steering vector according to the plurality of azimuth angle grid points and the plurality of elevation angle grid points, wherein the steering vector includes a phase difference between each antenna and a first antenna in the i-th wireless access point under different azimuth angles and elevation angles; calculating and processing the i-th channel state signal by using a conjugate transpose of the steering vector to obtain an i-th target power spectrum, wherein each element in the target power spectrum corresponds to power information of an azimuth angle grid point and each elevation angle grid point respectively; and determining, according to the i-th target power spectrum, the initial azimuth information corresponding to the i-th wireless access point.

[0007] According to an embodiment of the present invention, determining initial azimuth information corresponding to an i-th wireless access point based on an i-th target power spectrum includes: acquiring a target azimuth angle grid point with maximum power from the target power spectrum; and determining the azimuth angle corresponding to the target azimuth angle grid point as the initial azimuth information corresponding to the i-th wireless access point.

[0008] According to an embodiment of the present invention, based on an angle focusing criterion, determining a first target initial azimuth corresponding to an i-th wireless access point from a first initial azimuth and a second initial azimuth includes: performing triangulation positioning using geographic location information of I wireless access points to obtain a first joint positioning azimuth corresponding to each wireless access point; based on the angle focusing criterion, calculating a plurality of azimuth focusing differences according to candidate azimuths of the I wireless access points and I first joint positioning azimuths, wherein the candidate azimuth is the first initial azimuth or the second initial azimuth; obtaining a minimum azimuth focusing difference from the plurality of azimuth focusing differences, and determining the first target initial azimuth corresponding to the i-th wireless access point according to the candidate azimuths corresponding to the minimum azimuth focusing difference.

[0009] According to an embodiment of the present invention, a target pitch angle corresponding to an i-th wireless access point is obtained according to a first target initial azimuth corresponding to an i-th wireless access point and geographical location information of an i-th wireless access point, and a target azimuth is calculated based on the target pitch angle corresponding to the i-th wireless access point and the first target initial azimuth corresponding to the i-th wireless access point, including: for a j-th iteration round, where j≥1 and j is a positive integer: according to the first target initial azimuth corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point, using a triangulated positioning function to calculate the geographical location information of the terminal relative to the i-th wireless access point; processing the geographical location information of the terminal, the geographical location information of the i-th wireless access point, the height of the terminal and the height of the i-th wireless access point to obtain an iteration pitch angle corresponding to the i-th wireless access point; and according to the first target initial azimuth corresponding to the i-th wireless access point, calculating the target azimuth. The invention relates to an embodiment of the invention. The invention relates to an iterative pitch angle corresponding to a jth wireless access point and a first target initial azimuth corresponding to an ith wireless access point, to obtain an iterative azimuth corresponding to the ith wireless access point and to update the first target initial azimuth corresponding to the ith wireless access point; an iterative pitch angle error corresponding to the ith wireless access point is calculated according to the iterative pitch angle obtained in the jth iteration round and the iterative pitch angle obtained in the j+1th iteration round; when the iterative pitch angle error is greater than a first predetermined threshold, the above operation is repeatedly performed until the iterative pitch angle error is less than the first predetermined threshold; when the iterative pitch angle error is less than the first predetermined threshold, the iterative pitch angle obtained in the j+1th iteration round is determined as the target pitch angle corresponding to the ith wireless access point; and the target azimuth is calculated based on the target pitch angle corresponding to the ith wireless access point and the first target initial azimuth corresponding to the ith wireless access point.

[0010] According to an embodiment of the present invention, the method further includes: determining a positioning weight of an i-th wireless access point according to a target azimuth corresponding to the i-th wireless access point; performing triangulation positioning according to geographic location information of I wireless access points based on the positioning weight of the i-th wireless access point to obtain a second joint positioning azimuth corresponding to the i-th wireless access point; obtaining a second target initial azimuth corresponding to the i-th wireless access point according to respective candidate azimuths of the I wireless access points and I second joint positioning azimuths based on an angle focusing criterion; and obtaining a target azimuth and a target elevation angle corresponding to the i-th wireless access point according to the second target initial azimuth corresponding to the i-th wireless access point and the geographic location information of the i-th wireless access point.

[0011] According to an embodiment of the present invention, the channel state signals respectively received by I wireless access points include channel state signals at T moments, and the target azimuth corresponding to the i-th wireless access point includes target azimuths at T moments, where T≥1.

[0012] According to an embodiment of the present invention, determining a positioning weight of an i-th wireless access point according to a target azimuth corresponding to an i-th wireless access point includes: acquiring a target azimuth corresponding to the i-th wireless access point at a t-th time, a target azimuth corresponding to the i-th wireless access point at a t+1-th time, and a target azimuth corresponding to the i-th wireless access point at a t+2-th time, wherein 1≤t≤T, and t is a positive integer; obtaining a spectrum continuity error corresponding to the i-th wireless access point according to a spectrum continuity criterion, the target azimuth corresponding to the i-th wireless access point at a t-th time, the target azimuth corresponding to the i-th wireless access point at a t+1-th time, and the target azimuth corresponding to the i-th wireless access point at a t+2-th time; and calculating according to a sum of a spectrum continuity error corresponding to the i-th wireless access point and a spectrum continuity error corresponding to I wireless access points to obtain a positioning weight of the i-th wireless access point.

[0013] A second aspect of the present invention provides an apparatus for multi-device collaborative indoor positioning based on information coupling, comprising: a receiving module, used to use I wireless access points to respectively receive channel state signals sent by a terminal, wherein I≥2, and I is a positive integer; an acquisition module, used to determine, for an i-th wireless access point among the I wireless access points, the i-th initial azimuth information corresponding to the i-th wireless access point according to the I channel state signals, wherein the i-th initial azimuth information includes an i-th first initial azimuth and an i-th second initial azimuth, the i-th first initial azimuth and the i-th second initial azimuth are azimuths of equal magnitude and opposite rotation directions, 1≤i≤I, and i is a positive integer; a first determination module, used to determine, based on an angle focusing criterion, from the i-th first initial azimuth and the i-th second initial azimuth. a first target initial azimuth corresponding to the i-th wireless access point is determined in the iterative module; a target pitch angle corresponding to the i-th wireless access point is obtained according to the first target initial azimuth corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point, and a target azimuth is calculated based on the target pitch angle corresponding to the i-th wireless access point and the first target initial azimuth corresponding to the i-th wireless access point; a second determining module is used to determine the target position of the terminal according to the target azimuths corresponding to each of the I wireless access points and the target pitch angles corresponding to each of the I wireless access points.

[0014] A third aspect of the present invention provides an electronic device, comprising: one or more processors; a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the above method.

[0015] The fourth aspect of the present invention also provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, causes the processor to execute the above method.

[0016] The fifth aspect of the present invention also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0017] According to the method, apparatus and device for multi-device collaborative indoor positioning based on information coupling of the present invention, by using I wireless access points to respectively receive channel state signals sent by a terminal, for an i-th wireless access point among the I wireless access points, according to the i-th channel state signal, a first initial azimuth and a second initial azimuth corresponding to the i-th wireless access point are determined, based on an angle focusing criterion, a first target initial azimuth corresponding to the i-th wireless access point is determined from the i-th first initial azimuth and the i-th second initial azimuth, according to the first target initial azimuth corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point, a target pitch angle corresponding to the i-th wireless access point is obtained through multiple iterations, and a target azimuth is calculated based on the target pitch angle corresponding to the i-th wireless access point and the first target initial azimuth corresponding to the i-th wireless access point, and finally, according to the target azimuth and target pitch angle corresponding to each wireless access point, the target position of the terminal in the indoor environment is determined. In indoor environments, by performing multi-dimensional and multi-angle analysis on the channel status signals received by each wireless access point, the positioning information of the terminal with high precision and high robustness can be obtained in real time, thereby improving positioning efficiency.

[0018] According to an embodiment of the present invention, further, the present invention selects and determines the first initial azimuth and the second initial azimuth corresponding to each wireless access point based on the angle focusing criterion to obtain an azimuth that can reflect the location information of the terminal relative to the wireless access point, so as to solve the problem of unclear position of the terminal relative to the wireless access point, thereby obtaining an accurate and clear position and angle of the terminal, so as to reduce the influence of obstructions in a multi-obstruction environment indoors, and obtain a more accurate terminal positioning result.

[0019] According to an embodiment of the present invention, further, due to the height difference between the wireless access point and the terminal, the target elevation angle is obtained through multiple iterations according to the first target initial azimuth and the geographical location information of the wireless access point, and the target azimuth is calculated according to the target elevation angle, thereby eliminating the positioning error caused by the height difference between the wireless access point and the terminal, further improving the positioning accuracy, so as to adapt to the positioning of the terminal in a variety of complex and changeable indoor environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above contents and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0021] Figure 1 An application scenario diagram of a method for multi-device collaborative indoor positioning based on information coupling according to an embodiment of the present invention is shown;

[0022] Figure 2 A flowchart of a method for multi-device collaborative indoor positioning based on information coupling according to an embodiment of the present invention is shown;

[0023] Figure 3 A schematic diagram showing initial azimuth information between multiple wireless access points and a terminal according to an embodiment of the present invention is shown;

[0024] Figure 4a A schematic diagram showing discontinuous azimuth angles and signal quality according to an embodiment of the present invention is shown;

[0025] Figure 4b A schematic diagram showing continuous azimuth angles and signal quality according to an embodiment of the present invention;

[0026] Figure 4c A schematic diagram showing discontinuous azimuth angle change difference and signal quality according to an embodiment of the present invention is shown;

[0027] Figure 4d A schematic diagram showing continuous azimuth angle change differences and signal quality according to an embodiment of the present invention is shown;

[0028] Figure 5 A flowchart of a full-process method for multi-device collaborative indoor positioning based on information coupling according to an embodiment of the present invention is shown;

[0029] Figure 6 A schematic diagram showing an azimuth estimation error according to an embodiment of the present invention is shown;

[0030] Figure 7 A schematic diagram showing a pitch angle estimation error according to an embodiment of the present invention is shown;

[0031] Figure 8 A schematic diagram showing positioning error according to an embodiment of the present invention is shown;

[0032] Fig. 9 A structural block diagram of an apparatus for multi-device collaborative indoor positioning based on information coupling according to an embodiment of the present invention is shown;

[0033] Fig.10 A block diagram of an electronic device according to a method for multi-device collaborative indoor positioning based on information coupling according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0034] Below, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of concepts of the present invention.

