Positioning method and device based on beamforming feedback information

Abstract

The present invention provides a positioning method and device based on beamforming feedback information, which can be applied to the field of signal processing. The positioning method includes: using a wireless network card to obtain a data packet transmitted between a router and a target device, the target device and the wireless network card communicate through a first signal, the target device transmits beamforming feedback information to the router to guide the beamforming process, and the router and the target device communicate through a second signal; performing channel estimation on the data packet according to the communication protocol to obtain the phase difference between different antennas in the wireless network card; calculating the arrival angle of the first signal from the target device to the wireless network card according to the phase difference; calculating the departure angle of the second signal from the router to the target device according to the beamforming feedback information in the data packet, and the beamforming feedback information is a compressed form of the channel state information from the router to the target device; determining the target position of the target device according to the arrival angle and the departure angle.

Description

Technical Field

[0001] The present invention relates to the field of signal processing, and more specifically, to a positioning method and device based on beamforming feedback information. Background Art

[0002] In recent years, location-based services have been widely used in various environments, providing users with convenient functions such as location identification and navigation. Although the Global Positioning System (GPS) provides reliable positioning services in outdoor environments, its positioning performance will be significantly reduced in indoor environments due to the attenuation of GPS signals. To this end, various indoor positioning technologies have been developed to meet the needs of indoor positioning.

[0003] In the process of realizing the concept of the present invention, the inventors found that there are at least the following problems in the related art: in indoor positioning, not only is the deployment overhead high, but also it is necessary to consider how to seamlessly integrate the deployed network with the existing network. Summary of the invention

[0004] In view of this, the present invention provides a positioning method and device based on beamforming feedback information.

[0005] One aspect of the present invention provides a positioning method based on beamforming feedback information, including: using a wireless network card to obtain a data packet transmitted between a router and a target device, the target device and the wireless network card communicate through a first signal, the router has a beamforming function, the target device transmits beamforming feedback information to the router to guide the beamforming process, the data packet includes the beamforming feedback information, and the router and the target device communicate through a second signal; performing channel estimation on the data packet according to a communication protocol to obtain a phase difference between different antennas in the wireless network card; calculating the arrival angle of the first signal from the target device to the wireless network card according to the phase difference; calculating the departure angle of the second signal from the router to the target device according to the beamforming feedback information in the data packet, the beamforming feedback information is a compressed form of the channel state information from the router to the target device; determining the target position of the target device according to the arrival angle and the departure angle.

[0006] According to an embodiment of the present invention, determining the target position of a target device based on an arrival angle and a departure angle includes: determining an intersection point between a first terminal edge of the arrival angle and a second terminal edge of the departure angle based on a first initial edge of the arrival angle and a second initial edge of the departure angle; and determining the intersection point as the target position of the target device.

[0007] According to an embodiment of the present invention, calculating the arrival angle of the first signal from the target device to the wireless network card based on the phase difference includes: calculating the incident angle of the first signal based on the phase difference, the wavelength of the first signal and the antenna spacing; and determining the arrival angle of the first signal from the target device to the wireless network card based on the incident angle.

[0008] According to an embodiment of the present invention, the wireless network card switches to a monitoring mode to obtain data packets transmitted between the target device and the router.

[0009] According to an embodiment of the present invention, the formula for the incident angle is as follows:

[0010]

[0011] λ represents the wavelength of the first signal, d represents the distance between different antennas, Φ(θ) represents the phase difference, and θ represents the incident angle.

[0012] According to an embodiment of the present invention, calculating the departure angle of the second signal from the router to the target device based on the beamforming feedback information in the data packet includes: determining the compressed channel state information of the second signal in the beamforming feedback information; and determining the departure angle from the router to the target device based on the covariance matrix of the compressed channel state information.

[0013] According to an embodiment of the present invention, the second signal includes at least one second sub-signal, and the above method also includes: determining the compressed channel state sub-information of at least one second sub-signal from the compressed channel state information; and calculating the covariance matrix of the compressed channel state information based on the compressed channel state sub-information.

[0014] According to an embodiment of the present invention, the compressed channel state information H K The formula is as follows:

[0015] ;

[0016] H K is the channel state sub-information of the kth second sub-signal, U k and V K is a unitary matrix, Indicates V K The conjugate transposed matrix of is a diagonal matrix containing singular values. V K The first N columns of information are the compressed channel state information, where N represents the number of spatial streams, and k and N are integers greater than or equal to 1;

[0017] The formula for the covariance matrix R is as follows:

[0018] .

[0019] According to an embodiment of the present invention, the above method also includes: determining the target positions of each of the multiple data packets with different transmission times; sorting the multiple target positions according to the multiple transmission times to obtain the motion trajectory of the target device; and filtering the motion trajectory of the target device to obtain the target motion trajectory of the target device.