[0035] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0036] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0037] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0038] In the technical solution of the present invention, the user information (including but not limited to user personal information, user image information, user device information, such as location information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, invention and application of the relevant data comply with relevant laws, regulations and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0039] WiFi (Wireless Fidelity, mobile hotspot) is an indispensable network signal device and is widely used in wireless communication, intelligent sensing and other fields. In outdoor environments, the global positioning system can provide accurate positioning and navigation services with the help of satellites. However, in indoor environments, due to the obstruction of buildings and the different environments in different buildings, the performance of the global positioning system has seriously declined. On this basis, researchers have found that indoor positioning services based on WiFi signals can be unaffected by complex indoor environmental conditions, thereby locating indoor terminals.

[0040] In the prior art, the propagation time of the WiFi signal can be processed. However, due to the narrow bandwidth of the existing WiFi device and the low resolution of the propagation time, the positioning accuracy based on the propagation time of the WiFi signal is low. Even if the bandwidth is increased by frequency hopping the WiFi signal, the frequency hopping processing is inefficient and will affect normal communication, so it cannot be generally used in practice. In the process of realizing the above invention concept, it is found through research that: in the related art, since the position angle information of the target terminal relative to the wireless access point cannot be determined based on the WIFI signal, and due to the complex diversity of the indoor environment where the target is located and the height difference between the wireless access point and the target terminal, the positioning accuracy and positioning robustness of the target terminal in the indoor positioning are poor, and the indoor target terminal cannot be positioned in real time, and the positioning efficiency is low. Technical problems.

[0041] In view of this, an embodiment of the present invention provides a method for multi-device collaborative indoor positioning based on information coupling, comprising: using I wireless access points to respectively receive channel state signals sent by a terminal, wherein I≥2, and I is a positive integer; for an i-th wireless access point among the I wireless access points, according to the i-th channel state signal, determining the i-th initial azimuth information corresponding to the i-th wireless access point, wherein the i-th initial azimuth information includes an i-th first initial azimuth and an i-th second initial azimuth, the i-th first initial azimuth and the i-th second initial azimuth are azimuths of equal magnitude and opposite rotation directions, 1≤i≤I, and i is a positive integer; based on an angle focusing criterion, from the i-th first initial azimuth and the i-th second initial azimuth, a plurality of initial azimuths are located at a certain position in the indoor positioning system, wherein the ... determining a first target initial azimuth corresponding to an i-th wireless access point; obtaining a target elevation angle corresponding to the i-th wireless access point according to the first target initial azimuth corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point, and calculating a target azimuth based on the target elevation angle corresponding to the i-th wireless access point and the first target initial azimuth corresponding to the i-th wireless access point; determining a target position of the terminal according to the target azimuths corresponding to each of the I wireless access points and the target elevation angles corresponding to each of the I wireless access points.

[0042] Figure 1 An application scenario diagram of a method for multi-device collaborative indoor positioning based on information coupling according to an embodiment of the present invention is shown.

[0043] like Figure 1 As shown, the application scenario according to this embodiment may include a first wireless device 101, a second wireless device 102, a third wireless device 103, a terminal 104 and an indoor 105. The terminal 104 is used to send wireless WiFi signals to the first wireless device 101, the second wireless device 102 and the third wireless device 103.

[0044] The user can use the terminal 104 to interact with the first wireless device 101, the second wireless device 102 and the third wireless device 103 through wireless WiFi signals to obtain corresponding signal information, etc. The first wireless device 101, the second wireless device 102 and the third wireless device 103 can be wireless access points or WiFi that process the signal information.

[0045] The first wireless device 101 , the second wireless device 102 and the third wireless device 103 may analyze and process data such as signal information sent by the terminal 104 , and feed back the processing results to the terminal 104 .

[0046] The terminal 104 may send signals to the first wireless device 101 , the second wireless device 102 , and the third wireless device 103 , and may also be a mobile terminal that receives data such as signals sent by the first wireless device 101 , the second wireless device 102 , and the third wireless device 103 .

[0047] It should be noted that the method for multi-device collaborative indoor positioning based on information coupling provided in the embodiment of the present invention can generally be performed by the first wireless device 101, the second wireless device 102 and the third wireless device 103. Accordingly, the apparatus for multi-device collaborative indoor positioning based on information coupling provided in the embodiment of the present invention can generally be arranged in the first wireless device 101, the second wireless device 102 and the third wireless device 103. The method for multi-device collaborative indoor positioning based on information coupling provided in the embodiment of the present invention can also be performed by a terminal 104 or a terminal cluster different from the first wireless device 101, the second wireless device 102 and the third wireless device 103. Accordingly, the apparatus for multi-device collaborative indoor positioning based on information coupling provided in the embodiment of the present invention can also be arranged in a terminal 104 or a terminal cluster different from the first wireless device 101, the second wireless device 102 and the third wireless device 103.

[0048] It should be understood that Figure 1 The number of wireless devices and terminals in the embodiment is only for illustration. Any number of wireless devices and terminals may be provided according to implementation requirements.

[0049] The following will be based on Figure 1 The scene described by Figure 2~Figure 8 The method for multi-device collaborative indoor positioning based on information coupling according to an embodiment of the invention is described in detail.

[0050] Figure 2 A flow chart of a method for multi-device collaborative indoor positioning based on information coupling according to an embodiment of the present invention is shown.

[0051] like Figure 2 As shown, the method for multi-device collaborative indoor positioning based on information coupling of this embodiment includes operations S210 to S250.

[0052] In operation S210, channel state signals sent by a terminal are received by using I wireless access points respectively, where I≥2 and I is a positive integer.

[0053] According to an embodiment of the present invention, the channel state signal is sent by a terminal. In an indoor environment, one terminal may send a channel state signal to multiple wireless access points (APs), and multiple terminals may send a channel state signal corresponding to each terminal to multiple wireless access points respectively.

[0054] In operation S220, for an i-th wireless access point among the I wireless access points, i-th initial azimuth information corresponding to the i-th wireless access point is determined according to the i-th channel state signal, where 1≤i≤I, and i is a positive integer.

[0055] According to an embodiment of the present invention, the initial azimuth information includes a first initial azimuth and a second initial azimuth, and the first initial azimuth and the second initial azimuth are azimuths of equal magnitude and opposite rotation directions.

[0056] According to an embodiment of the present invention, each wireless access point can receive a channel state signal sent by a terminal, and by processing the channel state signal received by each wireless access point, I initial azimuth information can be obtained, including I first initial azimuths and I second initial azimuths. For example, by processing the channel state signal received by wireless access point A, the first initial azimuth of the terminal relative to wireless access point A is 45°, and the second initial azimuth is -45°; by processing the channel state signal received by wireless access point B, the first initial azimuth of the terminal relative to wireless access point B is 60°, and the second initial azimuth is -60°; by processing the channel state signal received by wireless access point C, the first initial azimuth of the terminal relative to wireless access point C is 142°, and the second initial azimuth is -142°.

[0057] According to the embodiment of the present invention, the above operation is performed on each of the I wireless access points to obtain a first initial azimuth angle and a second initial azimuth angle corresponding to each wireless access point.

[0058] In operation S230, based on the angle focusing criterion, a first target initial azimuth angle corresponding to the i-th wireless access point is determined from the i-th first initial azimuth angle and the i-th second initial azimuth angle.

[0059] According to an embodiment of the present invention, an initial azimuth angle is determined as a first target initial azimuth angle from the first initial azimuth angle and the second initial azimuth angle corresponding to each wireless access point. For example, the first initial azimuth angle between the terminal and the A wireless access point is 45°, and the second initial azimuth angle is -45°. Based on the angle focusing criterion, the first target initial azimuth angle between the terminal and the A wireless access point is determined to be the first initial azimuth angle of 45°, the first initial azimuth angle between the terminal and the B wireless access point is 66°, and the second initial azimuth angle is -66°. Based on the angle focusing criterion, the first target initial azimuth angle between the terminal and the B wireless access point is obtained to be the second initial azimuth angle of -66°, the first initial azimuth angle between the terminal and the C wireless access point is 123°, and the second initial azimuth angle is -123°. Based on the angle focusing criterion, the first target initial azimuth angle between the terminal and the C wireless access point is obtained to be the first initial azimuth angle of 123°.

[0060] According to an embodiment of the present invention, the first target initial azimuth angle may be characterized as the direction angle information of the terminal relative to the wireless access point. For example, when the first target initial azimuth angle is 45°, it may be characterized that the terminal is located at a position 45° to the upper right of the wireless access point, when the first target initial azimuth angle is -45°, it may be characterized that the terminal is located at a position 45° to the lower right of the wireless access point, when the first target initial azimuth angle is 145°, it may be characterized that the terminal is located at a position 45° to the upper left of the wireless access point, and when the first target initial azimuth angle is -145°, it may be characterized that the terminal is located at a position 45° to the lower left of the wireless access point.

[0061] According to the embodiment of the present invention, by performing the above operation on each wireless access point, specific position angle information of the terminal relative to each wireless access point can be obtained.

[0062] In operation S240, a target elevation angle corresponding to the ith wireless access point is obtained according to the first target initial azimuth angle corresponding to the ith wireless access point and the geographic location information of the ith wireless access point, and a target azimuth angle is calculated based on the target elevation angle corresponding to the ith wireless access point and the first target initial azimuth angle corresponding to the ith wireless access point.

[0063] According to an embodiment of the present invention, a target elevation angle between the terminal and the i-th wireless access point is obtained through multiple iterations according to the first target initial azimuth corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point, and an arcsine calculation is performed using the target elevation angle and the first target initial azimuth corresponding to the wireless access point that has not been iteratively updated, that is, based on the first target initial azimuth obtained in operation S230, to obtain the target azimuth.

[0064] According to the embodiment of the present invention, the above operation is performed on each of the I wireless access points, so that the target elevation angle and the target azimuth angle corresponding to each wireless access point can be obtained.

[0065] In operation S250, the target position of the terminal is determined according to the target azimuth angles corresponding to the I wireless access points and the target elevation angles corresponding to the I wireless access points.

[0066] According to an embodiment of the present invention, the target position of the terminal may be characterized as a precise positioning result of the terminal in an indoor environment.

[0067] According to an embodiment of the present invention, by using I wireless access points to respectively receive channel state signals sent by a terminal, for an i-th wireless access point among the I wireless access points, according to the i-th channel state signal, a first initial azimuth and a second initial azimuth corresponding to the i-th wireless access point are determined, based on an angle focusing criterion, a first target initial azimuth corresponding to the i-th wireless access point is determined from the i-th first initial azimuth and the i-th second initial azimuth, according to the first target initial azimuth corresponding to the i-th wireless access point and geographical location information of the i-th wireless access point, a target elevation angle corresponding to the i-th wireless access point is obtained through multiple iterations, and a target azimuth is calculated based on the target elevation angle corresponding to the i-th wireless access point and the first target initial azimuth corresponding to the i-th wireless access point, and finally, according to the target azimuth and target elevation angle corresponding to each wireless access point, a target position of the terminal in an indoor environment is determined. In indoor environments, by performing multi-dimensional and multi-angle analysis on the channel status signals received by each wireless access point, the positioning information of the terminal with high precision and high robustness can be obtained in real time, thereby improving positioning efficiency.

[0068] According to an embodiment of the present invention, further, the present invention selects and determines the first initial azimuth and the second initial azimuth corresponding to each wireless access point based on the angle focusing criterion to obtain an azimuth that can reflect the location information of the terminal relative to the wireless access point, so as to solve the problem of unclear position of the terminal relative to the wireless access point, thereby obtaining an accurate and clear position and angle of the terminal, so as to reduce the influence of obstructions in a multi-obstruction environment indoors, and obtain a more accurate terminal positioning result.

[0069] According to an embodiment of the present invention, further, due to the height difference between the wireless access point and the terminal, the target elevation angle is obtained through multiple iterations according to the first target initial azimuth and the geographical location information of the wireless access point, and the target azimuth is calculated according to the target elevation angle, thereby eliminating the positioning error caused by the height difference between the wireless access point and the terminal, further improving the positioning accuracy, so as to adapt to the positioning of the terminal in a variety of complex and changeable indoor environments.

[0070] According to an embodiment of the present invention, the channel state signal received by each wireless access point may be presented in the form of a stepped frequency signal. For a wireless access point, when the wireless access point may have M antennas and K stepped frequencies, the channel state signal of the kth frequency at the tth time received by the mth antenna may be expressed as shown in formula (1).

[0071] (1);

[0072] Among them, S m,k（t） It can be represented as the channel state signal of the kth frequency point at the tth time received by the mth antenna of the wireless access point, L can be represented as the total number of paths for propagating the channel state signal, l can be represented as the number of each path for propagating the channel state signal, and f k can be represented as the frequency of the kth frequency point, α can be represented as the attenuation coefficient of the propagation of the channel state signal, e can be represented as a natural constant, j can be represented as an imaginary unit, and θ can be represented as an azimuth angle. It can be represented as the pitch angle, It can be represented as the propagation time of the channel state signal, d can be represented as the spacing between multiple antennas, and c can be represented as the propagation speed of the channel state signal.

[0073] According to an embodiment of the present invention, the channel state signals of K stepped frequency points received by M antennas at the t-th time can be expressed as shown in formula (2).

[0074] (2);

[0075] Among them, S tIt can be represented as the channel state signals of K step frequency points received by M antennas at the t-th moment. By transposing the matrix composed of the channel state signals of each frequency point received by each antenna at the t-th moment, the channel state signals of K step frequency points received by the M antennas at the t-th moment are obtained, that is, the channel state signals received by the wireless access point.

[0076] According to the embodiment of the present invention, the channel state signals received by the M antennas at all times can be expressed as in formula (3).

[0077] (3);

[0078] Among them, S can be represented as the channel state signals received by the M antennas of the i-th wireless access point at all times, that is, the channel state signals received by the i-th wireless access point, and N can be represented as all the times at which the channel state signals are received in total.

[0079] According to an embodiment of the present invention, for an i-th wireless access point among I wireless access points, a method for determining initial azimuth information corresponding to the i-th wireless access point according to an i-th channel state signal includes the following operations.

[0080] According to an embodiment of the present invention, based on a predetermined azimuth angle range and a predetermined elevation angle range of the i-th wireless access point, the predetermined azimuth angle range and the predetermined elevation angle range are divided according to a preset accuracy to obtain a plurality of azimuth angle grid points and a plurality of elevation angle grid points.

[0081] According to an embodiment of the present invention, the predetermined azimuth angle range may obtain the azimuth angle range of the terminal relative to the i-th wireless access point according to the indoor environment, and the azimuth angle range of the terminal relative to the i-th wireless access point may also be preset. For example, the predetermined azimuth angle range of the i-th wireless access point may be 0-90°. The predetermined elevation angle range may obtain the elevation angle range of the terminal relative to the i-th wireless access point according to the indoor environment, and the elevation angle range of the terminal relative to the i-th wireless access point may also be preset. For example, the predetermined elevation angle range of the i-th wireless access point may be -90° to -180°.

[0082] According to an embodiment of the present invention, by presetting the accuracy, the predetermined azimuth angle range and the elevation angle range are divided into a plurality of azimuth angle grid points and a plurality of elevation angle grid points, and each grid point can represent an angle equal to the preset accuracy. Generally, the smaller the preset accuracy is, the finer the angle grid points will be divided, so that the obtained initial azimuth information is more accurate, and the preset accuracy can be set to an accuracy value such as 0.5 or 0.25. For example, the preset accuracy is 0.5, the azimuth angle range corresponding to the i-th wireless access point is 0~90°, and the azimuth angle range corresponding to the i-th wireless access point is -90°~-180°. Based on the preset accuracy, the azimuth angle range is divided into a total of 180 azimuth angle grid points with each grid point being 0.5°, and based on the preset accuracy, the elevation angle range is divided into a total of 180 elevation angle grid points with each grid point being -0.5°.

[0083] According to an embodiment of the present invention, a steering vector is constructed based on a plurality of azimuth angle grid points and a plurality of elevation angle grid points.

[0084] According to an embodiment of the present invention, the steering vector includes a phase difference between each antenna in the i-th wireless access point and the first antenna at different azimuth angles and elevation angles.

[0085] According to an embodiment of the present invention, the phase difference between each antenna and the first antenna can be calculated by using the phase difference between the mth antenna and the first antenna as shown in formula (4). The phase difference between each antenna and the first antenna is shown in formula (5). Multiple azimuth angles corresponding to azimuth angle grid points and multiple elevation angles corresponding to elevation angle grid points are substituted into formula (5) to obtain a steering vector presented in a matrix form. The steering vector is shown in formula (6).

[0086] (4);

[0087] in, It can be represented as the phase difference between the mth antenna and the first antenna in the i-th wireless access point.

[0088] (5);

[0089] in, It can be characterized as the phase difference between each antenna and the first antenna.

[0090] (6);

[0091] Among them, A can be represented as the steering vector, L1 can be represented as the total number of azimuth angle grid points, and L2 can be represented as the total number of elevation angle grid points. It can be characterized as the phase difference between each antenna and the first antenna in the case of an azimuth angle composed of L1 azimuth angle grid points and an elevation angle composed of L2 elevation angle grid points.

[0092] According to an embodiment of the present invention, I channel state signals are calculated and processed using the conjugate transpose of the steering vector to obtain the i-th target power spectrum.

[0093] According to an embodiment of the present invention, each element in the target power spectrum corresponds to power information of an azimuth angle grid point and each elevation angle grid point.

[0094] According to an embodiment of the present invention, a conjugate transpose process is performed on the steering vector to obtain a conjugate transpose matrix of the steering vector. The conjugate transpose matrix of the steering vector is multiplied by I channel state signals, that is, the channel state signals received by I wireless access points at all times in matrix form, to obtain a target power spectrum. The target power spectrum can be shown as formula (7).

[0095] (7);

[0096] Among them, Y can be represented as the target power spectrum, A H It can be represented as the conjugate transposed matrix of the steering vector, and S can be represented as the channel state signal received by the wireless access point.

[0097] According to the embodiment of the present invention, each wireless access point can obtain a channel state signal S corresponding thereto, and by calculating a steering vector corresponding to each wireless access point, a target power spectrum corresponding to each wireless access point can be obtained.