[0020] Another aspect of the present invention provides a positioning device for beamforming feedback information, including: an acquisition module, used to use a wireless network card to acquire a data packet transmitted between a router and a target device, the target device and the wireless network card communicate through a first signal, the router has a beamforming function, the target device transmits beamforming feedback information to the router to guide the beamforming process, the data packet includes the beamforming feedback information, and the router and the target device communicate through a second signal; a channel estimation module, used to perform channel estimation on the data packet according to a communication protocol to obtain a phase difference between different antennas in the wireless network card; a first calculation module, used to calculate the arrival angle of the first signal from the target device to the wireless network card according to the phase difference; a second calculation module, used to calculate the departure angle of the second signal from the router to the target device according to the beamforming feedback information in the data packet, and the beamforming feedback information is a compressed form of the channel state information from the router to the target device; a first determination module, used to determine the target position of the target device according to the arrival angle and the departure angle.

[0021] Another aspect of the present invention provides an electronic device, comprising:

[0022] one or more processors;

[0023] a memory for storing one or more programs,

[0024] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described above.

[0025] Another aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the above method when executed.

[0026] Another aspect of the present invention provides a computer program product, the computer program product comprising computer executable instructions, the instructions being used to implement the method as described above when being executed.

[0027] According to an embodiment of the present invention, a wireless network card is used to obtain data packets transmitted between a router and a target device; channel estimation is performed on the data packets according to the communication protocol to obtain the phase difference between different antennas in the wireless network card; the arrival angle of the first signal from the target device to the wireless network card is calculated according to the phase difference, and the departure angle of the second signal from the router to the target device is calculated according to the beamforming feedback information in the data packet; the target position of the target device is determined according to the arrival angle and the departure angle. Therefore, without considering the seamless integration of the deployed network with the existing network, only the beamforming data is obtained by using the wireless network card, which can achieve accurate positioning of the target device and reduce deployment overhead. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above 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:

[0029] Figure 1 A system architecture diagram of a positioning method based on beamforming feedback information according to an embodiment of the present invention is shown;

[0030] Figure 2 A flowchart of a positioning method based on beamforming feedback information according to an embodiment of the present invention is shown;

[0031] Figure 3 The communication intention between the wireless network card, the router and the target device according to the embodiment of the present invention is shown;

[0032] Figure 4 A schematic diagram showing an angle of arrival and an angle of departure according to an embodiment of the present invention is shown;

[0033] Figure 5 An experimental scene diagram of a rest area according to an embodiment of the present invention is shown;

[0034] Figure 6 An experimental scene diagram of an empty room according to an embodiment of the present invention is shown;

[0035] Figure 7 An experimental scene diagram of an office according to an embodiment of the present invention is shown;

[0036] Figure 8 An experimental scene diagram of a conference room according to an embodiment of the present invention is shown;

[0037] Fig. 9 A schematic diagram showing a target motion trajectory in an empty room according to an embodiment of the present invention is shown;

[0038] Fig.10 A schematic diagram showing a target motion trajectory in an office according to an embodiment of the present invention is shown;

[0039] Fig.11 A block diagram of a positioning device based on beamforming feedback information according to an embodiment of the present invention is shown;

[0040] Fig.12 A block diagram of an electronic device suitable for implementing a positioning method based on beamforming feedback information according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.).

[0045] In the embodiments of the present invention, the collection, updating, analysis, processing, use, transmission, provision, invention, storage and other aspects of the data involved (for example, including but not limited to user personal information) are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information and network security.

[0046] In the embodiment of the present invention, before obtaining or collecting the user's personal information, the user's authorization or consent is obtained.

[0047] It should be noted that in the technical solution of the present invention, the collection, use, storage, sharing and transfer of data (for example, including but not limited to user personal information) involved are in compliance with the provisions of relevant laws and regulations, and it is necessary to inform the user and obtain the user's consent or authorization. When applicable, the user's personal information is de-identified and / or anonymized and / or encrypted.

[0048] Using WiFi networks for indoor positioning of devices has become a potential solution. It usually relies on the received signal strength indicator (RSSI) and path loss model for indoor positioning, but the performance of these methods is often unsatisfactory in complex multipath environments. With the deepening of research, newer methods use fine-grained channel state information (CSI) to build fingerprint databases or accurately model distance and angle information. These advances enable WiFi indoor positioning technology to achieve decimeter-level accuracy.

[0049] Despite this, existing WiFi positioning systems are still difficult to integrate seamlessly with existing WiFi networks, and usually bring additional deployment overhead. Fingerprint-based positioning methods require continuous collection and updating of fingerprint databases, which consumes a lot of manpower. Model-based positioning systems usually need to obtain CSI from access points (APs) and rely on collaborative positioning between multiple APs, or require the target device to take additional actions, such as frequent channel switching, sharing inertial sensor data, or supporting fine time measurement, while only a few chips can extract CSI. These factors lead to a large burden because it is impossible to ask users to share private data or replace existing APs with specific WiFi devices. How to reduce the deployment overhead of WiFi positioning systems and quickly integrate the deployed network with existing WiFi networks is an urgent problem to be solved.