[0098] According to the embodiment of the present invention, initial azimuth information corresponding to the i-th wireless access point is determined according to the i-th target power spectrum.

[0099] According to an embodiment of the present invention, information of all elements is queried from the target power spectrum, and initial azimuth information corresponding to the wireless access point is determined therefrom. The above operation is performed on each wireless access point to obtain initial azimuth information corresponding to each wireless access point, that is, a total of I initial azimuth information.

[0100] According to an embodiment of the present invention, based on a predetermined azimuth angle range and a predetermined elevation angle range of an i-th wireless access point, the predetermined azimuth angle range and the predetermined elevation angle range are divided according to preset precision to obtain a plurality of azimuth angle grid points and a plurality of elevation angle grid points, a steering vector is constructed according to the plurality of azimuth angle grid points and the plurality of elevation angle grid points, the i-th channel state signal is calculated and processed by using the conjugate transpose of the steering vector to obtain a target power spectrum, and initial azimuth information corresponding to the i-th wireless access point is determined according to each element in the target power spectrum, thereby achieving initial determination of the azimuth of the channel state signal received by each wireless access point, so as to facilitate subsequent operations based on the initial azimuth information corresponding to each wireless access point, thereby determining the accurate azimuth and elevation corresponding to each wireless access point, achieving positioning of the terminal, and improving positioning efficiency.

[0101] According to an embodiment of the present invention, a method for determining initial azimuth information corresponding to an i-th wireless access point according to a target power spectrum includes the following operations.

[0102] According to an embodiment of the present invention, the target azimuth angle grid point with the maximum power is obtained from the target power spectrum.

[0103] According to an embodiment of the present invention, for the i-th wireless access point, the power represented by each element in the target power spectrum can be expressed in the form of a numerical value, and each element has an azimuth angle grid point and an elevation angle grid point corresponding to it, and the azimuth angle grid point corresponding to the element with the largest value is confirmed to be the target azimuth angle grid point. For example, the azimuth angle range is 0~30°, and an azimuth angle grid point represents 5°. For the second wireless access point, the target power spectrum has 36 elements, and the maximum value of the fifth element in the first row is 100, which can be represented as the fifth element in the first row having the largest power, and the azimuth angle corresponding to the fifth element in the first row is the target azimuth angle grid point.

[0104] According to an embodiment of the present invention, the azimuth angle corresponding to the target azimuth angle grid point is determined as the initial azimuth angle information corresponding to the i-th wireless access point.

[0105] According to an embodiment of the present invention, according to the number of grid points represented by the target azimuth angle grid point and the preset precision, the azimuth angle corresponding to the target azimuth angle grid point is obtained, and the azimuth angle corresponding to the target azimuth angle grid point is determined as the initial azimuth angle information corresponding to the i-th wireless access point. For example, the azimuth angle range is 10-90°, the number of grid points represented by the target azimuth angle grid point is 10, and the preset precision for dividing the azimuth angle is 1°, then the azimuth angle corresponding to the target azimuth angle grid point is 20°, and the initial azimuth angle information corresponding to the i-th wireless access point is determined to be 20°, and further, the first initial azimuth angle is 20°, and the second initial azimuth angle is -20°.

[0106] According to the embodiment of the present invention, the above operation is performed on each of the I wireless access points, so that the initial azimuth information corresponding to each wireless access point and the first initial azimuth and the second initial azimuth included in the initial azimuth information can be determined.

[0107] According to an embodiment of the present invention, by obtaining the target azimuth angle grid point with the largest power from the target power spectrum, the azimuth angle corresponding to the target azimuth angle grid point is determined as the initial azimuth angle information corresponding to the i-th wireless access point, thereby achieving the goal of determining the accurate initial azimuth angle information corresponding to each wireless access point from the power spectrum according to the angle information corresponding to the maximum power by constructing a power spectrum, thereby improving the accuracy and robustness of indoor positioning.

[0108] According to an embodiment of the present invention, a method for determining a first target initial azimuth angle corresponding to an i-th wireless access point from a first initial azimuth angle and a second initial azimuth angle based on an angle focusing criterion includes the following operations.

[0109] According to the embodiment of the present invention, triangulation positioning is performed using geographical location information of I wireless access points to obtain a first joint positioning azimuth corresponding to each wireless access point.

[0110] According to an embodiment of the present invention, the first joint positioning azimuth may be characterized as an azimuth jointly determined according to multiple wireless access points.

[0111] According to an embodiment of the present invention, taking the ith wireless access point as an example, triangulated positioning is performed according to geographic location information of I-1 wireless access points other than the ith wireless access point to obtain an intermediate joint positioning position corresponding to the ith wireless access point, and according to an azimuth between the intermediate joint positioning position corresponding to the ith wireless access point and the geographic location of the ith wireless access point, a first joint positioning azimuth corresponding to the ith wireless access point is obtained.

[0112] According to an embodiment of the present invention, based on the angle focusing criterion, multiple azimuth focusing differences are calculated according to the candidate azimuths of each of I wireless access points and I first joint positioning azimuths, wherein the candidate azimuth is the first initial azimuth or the second initial azimuth.

[0113] According to an embodiment of the present invention, the azimuth focusing difference can be calculated according to formula (8), and formula (8) is as follows.

[0114] (8);

[0115] Wherein, I can represent I wireless access points, i can represent the i-th wireless access point, can be represented as the candidate azimuth angle corresponding to the i-th wireless access point, It can be characterized as a first joint positioning azimuth corresponding to the i-th wireless access point.

[0116] According to an embodiment of the present invention, for each wireless access point, by using the first initial azimuth and the first joint positioning azimuth to perform difference calculation or using the second initial azimuth and the first joint positioning azimuth to perform difference calculation, multiple azimuth focus difference values ​​can be obtained, so as to select the optimal solution from the multiple azimuth focus difference values. For example, there are two wireless access points in the room, the first initial azimuth corresponding to the first wireless access point is 10°, the second initial azimuth is -10°, and the first joint positioning azimuth is 15°, the first initial azimuth corresponding to the second wireless access point is 30°, the second initial azimuth is -30°, and the first joint positioning azimuth is 65°, and multiple azimuth focus difference values ​​are calculated according to formula (8), which are 40°, 60°, 100°, and 120° respectively.

[0117] According to an embodiment of the present invention, the minimum azimuth focusing difference is obtained from multiple azimuth focusing difference values, and the first target initial azimuth corresponding to the i-th wireless access point is determined based on the candidate azimuths corresponding to the minimum azimuth focusing difference value.

[0118] For example, the multiple azimuth focusing differences are 40°, 60°, 100° and 120°, respectively, and the azimuth focusing difference of 40° is selected as the minimum azimuth focusing difference. According to the candidate azimuths corresponding to the azimuth focusing difference of 40°, that is, the first initial azimuth of 10° corresponding to the first wireless access point, and the first initial azimuth of 30° corresponding to the second wireless access point, it is determined that the target initial azimuth corresponding to the first wireless access point is 10°, and the target initial azimuth corresponding to the second wireless access point is 30°.

[0119] According to an embodiment of the present invention, triangulation positioning is performed by using geographic location information of I wireless access points to obtain a first joint positioning azimuth corresponding to each wireless access point. Based on an angle focusing criterion, multiple azimuth focusing differences are calculated according to respective candidate azimuths of the I wireless access points and the I first joint positioning azimuths. A minimum azimuth focusing difference is obtained from the multiple azimuth focusing differences. A first target initial azimuth corresponding to the i-th wireless access point is determined according to the candidate azimuth corresponding to the minimum azimuth focusing difference, thereby achieving determination of the azimuth and specific position of the terminal compared to each wireless access point. Since the initial azimuth information corresponding to the wireless access point cannot determine the relative position of the terminal compared to the wireless access point, and the channel state signals received by the multiple wireless access points are all sent by the same terminal, the problem of unclear position of the terminal compared to the wireless access point can be solved by triangulation positioning and the angle focusing criterion, thereby further improving the positioning correctness and positioning accuracy.

[0120] According to an embodiment of the present invention, a method for obtaining a target elevation angle corresponding to an i-th wireless access point according to a first target initial azimuth angle corresponding to an i-th wireless access point and geographic location information of the i-th wireless access point, and calculating a target azimuth angle based on the target elevation angle corresponding to the i-th wireless access point and the first target initial azimuth angle corresponding to the i-th wireless access point includes the following operations.

[0121] According to an embodiment of the present invention, for the j-th iteration round, where j≥1 and j is a positive integer, the following is included:

[0122] According to an embodiment of the present invention, based on the first target initial azimuth corresponding to the ith wireless access point and the geographical location information of the ith wireless access point, the terminal geographical location information of the terminal relative to the ith wireless access point is calculated using a triangulated positioning function.

[0123] According to the embodiment of the present invention, since the wireless access point can be set at various positions indoors, there may be a height difference between the wireless access point and the terminal, and the height difference between the wireless access point and the terminal may cause the azimuth and elevation angle used for positioning to be inaccurate. Therefore, the method of the present invention can eliminate the problem of inaccurate azimuth and elevation angle used for positioning caused by such height difference. In the case where there may be a height difference between the wireless access point and the terminal, the relationship between the precise azimuth corresponding to the i-th wireless access point and the estimated azimuth may be as shown in formula (9).

[0124] (9);

[0125] in, It can be represented as the precise azimuth angle corresponding to the i-th wireless access point, can be represented as the estimated azimuth, It can be represented as the elevation angle corresponding to the i-th wireless access point. From formula (9), the elevation angle can be obtained: When it is large, the error between the estimated azimuth and the precise azimuth It will also be larger.

[0126] According to an embodiment of the present invention, further, the azimuth angle and elevation angle corresponding to the i-th wireless access point are iterated at least twice to optimize the angles, thereby obtaining the azimuth angle and elevation angle corresponding to the i-th wireless access point.

[0127] According to an embodiment of the present invention, trigonometric positioning is used to perform calculation as shown in formula (10) according to the initial azimuth of the first target corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point.

[0128] (10);

[0129] in, can be represented as the terminal's geographical location information of the jth iteration relative to the ith wireless access point, triang() can be represented as a triangulation positioning function, xi, yi can be represented as the geographical location information of the ith wireless access point, It can be characterized as the first target initial azimuth in the j-1th iteration corresponding to the i-th wireless access point, in the first iteration.

[0130] According to an embodiment of the present invention, the geographical location information of the terminal, the geographical location information of the ith wireless access point, the height of the terminal and the height of the ith wireless access point are processed to obtain an iterative pitch angle corresponding to the ith wireless access point.

[0131] According to an embodiment of the present invention, the iterative elevation angle corresponding to the i-th wireless access point is obtained according to formula (11), and formula (11) is as follows.

[0132] (11);

[0133] in, It can be represented as the j-th iteration pitch angle corresponding to the i-th wireless access point, range xy It can be represented as a function for calculating the Euclidean distance between two points, h i It can be represented as the height of the i-th wireless access point, and h can be represented as the height of the terminal.

[0134] According to an embodiment of the present invention, according to the iterative elevation angle corresponding to the ith wireless access point and the first target initial azimuth angle corresponding to the ith wireless access point, the iterative azimuth angle corresponding to the ith wireless access point is obtained and the first target initial azimuth angle corresponding to the ith wireless access point is updated.

[0135] According to an embodiment of the present invention, the iterative elevation angle of the jth iteration corresponding to the i-th wireless access point is used to calculate the iterative azimuth corresponding to the i-th wireless access point according to formula (12) and update the first target initial azimuth. When calculating the j+1th iteration round, the updated iterative azimuth is brought into formula (10) to calculate the position of the terminal and the subsequent iterative elevation angle.

[0136] (12);

[0137] in, can be represented as the iterative azimuth corresponding to the i-th wireless access point, It can be characterized as the initial azimuth angle of the first target that has not been updated, that is, the iterative azimuth angle in the 0th iteration, wherein the initial value of the iterative pitch angle can be 0°.

[0138] According to an embodiment of the present invention, the iterative pitch angle error corresponding to the ith wireless access point is calculated according to the iterative pitch angle obtained in the jth iteration round and the iterative pitch angle obtained in the j+1th iteration round.

[0139] For example, the iterative pitch angle obtained in the j-th iteration round is 20°, and the iterative pitch angle obtained in the j+1-th iteration round is 25°, and the iterative pitch angle error corresponding to the ith wireless access point is 5°.

[0140] According to an embodiment of the present invention, when the iterative pitch angle error is greater than the first predetermined threshold, the above operation is repeatedly performed until the iterative pitch angle error is less than the first predetermined threshold.

[0141] According to an embodiment of the present invention, when the iterative pitch angle error is less than a first predetermined threshold, the iterative pitch angle obtained in the j+1th iteration round is determined as the target pitch angle corresponding to the i-th wireless access point.

[0142] According to an embodiment of the present invention, the target azimuth angle is calculated based on the target elevation angle corresponding to the i-th wireless access point and the first intermediate azimuth angle between the terminal and the i-th wireless access point.

[0143] According to an embodiment of the present invention, when the iterative pitch angle error is less than the first predetermined threshold, the target pitch angle corresponding to the i-th wireless access point is substituted into formula (12) to calculate the iterative azimuth corresponding to the i-th wireless access point, and the calculated iterative azimuth corresponding to the i-th wireless access point is confirmed as the target azimuth corresponding to the i-th wireless access point.

[0144] According to an embodiment of the present invention, at least two iterations are performed, and each round of iterations performs operations of calculating the terminal geographical location information of the terminal relative to the i-th wireless access point using a triangulated positioning function according to the first target initial azimuth corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point, processing the terminal geographical location information, the geographical location information of the i-th wireless access point, the height of the terminal, and the height of the i-th wireless access point to obtain an iterative pitch angle corresponding to the i-th wireless access point, obtaining an iterative azimuth corresponding to the i-th wireless access point according to the iterative pitch angle corresponding to the i-th wireless access point and the first target initial azimuth corresponding to the i-th wireless access point, and updating the first target initial azimuth corresponding to the i-th wireless access point, and then performing operations of updating the first target initial azimuth corresponding to the i-th wireless access point according to the j-th iteration. The iterative pitch angle obtained in the j+1th iterative round and the iterative pitch angle obtained in the j+1th iterative round are used to calculate the iterative pitch angle error corresponding to the ith wireless access point, and the above operation is repeatedly performed until the iterative pitch angle error is less than a first predetermined threshold value, and the iterative pitch angle obtained in the j+1th iterative round is determined to be the target pitch angle corresponding to the ith wireless access point, and the target azimuth is calculated based on the target pitch angle corresponding to the ith wireless access point and the first target initial azimuth corresponding to the ith wireless access point, so that the accurate azimuth and pitch angle corresponding to the ith wireless access point are obtained through multiple iterations, so as to eliminate the problem of inaccurate positioning caused by the height difference between the wireless access point and the terminal, improve the positioning accuracy and positioning robustness, and facilitate accurate positioning of the terminal in an indoor environment with multiple shielding and obstacles.

[0145] According to an embodiment of the present invention, the method for multi-device collaborative indoor positioning based on information coupling also includes the following operations.

[0146] According to an embodiment of the present invention, the positioning weight of the i-th wireless access point is determined according to the target azimuth angle corresponding to the i-th wireless access point.

[0147] According to an embodiment of the present invention, in an indoor environment, since the terminal may change its trajectory or be blocked as the target changes, non-line-of-sight interference is generated, which affects the accurate azimuth and elevation angles. Therefore, the continuity of the reference spectrum and the inverse proportional relationship of the quality of the channel state signal can be used to determine the positioning weight of the i-th wireless access point according to the target azimuth corresponding to the i-th wireless access point, so as to allocate a larger weight to the wireless access point with a better spectrum according to the positioning weight, so as to make the joint positioning azimuth more accurately calculated, wherein, in the process of obtaining the first joint positioning azimuth, the weight of each wireless access point can be approximately 1.

[0148] According to the embodiment of the present invention, based on the positioning weight of the ith wireless access point, triangulation positioning is performed according to the geographical location information of I wireless access points to obtain a second joint positioning azimuth corresponding to the ith wireless access point.

[0149] According to an embodiment of the present invention, based on the obtained positioning weight of the i-th wireless access point, the positioning weight is brought into the triangulation positioning used to calculate the joint positioning azimuth, and combined with the geographical location information of each wireless access point, a second joint positioning azimuth corresponding to the i-th wireless access point is calculated.

[0150] According to the embodiment of the present invention, based on the angle focusing criterion, the second target initial azimuth corresponding to the i-th wireless access point is obtained according to the candidate azimuths of each of the I wireless access points and the I second joint positioning azimuths.

[0151] According to the embodiment of the present invention, the candidate azimuths of the I wireless access points and the I second joint positioning azimuths are substituted into formula (8) to perform the same calculation and operation as above, so as to obtain the second target initial azimuth corresponding to the i-th wireless access point.

[0152] According to an embodiment of the present invention, a target azimuth and a target elevation angle corresponding to the ith wireless access point are obtained according to the second target initial azimuth corresponding to the ith wireless access point and the geographical location information of the ith wireless access point.

[0153] According to an embodiment of the present invention, the initial azimuth of the second target corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point after the positioning weight allocation are brought into formula (10) to perform the same calculation and operation as above, and the azimuth and elevation angles are iterated for multiple rounds, so as to obtain the target azimuth and target elevation angle corresponding to the i-th wireless access point.

[0154] According to the embodiment of the present invention, the same operation as the above-mentioned i-th wireless access point is performed on each wireless access point, so as to obtain the target azimuth angle and target elevation angle corresponding to each wireless access point.

[0155] According to an embodiment of the present invention, by determining the positioning weight of the i-th wireless access point according to the target azimuth corresponding to the i-th wireless access point, re-performing triangulation positioning based on the positioning weight of the i-th wireless access point and the geographical location information of the I wireless access points, a second joint positioning azimuth corresponding to the i-th wireless access point is obtained, and subsequent operations such as the first joint positioning azimuth are performed based on the second joint positioning azimuth, so that the weight of the position information of each wireless access point in the joint positioning azimuth corresponding to each wireless access point is redistributed, non-line-of-sight interference is reduced, so as to obtain a more accurate second joint positioning azimuth corresponding to each wireless access point, further improve the accuracy of the target azimuth and the target elevation angle corresponding to each wireless access point, and improve the accuracy and robustness of positioning.

[0156] According to an embodiment of the present invention, the channel state signals respectively received by I wireless access points include channel state signals at T moments, and the target azimuth corresponding to the i-th wireless access point includes target azimuths at T moments, where T≥1.

[0157] According to an embodiment of the present invention, a method for determining a positioning weight of an i-th wireless access point according to a target azimuth angle corresponding to the i-th wireless access point includes the following operations.

[0158] According to an embodiment of the present invention, a target azimuth corresponding to the i-th wireless access point at time t, a target azimuth corresponding to the i-th wireless access point at time t+1, and a target azimuth corresponding to the i-th wireless access point at time t+2 are obtained, where 1≤t≤T and t is a positive integer.