[0050] In view of this, an embodiment of the present invention provides a positioning method based on beamforming feedback information, including: using a wireless network card to obtain a data packet transmitted between a router and a target device, the target device and the wireless network card communicate through a first signal, the router has a beamforming function, and the router and the target device communicate through a second signal; performing channel estimation on the data packet according to a communication protocol to obtain a phase difference between different antennas in the wireless network card; calculating an arrival angle of the first signal from the target device to the wireless network card according to the phase difference; according to the beamforming feedback information in the data packet, the target device transmits the beamforming feedback information to the router to guide the beamforming process, and calculates a departure angle of the second signal from the router to the target device, the beamforming feedback information is a compressed form of channel state information from the router to the target device; and determining a target position of the target device according to the arrival angle and the departure angle.

[0051] Figure 1 A system architecture diagram of a positioning method based on beamforming feedback information according to an embodiment of the present invention is shown.

[0052] It should be noted that Figure 1 The examples shown are merely examples of system architectures to which the embodiments of the present invention may be applied, to help those skilled in the art understand the technical content of the present invention, but do not mean that the embodiments of the present invention may not be used in other devices, systems, environments or scenarios.

[0053] like Figure 1 As shown, the system architecture diagram according to this embodiment may include a wireless network card 101, a router 102, a target device 103, a network 104 and a server 105. The network 104 is used to provide a medium for a communication link between the target device 103 and the wireless network card 101 and the router 102. The network 104 may include various connection types, such as a wireless communication link, etc. The network 104 may be a WiFi network.

[0054] The user may use the target device 103 to transmit a data packet to the router 102 through the network 104 , and the router 102 has a beamforming function.

[0055] The wireless network card 101 can obtain data packets from the target device 103 through the network 104 .

[0056] The server 105 may interact with at least one of the wireless network card 101 , the router 102 , and the target device 103 through the network 104 to receive or send a message.

[0057] For example, the server 105 may obtain the channel state information from the router 102 through the network 104 .

[0058] For example, the server 105 may send a grant request to the target device 103 via the network 104, the grant request indicating whether the wireless network card 101 is allowed to obtain the data packet transmitted by the target device 103 to the router 102. The server 105 may also obtain feedback information of the user's grant request from the target device 103 via the network 104.

[0059] For example, the server 105 can be used to obtain data packets transmitted between the router 102 and the target device 103 from the wireless network card 101, the target device 103 and the wireless network card 101 communicate through a first signal, the router 102 has a beamforming function, and the router 102 and the target device 103 communicate through a second signal. The network 104 includes the first signal and the second signal. The first signal and the second signal can be radio frequency signals.

[0060] Channel estimation is performed on the data packet according to the communication protocol to obtain the phase difference between different antennas in the wireless network card 101; the arrival angle of the first signal from the target device 103 to the wireless network card 101 is calculated based on the phase difference; the departure angle of the second signal from the router 102 to the target device 103 is calculated based on the beamforming feedback information in the data packet, and the beamforming feedback information is obtained by parsing the data packet; the target position of the target device 103 is determined based on the arrival angle and the departure angle.

[0061] It should be noted that the positioning method based on beamforming feedback information provided in the embodiment of the present invention can generally be executed by the server 105. Accordingly, the positioning device based on beamforming feedback information provided in the embodiment of the present invention can generally be set in the server 105.

[0062] Figure 2 A flow chart of a positioning method based on beamforming feedback information according to an embodiment of the present invention is shown.

[0063] like Figure 2 As shown, the method includes operations S210 to S250.

[0064] In operation S210, a data packet transmitted between a router and a target device is acquired by using a wireless network card.

[0065] According to an embodiment of the present invention, the target device communicates with the wireless network card (Network Interface Card, NIC) through a first signal, the router has a beamforming function, the target device transmits beamforming feedback information to the router to guide the beamforming process, and the router and the target device communicate through a second signal. For example, the first signal and the second signal can be radio frequency signals, WiFi signals, etc.

[0066] According to an embodiment of the present invention, beamforming is a signal processing technology mainly used in wireless communications. It adjusts the signal transmission and reception directions of an antenna array to enhance the signal strength in a specific direction, thereby improving communication quality and coverage.

[0067] According to an embodiment of the present invention, the data packet may be extracted from a WiFi data packet transmitted between the router and the target device.

[0068] According to an embodiment of the present invention, the router may be an access point (AP). The AP network does not support channel state information extraction.

[0069] In operation S220, channel estimation is performed on the data packet according to the communication protocol to obtain phase differences between different antennas in the wireless network card.

[0070] According to an embodiment of the present invention, the wireless network card includes a plurality of antennas. The wireless network card transmits a first signal through the antennas, thereby communicating with a target device.

[0071] According to an embodiment of the present invention, the communication protocol may be a Wireless Fidelity (WiFi) standard, and the WiFi standard may be a technical specification for wireless local area network (WLAN) communication, which is mainly formulated by technicians.

[0072] For example, according to the WiFi standard, the receiver of the wireless network card can use the preamble and training sequence to perform synchronization and channel estimation, thereby calculating the channel state information (CSI). The channel state information includes the phase difference between different antennas in the wireless network card.

[0073] In operation S230, an arrival angle of the first signal from the target device to the wireless network card is calculated according to the phase difference.

[0074] According to an embodiment of the present invention, the angle of arrival (AoA) is associated with the incident direction of the first signal, and the incident direction of the first signal is determined by using the phase difference between different antennas in the uniform linear array.

[0075] In operation S240, a departure angle of the second signal from the router to the target device is calculated based on the beamforming feedback information in the data packet.

[0076] According to an embodiment of the present invention, the beamforming feedback information is a compressed form of the channel state information from the router to the target device.

[0077] According to an embodiment of the present invention, the beamforming feedback information mainly includes channel state information and interference information. The channel state information mainly describes the change of channel conditions, while the interference information can be used to identify and reduce interference from other signal sources.

[0078] For example, channel state information may include signal amplitude information, phase information, multipath delay, channel model parameters, channel capacity, etc.

[0079] In operation S250, a target position of the target device is determined according to the arrival angle and the departure angle.

[0080] According to the embodiment of the present invention, since both the router and the wireless network card communicate with the target device, the position of the target device can be located according to the arrival angle of the first signal and the departure angle of the second signal.

[0081] According to an embodiment of the present invention, the target position may be represented by a two-dimensional point or a three-dimensional point. For example, if the preset geographic map is two-dimensional, the target position is represented by a two-dimensional coordinate (x, y). If the preset geographic map is three-dimensional, the target position is represented by a three-dimensional coordinate (x, y, z).

[0082] Figure 3 The communication intention among the wireless network card, the router and the target device according to the embodiment of the present invention is shown.

[0083] like Figure 3 As shown, the target device 103 communicates with the wireless network card 101 through a first signal. The router 102 communicates with the target device 103 through a second signal. Data packets are transmitted between the router 101 and the target device 103 in plain text. The wireless network card 101 and the router 102 share the same channel.

[0084] The wireless network card 101 is used to obtain the data packets transmitted between the router 102 and the target device 103. According to the WiFi standard, the receiver of the wireless network card 101 can be used to perform synchronization and channel estimation using the preamble and training sequence to calculate the CSI. The channel state information includes the phase difference between different antennas in the wireless network card.

[0085] The data packet is parsed to obtain beamforming feedback information (BFI). According to the beamforming feedback information in the data packet, the angle of departure (AoD) of the second signal from the router to the target device is calculated.

[0086] Therefore, only one additional wireless network card is deployed in the indoor positioning system of the present invention, and the wireless network card can obtain the WiFi data packet (i.e., data packet) transmitted by the target device, and the positioning of the target device can be achieved without accessing the network.

[0087] According to an embodiment of the present invention, a wireless network card is used to obtain data packets transmitted between a router and a target device; channel estimation is performed on the data packets according to the communication protocol to obtain the phase difference between different antennas in the wireless network card; the arrival angle of the first signal from the target device to the wireless network card is calculated according to the phase difference, and the departure angle of the second signal from the router to the target device is calculated according to the beamforming feedback information in the data packet; the target position of the target device is determined according to the arrival angle and the departure angle. Therefore, without considering the seamless integration of the deployed network with the existing network, only the beamforming data is obtained by using the wireless network card, which can achieve accurate positioning of the target device and reduce deployment overhead.

[0088] According to an embodiment of the present invention, the wireless network card switches to a monitoring mode to obtain data packets transmitted between the target device and the router.

[0089] According to an embodiment of the present invention, the data packet may be a WiFi data packet, and the wireless network card switches to a monitoring mode to passively sniff the WiFi data packet transmitted by the target device.

[0090] Switching the wireless network card to monitoring mode to obtain information requires the authorization or consent of the user. It should be noted that the collection, use, storage, sharing and transfer of data are all in compliance with the relevant laws and regulations.

[0091] According to an embodiment of the present invention, calculating the arrival angle of the first signal from the target device to the wireless network card based on the phase difference includes: calculating the incident angle of the first signal based on the phase difference, the wavelength of the first signal and the antenna spacing; and determining the arrival angle of the first signal from the target device to the wireless network card based on the incident angle.