[0159] According to an embodiment of the present invention, based on the spectrum continuity criterion, according to the target azimuth corresponding to the ith wireless access point at the t-th time, the target azimuth corresponding to the ith wireless access point at the t+1-th time, and the target azimuth corresponding to the ith wireless access point at the t+2-th time, a spectrum continuity error corresponding to the ith wireless access point is obtained.

[0160] According to an embodiment of the present invention, the variation trend of the azimuth angle of the spectrum of the wireless access point within a certain period of time should be stable, so that the angle difference between time t+2 and time t+1 should be approximately equal to the angle difference between time t+1 and time t, as shown in formula (13).

[0161] (13);

[0162] in, It can be represented as the target azimuth corresponding to the i-th wireless access point at the t-th time, It can be represented as the target azimuth corresponding to the i-th wireless access point at the t+1th time. It can be represented as the target azimuth corresponding to the i-th wireless access point at the t+2th time.

[0163] According to an embodiment of the present invention, based on formula (13), a spectrum continuity criterion is obtained. According to the target azimuth angle corresponding to the i-th wireless access point at time t, the target azimuth angle corresponding to the i-th wireless access point at time t+1, and the target azimuth angle corresponding to the i-th wireless access point at time t+2, a spectrum continuity error corresponding to the i-th wireless access point can be obtained. The spectrum continuity error can be calculated as shown in formula (14).

[0164] (14);

[0165] in, It can be characterized as spectrum continuity error.

[0166] According to the embodiment of the present invention, a positioning weight for the i-th wireless access point is obtained by calculating the sum of a spectrum continuity error corresponding to the i-th wireless access point and spectrum continuity errors corresponding to I wireless access points.

[0167] According to an embodiment of the present invention, the positioning weight of each wireless access point can be calculated according to formula (15).

[0168] (15);

[0169] Among them, w i（t） It can be represented as the positioning weight with the i-th wireless access point.

[0170] According to an embodiment of the present invention, by acquiring a target azimuth corresponding to an i-th wireless access point at time t, a target azimuth corresponding to the i-th wireless access point at time t+1, and a target azimuth corresponding to the i-th wireless access point at time t+2, based on a spectrum continuity criterion, a spectrum continuity error corresponding to the i-th wireless access point is obtained according to the target azimuth corresponding to the i-th wireless access point at time t, the target azimuth corresponding to the i-th wireless access point at time t+1, and the target azimuth corresponding to the i-th wireless access point at time t+2, and a positioning weight for the i-th wireless access point is obtained according to the sum of the spectrum continuity error corresponding to the i-th wireless access point and the spectrum continuity errors corresponding to I wireless access points, thereby realizing the calculation of the positioning weight of each wireless access point, so as to calculate a second joint positioning azimuth according to the positioning weight of each wireless access point, thereby obtaining a more accurate target azimuth and target elevation angle, so as to accurately position the terminal in an indoor environment.

[0171] Figure 3 A schematic diagram showing initial azimuth information between multiple wireless access points and a terminal according to an embodiment of the present invention is shown.

[0172] like Figure 3 As shown, Figure 3 The figure shows initial azimuth information between multiple wireless access points, such as AP1, AP2, and AP3, and the terminal. There are two initial azimuths corresponding to each wireless access point. For example, the initial azimuth information between the wireless access point AP3 and the terminal includes a first initial azimuth θ3 and a second initial azimuth -θ3. The first initial azimuth and the second initial azimuth are angles of equal magnitude and opposite directions. It can be seen from the figure that if the initial azimuth information corresponding to the wireless access point is not determined, the terminal positioning will be inaccurate, that is, the terminal 301 will be positioned at an erroneous position. Therefore, the present invention proposes to use the position information of multiple wireless access points to perform triangulation positioning to obtain a joint positioning azimuth, use the joint positioning azimuth, the first initial azimuth and the second initial azimuth to obtain a first target initial azimuth corresponding to each wireless access point, and further obtain the terminal 302 at a correct positioning position.

[0173] Figure 4a A schematic diagram showing discontinuous azimuth angles and signal quality according to an embodiment of the present invention is shown. Figure 4b A schematic diagram showing continuous azimuth angles and signal quality according to an embodiment of the present invention is shown. Figure 4c A schematic diagram showing discontinuous azimuth angle change difference and signal quality according to an embodiment of the present invention is shown. Figure 4d A schematic diagram showing continuous azimuth angle change differences and signal quality according to an embodiment of the present invention is shown.

[0174] like Figure 4a~Figure 4d As shown, Figure 4a~Figure 4d shows the relationship between azimuth and signal quality, Figure 4a~Figure 4b The horizontal axis represents the number of packets of the channel state signal received by the wireless access point, and the vertical axis represents the angle of the azimuth. It can be seen from the figure that Figure 4a The azimuth angle distribution is relatively scattered, indicating that the quality of the channel state signal received by the wireless access point is poor. Figure 4b The azimuth angle distribution is uniform and continuous, indicating that the quality of the channel state signal received by the wireless access point is good. Figure 4c~Figure 4d The horizontal axis represents the number of channel state signal packets received by the wireless access point, and the vertical axis represents the angle difference between the azimuth angles received at each moment. It can be seen from the figure that Figure 4cThe angular differences between the azimuths are scattered, and the angular differences between two adjacent azimuths are large, indicating that the quality of the channel state signal received by the wireless access point is poor. Figure 4d The angular differences between the azimuths are evenly distributed, and the angular differences between two adjacent azimuths are small, thereby indicating that the quality of the channel state signal received by the wireless access point is good.

[0175] Figure 5 A flow chart of a full-process method for multi-device collaborative indoor positioning based on information coupling according to an embodiment of the present invention is shown.

[0176] like Figure 5 As shown, Figure 5The whole process method of multi-device collaborative indoor positioning based on information coupling is shown, S510 shows that the terminal sends a channel state signal to multiple wireless access points (AP1, AP2 and AP3 not shown), S520 shows that the channel state signals sent by the terminal are received by multiple wireless access points respectively, and the channel state signal corresponding to each wireless access point is obtained according to the channel state signal received by each antenna of each wireless access point, S530 shows that the initial azimuth information corresponding to each wireless access point is determined according to the channel state signal received by each wireless access point, and the initial azimuth information includes a first initial azimuth and a second initial azimuth, wherein the first initial azimuth and There is only one correct initial azimuth angle in the second initial azimuth angle. When the correct initial azimuth angle is determined, the accurate position can be determined, that is, terminal 532. When the wrong initial azimuth angle is determined, it is difficult to obtain the accurate position, that is, terminal 531. S540 shows that based on the angle focusing criterion, the first target initial azimuth angle (θ1, θ2 and θ3) corresponding to each wireless access point is determined to facilitate positioning the correct terminal position. S550 shows that multiple iterative updates are performed according to the first target initial azimuth angle corresponding to each wireless access point and the geographical location information of each wireless access point to obtain the target azimuth angle and target pitch angle (𝜑1, θ2, and θ3) corresponding to each wireless access point. 𝜑2 and 𝜑3 not shown), S560 shows that the initial positioning can be performed according to the target azimuth and target elevation angle corresponding to each wireless access point obtained after iterative updating, but in the initial positioning, there may be a terminal 561 whose positioning is not accurate enough compared to the terminal 562 at the correct position, and S570 shows that during positioning, the quality of the channel state signal received by the wireless access point AP1 may be poor due to the obstruction of the target 571, so as to determine the positioning weight of each wireless access point according to the target elevation angle and target azimuth corresponding to each wireless access point, and determine the quality of the channel state signal received by each wireless access point, based on the positioning weight of each wireless access point, The signal calculation weight of each wireless access point is allocated, and based on the angle focusing criterion, the second target initial azimuth corresponding to each wireless access point is re-determined, and the target elevation angle and target azimuth corresponding to each wireless access point are re-determined based on the second target initial azimuth corresponding to each wireless access point. S580 shows the target position of the terminal located based on the target elevation angle and target azimuth corresponding to each wireless access point obtained after the weight allocation. The above method is implemented in an indoor environment, by performing multi-dimensional and multi-angle analysis on the channel state signal received by each wireless access point, so that the positioning information of the terminal with high precision and high robustness can be obtained in real time, thereby improving the positioning efficiency.

[0177] Figure 6A schematic diagram of azimuth estimation error according to an embodiment of the present invention is shown. Figure 7 A schematic diagram of a pitch angle estimation error according to an embodiment of the present invention is shown. Figure 8 A schematic diagram of positioning error according to an embodiment of the present invention is shown.

[0178] like Figure 6-8 As shown, Figure 6-8 The figure shows the error comparison after positioning by the method of the present invention and the method of the prior art, wherein method A is the method of the present invention, method B is mD-Track (using wifi signals for indoor positioning and tracking), method C is SpotFi (super-resolution algorithm and new filtering and estimation technology), and method D is DBF (Digital Beam Forming). It can be seen from the figure that the azimuth error, elevation error and positioning error after positioning by the method of the present invention are all the smallest, while the azimuth error, elevation error and positioning error after positioning by the methods of the prior art (DBF (Digital Beam Forming, digital beam forming method), SpotFi (super-resolution algorithm and new filtering and estimation technology) and mD-Track (using wifi signals for indoor positioning and tracking)) are all very large.

[0179] Fig. 9 A structural block diagram of an apparatus for multi-device collaborative indoor positioning based on information coupling according to an embodiment of the present invention is shown.

[0180] like Fig. 9 As shown, the apparatus for multi-device collaborative indoor positioning based on information coupling of this embodiment includes: a receiving module 910 , an acquisition module 920 , a first determination module 930 , an iteration module 940 and a second determination module 950 .

[0181] The receiving module 910 is used to use I wireless access points to respectively receive channel state signals sent by the terminal, where I≥2 and I is a positive integer. The receiving module 910 can be used to perform the operation S210 described above, which will not be described in detail here.