[0092] According to an embodiment of the present invention, the incident angle may be determined as an arrival angle of the first signal from the target device to the wireless network card.

[0093] According to an embodiment of the present invention, the formula for the incident angle is as follows:

[0094] (1);

[0095] λ represents the wavelength of the first signal, d represents the distance between different antennas, Φ(θ) represents the phase difference, and θ represents the incident angle.

[0096] According to an embodiment of the present invention, calculating the departure angle of the second signal from the router to the target device based on the beamforming feedback information in the data packet includes: determining the compressed channel state information of the second signal in the beamforming feedback information; and determining the departure angle from the router to the target device based on the covariance matrix of the compressed channel state information.

[0097] According to an embodiment of the present invention, the beamforming feedback information may be a compressed form of the channel state information, and the second signal may be a WiFi carrier signal.

[0098] According to an embodiment of the present invention, the second signal includes at least one second sub-signal, and the above method also includes: determining the compressed channel state sub-information of at least one second sub-signal from the compressed channel state information; and calculating the covariance matrix of the compressed channel state information based on the compressed channel state sub-information.

[0099] According to an embodiment of the present invention, the compressed channel state information V K The formula is as follows:

[0100] (2);

[0101] H K is the channel state sub-information of the kth second sub-signal, U k and V K is a unitary matrix, Indicates V K The conjugate transposed matrix of is a diagonal matrix containing singular values. V K The first N columns of information are the compressed channel state information, where N represents the number of spatial streams, and k and N are integers greater than or equal to 1 respectively.

[0102] The formula for the covariance matrix R is as follows:

[0103] (3).

[0104] According to an embodiment of the present invention, determining the target position of a target device based on an arrival angle and a departure angle includes: determining an intersection point between a first terminal edge of the arrival angle and a second terminal edge of the departure angle based on a first initial edge of the arrival angle and a second initial edge of the departure angle; and determining the intersection point as the target position of the target device.

[0105] According to an embodiment of the present invention, the first initial side and the second initial side may generally be a horizontal axis or a vertical axis, and the initial side may also be referred to as a baseline.

[0106] According to an embodiment of the present invention, the location point of the wireless network card is used as the vertex of the arrival angle, the endpoints of the first initial edge and the first terminal edge. The first initial edge is rotated around the location point of the wireless network card by an angle corresponding to the arrival angle to obtain the first terminal edge.

[0107] According to an embodiment of the present invention, the location point of the router is used as the vertex of the departure angle, the endpoint of the second initial edge and the second terminal edge. The second initial edge is rotated around the location point of the router by an angle corresponding to the departure angle to obtain the second terminal edge.

[0108] Figure 4 A schematic diagram of an arrival angle and a departure angle according to an embodiment of the present invention is shown.

[0109] like Figure 4 As shown, the arrival angle AoA of the first signal from the target device 103 to the wireless network card 101 and the departure angle AoD of the second signal from the router 102 to the target device 103 are shown.

[0110] AoA takes the position point of the wireless network card 101 as the vertex and the vertical axis as the first initial edge. The first initial edge is then rotated clockwise by an angle corresponding to AoA to obtain a first terminal edge.

[0111] AoD takes the location point of the router 102 as the vertex and the horizontal axis as the second initial edge. The second initial edge is then rotated clockwise by an angle corresponding to the AoD to obtain the second terminal edge.

[0112] An intersection point between the first terminal edge and the second terminal edge is determined as a target position of the target device 103 .

[0113] According to an embodiment of the present invention, the above method also includes: determining the target positions of the multiple data packets with different transmission times; sorting the multiple target positions according to the multiple transmission times to obtain the motion trajectory of the target device; filtering the motion trajectory of the target device to obtain the target motion trajectory of the target device.

[0114] According to an embodiment of the present invention, multiple target locations are sorted according to transmission time to obtain changes in the target location of the target device over time.

[0115] According to an embodiment of the present invention, a Kalman filter may be applied to filter the motion trajectory of the target device, thereby obtaining a continuous target motion trajectory.

[0116] Figure 5 An experimental scene diagram of a rest area according to an embodiment of the present invention is shown.

[0117] Figure 6 An experimental scene diagram of an empty room according to an embodiment of the present invention is shown.

[0118] Figure 7 A diagram showing an experimental scene of an office according to an embodiment of the present invention is shown.

[0119] Figure 8 An experimental scene diagram of a conference room according to an embodiment of the present invention is shown.

[0120] Rest area, empty room, office and conference room are four typical indoor environments. UWB (Ultra-Wideband) in the above four figures is a wireless communication technology with the characteristics of extremely wide spectrum and short pulse signal. AP can be a router. NIC means wireless network card, and target is the target device of the present invention.

[0121] While calculating CSI using a wireless network card, parse BFI from the sniffed data packets. The wireless network card in monitoring mode uses a tool to collect CSI. Capture WiFi data packets and then filter out BFI packets. In the experiment, the center frequency of the AP is 5.745GHz and the bandwidth is 80MHz. The target device communicates normally with the AP, transmits WiFi data packets by watching videos, live broadcasts, etc., and the user moves freely with the target device. The target device can be a mobile phone. The wireless network card uses two antennas with a spacing of d=2.6cm to monitor the signal. In the experiment, the user's BFI and CSI information are matched by the MAC address, and then the BFI and CSI information are aligned using the timestamp. The arrival angle AoA from the target device to the wireless network card is calculated using CSI, and the covariance matrix R is calculated using BFI to estimate the departure angle AoD from the AP to the target. Then the target position of the target device is determined based on the arrival angle AoA and the departure angle AoD.

[0122] Therefore, in an AP network that does not support CSI extraction, only an additional wireless network card needs to be used, which does not affect the communication process and can also locate the target device.

[0123] Fig. 9 A schematic diagram of a target motion trajectory in an empty room according to an embodiment of the present invention is shown.

[0124] Fig.10 A schematic diagram of target motion trajectory in an office according to an embodiment of the present invention is shown.

[0125] Fig. 9 and Fig.10 The tracking results of the target motion trajectory in an empty room and a normal office with a lot of furniture are shown. It can be clearly seen from the figure that the estimated trajectory (target motion trajectory) is consistent with the true trajectory.

[0126] Fig.11 A block diagram of a positioning device based on beamforming feedback information according to an embodiment of the present invention is shown.

[0127] like Fig.11 As shown, the positioning device based on beamforming feedback information includes an acquisition module 1110 , a channel estimation module 1120 , a first calculation module 1130 , a second calculation module 1140 and a first determination module 1150 .

[0128] The acquisition module 1110 is used to use the wireless network card to acquire the data packet transmitted between the router and the target device, the target device and the wireless network card communicate through the first signal, the router has a beamforming function, the target device transmits beamforming feedback information to the router to guide the beamforming process, the data packet includes the beamforming feedback information, and the router and the target device communicate through the second signal. In one embodiment, the acquisition module 1110 can be used to perform the operation S210 described above, which will not be repeated here.

[0129] The channel estimation module 1120 is used to perform channel estimation on the data packet according to the communication protocol to obtain the phase difference between different antennas in the wireless network card. In one embodiment, the channel estimation module 1120 can be used to perform the operation S220 described above, which will not be described in detail here.

[0130] The first calculation module 1130 is used to calculate the arrival angle of the first signal from the target device to the wireless network card according to the phase difference. In one embodiment, the first calculation module 1130 can be used to perform the operation S230 described above, which will not be described in detail here.

[0131] The second calculation module 1140 is used to calculate the departure angle of the second signal from the router to the target device according to the beamforming feedback information in the data packet, where the beamforming feedback information is a compressed form of the channel state information from the router to the target device. In one embodiment, the second calculation module 1140 can be used to perform the operation S240 described above, which will not be repeated here.

[0132] The first determination module 1150 is used to determine the target position of the target device according to the arrival angle and the departure angle. In one embodiment, the first determination module 1150 can be used to perform the operation S250 described above, which will not be described in detail here.

[0133] According to an embodiment of the present invention, the first determination module 1150 includes a first determination submodule and a second determination submodule. The first determination submodule is used to determine the intersection between the first terminal side of the arrival angle and the second terminal side of the departure angle according to the first initial side of the arrival angle and the second initial side of the departure angle. The second determination submodule is used to determine the intersection as the target position of the target device.

[0134] According to an embodiment of the present invention, the first calculation module includes a first calculation submodule and a third determination submodule. The first calculation submodule is used to calculate the incident angle of the first signal according to the phase difference, the wavelength of the first signal and the antenna spacing. The third determination submodule is used to determine the arrival angle of the first signal from the target device to the wireless network card according to the incident angle.

[0135] According to an embodiment of the present invention, the wireless network card switches to a monitoring mode to obtain data packets transmitted between the target device and the router.

[0136] According to an embodiment of the present invention, the second calculation module includes a fourth determination submodule and a fifth determination submodule. The fourth determination submodule is used to determine the compressed channel state information of the second signal in the beamforming feedback information. The fifth determination submodule is used to determine the departure angle from the router to the target device according to the covariance matrix of the compressed channel state information.

[0137] According to an embodiment of the present invention, the second signal includes at least one second sub-signal, and the above-mentioned device also includes a second determination module and a third calculation module. The second determination module is used to determine the compressed channel state sub-information of at least one second sub-signal from the compressed channel state information. The third calculation module is used to calculate the covariance matrix of the compressed channel state information based on the compressed channel state sub-information.