[0182] The acquisition module 920 is used to determine, for an i-th wireless access point among the I wireless access points, the i-th initial azimuth information corresponding to the i-th wireless access point according to the I channel state signals, wherein the i-th initial azimuth information includes the i-th first initial azimuth and the i-th second initial azimuth, the i-th first initial azimuth and the i-th second initial azimuth are azimuths of equal magnitude and opposite rotation directions, 1≤i≤I, and i is a positive integer. The acquisition module 920 can be used to perform the operation S220 described above, which will not be described in detail here.

[0183] The first determination module 930 is used to determine the first target initial azimuth corresponding to the i-th wireless access point from the i-th first initial azimuth and the i-th second initial azimuth based on the angle focusing criterion. The first determination module 930 can be used to perform the operation S230 described above, which will not be described in detail here.

[0184] The iteration module 940 is configured to obtain a target elevation angle corresponding to the i-th wireless access point according to the first target initial azimuth angle corresponding to the i-th wireless access point and the geographic location information of the i-th wireless access point, and calculate the target azimuth angle based on the target elevation angle corresponding to the i-th wireless access point and the first target initial azimuth angle corresponding to the i-th wireless access point. The iteration module 940 can be used to perform the operation S240 described above, which will not be described in detail herein.

[0185] The second determination module 950 is used to determine the target position of the terminal according to the target azimuth angles corresponding to the I wireless access points and the target elevation angles corresponding to the I wireless access points. The second determination module 950 can be used to perform the operation S250 described above, which will not be described in detail here.

[0186] According to an embodiment of the present invention, the acquisition module 920 includes: a first division submodule, a first construction submodule, a first processing submodule and a first determination submodule.

[0187] The first division submodule is used to divide the predetermined azimuth angle range and the predetermined elevation angle range of the i-th wireless access point according to preset accuracy to obtain multiple azimuth angle grid points and multiple elevation angle grid points.

[0188] The first construction submodule is used to construct a steering vector according to a plurality of azimuth angle grid points and a plurality of elevation angle grid points, wherein the steering vector includes a phase difference between each antenna in the i-th wireless access point and the first antenna at different azimuth angles and elevation angles.

[0189] The first processing submodule is used to calculate and process the i-th channel state signal using the conjugate transpose of the steering vector to obtain the i-th target power spectrum, wherein each element in the target power spectrum corresponds to power information of an azimuth angle grid point and each elevation angle grid point.

[0190] The first determination submodule is used to determine the initial azimuth information corresponding to the i-th wireless access point according to the i-th target power spectrum.

[0191] According to an embodiment of the present invention, the first determining submodule includes: a first acquiring unit and a first determining unit.

[0192] The first acquisition unit is used to acquire the target azimuth angle grid point with the maximum power from the target power spectrum.

[0193] The first determining unit is configured to determine the azimuth angle corresponding to the target azimuth angle grid point as the initial azimuth angle information corresponding to the i-th wireless access point.

[0194] According to an embodiment of the present invention, the first determination module 930 includes: a first positioning submodule, a first calculation submodule and a first acquisition submodule.

[0195] The first positioning submodule is used to perform triangulation positioning using the geographical location information of I wireless access points to obtain a first joint positioning azimuth corresponding to each wireless access point.

[0196] The first calculation submodule is used to calculate multiple azimuth focusing differences based on the angle focusing criterion according to the candidate azimuths of each of the I wireless access points and the I first joint positioning azimuths, wherein the candidate azimuth is the first initial azimuth or the second initial azimuth.

[0197] The first acquisition submodule is used to obtain the minimum azimuth focus difference from multiple azimuth focus differences, and determine the first target initial azimuth corresponding to the i-th wireless access point according to the candidate azimuths corresponding to the minimum azimuth focus difference.

[0198] According to an embodiment of the present invention, the iteration module 940 further includes: a first iteration submodule, a second calculation submodule, a first repetition execution submodule, a second determination submodule and a third calculation submodule.

[0199] The first iteration submodule is used for, for the j-th iteration round, where j≥1 and j is a positive integer: according to the first target initial azimuth corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point, using the triangulation positioning function to calculate the terminal geographical location information of the terminal relative to the i-th wireless access point; processing the terminal geographical location information, the geographical location information of the i-th wireless access point, the height of the terminal and the height of the i-th wireless access point to obtain the iteration pitch angle corresponding to the i-th wireless access point; according to the iteration pitch angle corresponding to the i-th wireless access point and the first target initial azimuth corresponding to the i-th wireless access point, obtaining the iteration azimuth corresponding to the i-th wireless access point and updating the first target initial azimuth corresponding to the i-th wireless access point.

[0200] The second calculation submodule is used to calculate the iterative pitch angle error corresponding to the ith wireless access point according to the iterative pitch angle obtained in the jth iteration round and the iterative pitch angle obtained in the j+1th iteration round.

[0201] The first repetitive execution submodule is used to repeatedly execute the above operation until the iterative pitch angle error is less than the first predetermined threshold when the iterative pitch angle error is greater than the first predetermined threshold.

[0202] The second determination submodule is used to determine, when the iterative pitch angle error is less than a first predetermined threshold, that the iterative pitch angle obtained in the j+1th iteration round is the target pitch angle corresponding to the i-th wireless access point.

[0203] The third calculation submodule is configured to calculate a target azimuth angle based on a target elevation angle corresponding to the i-th wireless access point and a first target initial azimuth angle corresponding to the i-th wireless access point.

[0204] According to an embodiment of the present invention, the apparatus for multi-device collaborative indoor positioning based on information coupling further includes: a third determination module, a first positioning module, a first obtaining module, and a second obtaining module.

[0205] The third determining module is configured to determine the positioning weight of the ith wireless access point according to the target azimuth angle corresponding to the ith wireless access point.

[0206] The first positioning module is used to perform triangulation positioning according to the geographical location information of I wireless access points based on the positioning weight of the i-th wireless access point, so as to obtain a second joint positioning azimuth corresponding to the i-th wireless access point.

[0207] The first obtaining module is used to obtain a second target initial azimuth corresponding to the i-th wireless access point based on an angle focusing criterion and according to the candidate azimuths of each of the I wireless access points and the I second joint positioning azimuths.

[0208] The second obtaining module is used to obtain the target azimuth and target elevation angle corresponding to the ith wireless access point according to the second target initial azimuth corresponding to the ith wireless access point and the geographical location information of the ith wireless access point.

[0209] According to an embodiment of the present invention, the first positioning module includes: the channel state signals respectively received by I wireless access points include channel state signals at T moments, the target azimuth corresponding to the i-th wireless access point includes target azimuths at T moments, and T≥1.

[0210] According to an embodiment of the present invention, the first positioning module further includes: a second acquisition submodule, a first error submodule and a first positioning weight submodule.

[0211] The second acquisition submodule is used to acquire the target azimuth corresponding to the i-th wireless access point at the t-th time, the target azimuth corresponding to the i-th wireless access point at the t+1-th time, and the target azimuth corresponding to the i-th wireless access point at the t+2-th time, where 1≤t≤T and t is a positive integer.

[0212] The first error submodule is used to obtain a spectrum continuity error corresponding to the i-th wireless access point based on a spectrum continuity criterion according to a target azimuth corresponding to the i-th wireless access point at time t, a target azimuth corresponding to the i-th wireless access point at time t+1, and a target azimuth corresponding to the i-th wireless access point at time t+2.

[0213] The first positioning weight submodule is used to calculate the positioning weight of the i-th wireless access point according to the sum of the spectrum continuity error corresponding to the i-th wireless access point and the spectrum continuity errors corresponding to I wireless access points.

[0214] According to an embodiment of the present invention, any multiple modules of the receiving module 910, the acquisition module 920, the first determination module 930, the iteration module 940, and the second determination module 950 can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present invention, at least one of the receiving module 910, the acquisition module 920, the first determination module 930, the iteration module 940, and the second determination module 950 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware, and firmware, or in any appropriate combination of any of them. Alternatively, at least one of the receiving module 910, the acquiring module 920, the first determining module 930, the iterating module 940 and the second determining module 950 may be at least partially implemented as a computer program module, which may perform a corresponding function when executed.

[0215] Fig.10 A block diagram of an electronic device according to a method for multi-device collaborative indoor positioning based on information coupling according to an embodiment of the present invention is shown.

[0216] like Fig.10As shown, the electronic device according to an embodiment of the present invention includes a processor 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage part 1008 into a random access memory (RAM) 1003. The processor 1001 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 1001 may also include an onboard memory for caching purposes. The processor 1001 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0217] In RAM 1003, various programs and data required for the operation of the electronic device are stored. Processor 1001, ROM 1002 and RAM 1003 are connected to each other via bus 1004. Processor 1001 performs various operations of the method flow according to the embodiment of the present invention by executing the program in ROM 1002 and / or RAM 1003. It should be noted that the program can also be stored in one or more memories other than ROM 1002 and RAM 1003. Processor 1001 can also perform various operations of the method flow according to the embodiment of the present invention by executing the program stored in the one or more memories.

[0218] According to an embodiment of the present invention, the electronic device may further include an input / output (I / O) interface 1005, which is also connected to the bus 1004. The electronic device 1000 may further include one or more of the following components connected to the I / O interface 1005: an input portion 1006 including a keyboard, a mouse, etc.; an output portion 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 1008 including a hard disk, etc.; and a communication portion 1009 including a network interface card such as a LAN card, a modem, etc. The communication portion 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed, so that a computer program read therefrom is installed into the storage portion 1008 as needed.