[0138] According to an embodiment of the present invention, the above-mentioned device further includes a third determination module, a position arrangement module and a filtering module. The third determination module is used to determine the target positions of the multiple data packets for the multiple data packets with different transmission times. The position arrangement module is used to sort the multiple target positions according to the multiple transmission times to obtain the motion trajectory of the target device. The filtering module is used to filter the motion trajectory of the target device to obtain the target motion trajectory of the target device.

[0139] According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits, or at least part of the functions of any one of them can be implemented in one module. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be split into multiple modules for implementation. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be at least partially implemented as hardware circuits, such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), systems on chips, systems on substrates, systems on packages, application specific integrated circuits (ASICs), or can be implemented by hardware or firmware in any other reasonable way of integrating or packaging the circuit, or by any one of the three implementation methods of software, hardware, and firmware, or by a proper combination of any of them. Alternatively, according to the embodiments of the present invention, one or more of the modules, submodules, units, and subunits can be at least partially implemented as computer program modules, and when the computer program modules are run, the corresponding functions can be executed.

[0140] For example, any multiple of the acquisition module 1110, the channel estimation module 1120, the first calculation module 1130, the second calculation module 1140, and the first determination module 1150 can be combined in one module / unit / subunit for implementation, or any one of the modules / units / subunits can be split into multiple modules / units / subunits. Alternatively, at least part of the functions of one or more of these modules / units / subunits can be combined with at least part of the functions of other modules / units / subunits and implemented in one module / unit / subunit. According to an embodiment of the present invention, at least one of the acquisition module 1110, the channel estimation module 1120, the first calculation module 1130, the second calculation module 1140 and the first determination module 1150 may 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 may be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or by any one of the three implementation methods of software, hardware and firmware or by a proper combination of any of them. Alternatively, at least one of the acquisition module 1110, the channel estimation module 1120, the first calculation module 1130, the second calculation module 1140 and the first determination module 1150 may be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding function may be executed.

[0141] It should be noted that the positioning device part based on beamforming feedback information in the embodiment of the present invention corresponds to the positioning method part based on beamforming feedback information in the embodiment of the present invention. The description of the positioning device part based on beamforming feedback information specifically refers to the positioning method part based on beamforming feedback information, which will not be repeated here.

[0142] Fig.12 A block diagram of an electronic device suitable for implementing a positioning method based on beamforming feedback information according to an embodiment of the present invention is shown.

[0143] Fig.12 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0144] like Fig.12 As shown, the electronic device according to an embodiment of the present invention includes a processor 1201, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1202 or a program loaded from a storage part 1208 to a random access memory (RAM) 1203. The processor 1201 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 1201 may also include an onboard memory for caching purposes. The processor 1201 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.

[0145] In RAM 1203, various programs and data required for the operation of electronic device 1200 are stored. Processor 1201, ROM 1202 and RAM 1203 are connected to each other via bus 1204. Processor 1201 performs various operations of the method flow according to the embodiment of the present invention by executing the program in ROM 1202 and / or RAM 1203. It should be noted that the program can also be stored in one or more memories other than ROM 1202 and RAM 1203. Processor 1201 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.

[0146] According to an embodiment of the present invention, the electronic device 1200 may further include an input / output (I / O) interface 1205, which is also connected to the bus 1204. The electronic device 1200 may further include one or more of the following components connected to the input / output (I / O) interface 1205: an input portion 1206 including a keyboard, a mouse, etc.; an output portion 1207 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 1208 including a hard disk, etc.; and a communication portion 1209 including a network interface card such as a LAN card, a modem, etc. The communication portion 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to the input / output (I / O) interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1210 as needed, so that a computer program read therefrom is installed into the storage portion 1208 as needed.

[0147] According to an embodiment of the present invention, the method flow according to an embodiment of the present invention can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1209, and / or installed from the removable medium 1211. When the computer program is executed by the processor 1201, the above-mentioned functions defined in the system of the embodiment of the present invention are executed. According to an embodiment of the present invention, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0148] 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.

[0149] 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.

[0150] For example, according to an embodiment of the present invention, the computer-readable storage medium may include the ROM 1202 and / or the RAM 1203 described above and / or one or more memories other than the ROM 1202 and the RAM 1203 .

[0151] An embodiment of the present invention also includes a computer program product, which includes a computer program, which contains program code for executing the method provided by the embodiment of the present invention. When the computer program product runs on an electronic device, the program code is used to enable the electronic device to implement the positioning method based on beamforming feedback information provided by the embodiment of the present invention.

[0152] When the computer program is executed by the processor 1201, the above functions defined in the system / device of the embodiment of the present invention are executed. According to the embodiment of the present invention, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0153] 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 1209, and / or installed from the removable medium 1211. 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.

[0154] According to an embodiment of the present invention, the program code for executing the computer program provided by the embodiment of the present invention can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0155] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments of the present invention can be combined and / or combined in various ways, even if such a combination or combination is not explicitly recorded in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features recorded in the various embodiments of the present invention can be combined and / or combined in various ways. All these combinations and / or combinations fall within the scope of the present invention.

[0156] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although each embodiment is described above, it does not mean that the measures in each embodiment cannot be used in combination advantageously. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A positioning method based on beamforming feedback information, characterized in that: The method comprises: Using a wireless network card to obtain a data packet transmitted between a router and a target device, the target device and the wireless network card communicate with each other through a first signal, the router has a beamforming function, the target device transmits beamforming feedback information to the router to guide a beamforming process, the data packet includes the beamforming feedback information, and the router and the target device communicate with each other through a second signal; Perform channel estimation on the data packet according to the communication protocol to obtain the phase difference between different antennas in the wireless network card; Calculate the arrival angle of the first signal from the target device to the wireless network card according to the phase difference; calculating, according to the beamforming feedback information in the data packet, a departure angle of the second signal from the router to the target device, wherein the beamforming feedback information is a compressed form of channel state information from the router to the target device; Determining a target position of the target device according to the arrival angle and the departure angle; Determining the target position of the target device according to the arrival angle and the departure angle includes: Determining an intersection point between a first terminal side of the arrival angle and a second terminal side of the departure angle according to the first initial side of the arrival angle and the second initial side of the departure angle; The intersection point is determined as the target position of the target device.

2. The method according to claim 1, characterized in that The calculating, according to the phase difference, the arrival angle of the first signal from the target device to the wireless network card comprises: Calculating an incident angle of the first signal according to the phase difference, the wavelength of the first signal, and the antenna spacing; The arrival angle of the first signal from the target device to the wireless network card is determined according to the incident angle.

3. The method according to claim 2, characterized in that The wireless network card switches to a monitoring mode to obtain the data packet transmitted between the target device and the router.

4. The method according to claim 2, characterized in that: The formula for the incident angle is as follows: λ represents the wavelength of the first signal, d represents the distance between different antennas, Φ(θ) represents the phase difference, and θ represents the incident angle.

5. The method according to claim 1, characterized in that The calculating, according to the beamforming feedback information in the data packet, a departure angle of the second signal from the router to the target device comprises: determining compressed channel state information of the second signal in the beamforming feedback information; A departure angle from the router to the target device is determined according to a covariance matrix of the compressed channel state information.

6. The method according to claim 5, characterized in that The second signal includes at least one second sub-signal, and the method further includes: Determine compressed channel state sub-information of at least one of the second sub-signals from the compressed channel state information; The covariance matrix of the compressed channel state information is calculated according to the compressed channel state sub-information.

7. The method according to claim 6, characterized in that The compressed channel state information V K The formula is as follows: ； H K is the channel state sub-information of the kth second sub-signal, U k and V K is a unitary matrix, Indicates V K The conjugate transposed matrix of is a diagonal matrix containing singular values; V K The first N columns of information are the compressed channel state information, where N represents the number of spatial streams, and k and N are integers greater than or equal to 1; The formula of the covariance matrix R is as follows: 。 8. The method according to claim 1, characterized in that The method further comprises: For the plurality of data packets at different transmission times, determining the target locations of the plurality of data packets; Sort the plurality of target positions according to the plurality of transmission times to obtain a motion trajectory of the target device; The motion trajectory of the target device is filtered to obtain a target motion trajectory of the target device.

9. A positioning device for beamforming feedback information, characterized in that: The device comprises: an acquisition module, configured to acquire a data packet transmitted between a router and a target device by using a wireless network card, wherein the target device communicates with the wireless network card through a first signal, the router has a beamforming function, the target device transmits beamforming feedback information to the router to guide a beamforming process, the data packet includes the beamforming feedback information, and the router communicates with the target device through a second signal; A channel estimation module, used to perform channel estimation on the data packet according to the communication protocol to obtain the phase difference between different antennas in the wireless network card; A first calculation module, configured to calculate an arrival angle of the first signal from the target device to the wireless network card according to the phase difference; A second calculation module, configured to calculate a departure angle of the second signal from the router to the target device according to beamforming feedback information in the data packet, wherein the beamforming feedback information is a compressed form of channel state information from the router to the target device; A first determination module, for determining a target position of the target device according to the arrival angle and the departure angle; The first determining module comprises: A first determination submodule, configured to determine an intersection point between a first terminal side of the arrival angle and a second terminal side of the departure angle according to the first initial side of the arrival angle and the second initial side of the departure angle; The second determining submodule is configured to determine the intersection as the target position of the target device.

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