[0219] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiment; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0220] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus or a device. For example, according to an embodiment of the present invention, the computer-readable storage medium may include the ROM 1002 and / or RAM 1003 described above and / or one or more memories other than ROM 1002 and RAM 1003.

[0221] The embodiment of the present invention also includes a computer program product, which includes a computer program, and the computer program includes a program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the method for multi-device collaborative indoor positioning based on information coupling provided by the embodiment of the present invention.

[0222] The computer program executes the above functions defined in the system / device of the embodiment of the present invention when it is executed by the processor 1001. According to the embodiment of the present invention, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0223] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 1009, and / or installed from the removable medium 1011. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0224] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1009, and / or installed from the removable medium 1011. When the computer program is executed by the processor 1001, the above functions defined in the system of the embodiment of the present invention are performed. According to the embodiment of the present invention, the system, device, means, module, unit, etc. described above can be implemented by a computer program module.

[0225] It will be appreciated by those skilled in the art that the features described in the various embodiments of the present invention may be combined and / or combined in various ways, even if such combinations and / or combinations are not explicitly described in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features described in the various embodiments of the present invention may be combined and / or combined in various ways. All of these combinations and / or combinations fall within the scope of the present invention.

Claims

1. A multi-device collaborative indoor positioning method based on information coupling, characterized in that: include: Using I wireless access points to respectively receive channel state signals sent by the terminal, where I≥2 and I is a positive integer; For an i-th wireless access point among the I wireless access points, determine, according to the i-th channel state signal, i-th initial azimuth information corresponding to the i-th wireless access point, wherein the i-th initial azimuth information includes an i-th first initial azimuth and an i-th second initial azimuth, the i-th first initial azimuth and the i-th second initial azimuth are azimuths of equal magnitude and opposite rotation directions, 1≤i≤I, and i is a positive integer; Based on an angle focusing criterion, determining a first target initial azimuth angle corresponding to the i-th wireless access point from the i-th first initial azimuth angle and the i-th second initial azimuth angle; Obtaining a target elevation angle corresponding to the i-th wireless access point according to the first target initial azimuth angle corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point, and calculating a target azimuth angle based on the target elevation angle corresponding to the i-th wireless access point and the first target initial azimuth angle corresponding to the i-th wireless access point; The target position of the terminal is determined according to the target azimuth angles corresponding to the I wireless access points and the target elevation angles corresponding to the I wireless access points.

2. The method according to claim 1, characterized in that The determining, for an i-th wireless access point among the I wireless access points, according to the i-th channel state signal, i-th initial azimuth information corresponding to the i-th wireless access point includes: Based on a predetermined azimuth angle range and a predetermined elevation angle range of the i-th wireless access point, dividing the predetermined azimuth angle range and the predetermined elevation angle range according to a preset accuracy to obtain a plurality of azimuth angle grid points and a plurality of elevation angle grid points; constructing a steering vector according to the plurality of azimuth angle grid points and the plurality of elevation angle grid points, wherein the steering vector comprises a phase difference between each antenna in the i-th wireless access point and a first antenna at different azimuth angles and elevation angles; Calculating and processing the i-th channel state signal using the conjugate transpose of the steering vector to obtain an i-th target power spectrum, wherein each element in the target power spectrum corresponds to power information of one of the azimuth angle grid points and one of the elevation angle grid points; The initial azimuth information corresponding to the i-th wireless access point is determined according to the i-th target power spectrum.

3. The method according to claim 2, characterized in that The determining, according to the i-th target power spectrum, the initial azimuth information corresponding to the i-th wireless access point includes: Obtaining the target azimuth angle grid point with the maximum power from the i-th target power spectrum; The azimuth angle corresponding to the target azimuth angle grid point is determined as the initial azimuth angle information corresponding to the i-th wireless access point.

4. The method according to claim 1, characterized in that: The determining, based on the angle focusing criterion, a first target initial azimuth angle corresponding to the i-th wireless access point from the first initial azimuth angle and the second initial azimuth angle comprises: Using the geographical location information of the I wireless access points to perform triangulation positioning, to obtain a first joint positioning azimuth corresponding to each of the wireless access points; Based on an angle focusing criterion, a plurality of azimuth focusing differences are calculated according to the candidate azimuths of the I wireless access points and the I first joint positioning azimuths, wherein the candidate azimuths of the I wireless access points are the first initial azimuths or the second initial azimuths of the I wireless access points; The minimum azimuth focusing difference value is obtained from the multiple azimuth focusing difference values, and the first target initial azimuth angle corresponding to the i-th wireless access point is determined according to the candidate azimuth angle corresponding to the minimum azimuth focusing difference value.

5. The method according to claim 1, characterized in that The obtaining, according to the first target initial azimuth corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point, a target pitch angle corresponding to the i-th wireless access point, and calculating a target azimuth based on the target pitch angle corresponding to the i-th wireless access point and the first target initial azimuth corresponding to the i-th wireless access point, comprises: For the jth iteration round, where j ≥ 1 and j is a positive integer: Obtaining terminal geographical location information of the terminal relative to the i-th wireless access point by calculating using a triangulated positioning function according to the first target initial azimuth corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point; Processing the geographical location information of the terminal, the geographical location information of the i-th wireless access point, the height of the terminal and the height of the i-th wireless access point to obtain an iterative pitch angle corresponding to the i-th wireless access point; According to the iterative elevation angle corresponding to the i-th wireless access point and the first target initial azimuth angle corresponding to the i-th wireless access point, obtain an iterative azimuth angle corresponding to the i-th wireless access point and update the first target initial azimuth angle corresponding to the i-th wireless access point; Calculating an iterative pitch angle error corresponding to the ith wireless access point according to the iterative pitch angle obtained in the jth iteration round and the iterative pitch angle obtained in the j+1th iteration round; When the iterative pitch angle error is greater than a first predetermined threshold, repeatedly performing the above operation until the iterative pitch angle error is less than the first predetermined threshold; When the iterative pitch angle error is less than a first predetermined threshold, determining the iterative pitch angle obtained in the j+1th iteration round as the target pitch angle corresponding to the i-th wireless access point; The target azimuth is calculated based on the target elevation angle corresponding to the i-th wireless access point and the first target initial azimuth corresponding to the i-th wireless access point.

6. The method according to claim 1, characterized in that The method further comprises: Determining a positioning weight of the i-th wireless access point according to the target azimuth angle corresponding to the i-th wireless access point; Based on the positioning weight of the i-th wireless access point, triangulation positioning is performed according to the geographical location information of the I wireless access point to obtain a second joint positioning azimuth corresponding to the i-th wireless access point; Based on an angle focusing criterion, obtaining a second target initial azimuth corresponding to the i-th wireless access point according to the candidate azimuths of each of the I wireless access points and I second joint positioning azimuths, wherein the candidate azimuths of each of the I wireless access points are the first initial azimuths or the second initial azimuths of each of the I wireless access points; According to the second target initial azimuth corresponding to the i-th wireless access point and the geographical location information of the i-th wireless access point, a target azimuth and a target elevation angle corresponding to the i-th wireless access point are obtained.

7. The method according to claim 6, characterized in that The channel state signals respectively received by the I wireless access points include channel state signals at T moments, and the target azimuth corresponding to the i-th wireless access point includes target azimuths at T moments, where T≥1.

8. The method according to claim 7, characterized in that The determining the positioning weight of the i-th wireless access point according to the target azimuth angle corresponding to the i-th wireless access point includes: Obtaining a target azimuth corresponding to the i-th wireless access point at time t, a target azimuth corresponding to the i-th wireless access point at time t+1, and a target azimuth corresponding to the i-th wireless access point at time t+2, where 1≤t≤T and t is a positive integer; Based on a spectrum continuity criterion, obtaining a spectrum continuity error corresponding to the i-th wireless access point according to the target azimuth corresponding to the i-th wireless access point at the t-th time, the target azimuth corresponding to the i-th wireless access point at the t+1-th time, and the target azimuth corresponding to the i-th wireless access point at the t+2-th time; The positioning weight for the i-th wireless access point is obtained by calculating according to the sum of the spectrum continuity error corresponding to the i-th wireless access point and the spectrum continuity error corresponding to the I wireless access point.

9. A device for multi-device collaborative indoor positioning based on information coupling, characterized in that: include: A receiving module, used to use I wireless access points to respectively receive channel state signals sent by the terminal, where I≥2 and I is a positive integer; an acquisition module, configured to determine, for an i-th wireless access point among the I wireless access points, i-th initial azimuth information corresponding to the i-th wireless access point according to the I channel state signals, wherein the i-th initial azimuth information includes an i-th first initial azimuth and an i-th second initial azimuth, the i-th first initial azimuth and the i-th second initial azimuth are azimuths of equal magnitude and opposite rotation directions, 1≤i≤I, and i is a positive integer; A first determination module, configured to determine, based on an angle focusing criterion, a first target initial azimuth angle corresponding to the i-th wireless access point from the i-th first initial azimuth angle and the i-th second initial azimuth angle; an iteration module, configured to obtain a target elevation angle corresponding to the ith wireless access point according to the first target initial azimuth angle corresponding to the ith wireless access point and the geographical location information of the ith wireless access point, and calculate a target azimuth angle based on the target elevation angle corresponding to the ith wireless access point and the first target initial azimuth angle corresponding to the ith wireless access point; The second determining module is used to determine the target position of the terminal according to the target azimuth angles corresponding to the I wireless access points and the target elevation angles corresponding to the I wireless access points.

10. An electronic device, comprising: one or more processors; a storage device for storing one or more programs, It is characterized in that when the one or more programs are executed by the one or more processors, the one or more processors execute the method according to any one of claims 1 to 8.

Images