Underground space carrier-to-noise ratio auxiliary positioning method and device based on indoor distribution antenna system

Abstract

The invention discloses an underground space carrier-to-noise ratio auxiliary positioning method and device based on an indoor distribution antenna system, and the method comprises the steps: obtaining first carrier-to-noise ratio information of a base station antenna in a designated region, and obtaining second carrier-to-noise ratio information which is captured by a basement sub-antenna and comes from the same satellite; preprocessing data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information to obtain an average difference value of the first carrier-to-noise ratio information and the second carrier-to-noise ratio information; performing variation trend analysis on an average difference value of the first carrier-to-noise ratio information and the second carrier-to-noise ratio information, in the variation trend analysis process, defining a sliding window with a preset size, searching a local minimum value of the average difference value through the sliding window with the preset size, and if a central point value in the sliding window is smaller than a non-central point value in the sliding window, determining that the sliding window is a non-central point value; and judging the central point in the sliding window as a trough point, and judging the position of the indoor distribution antenna through which the mobile terminal passes according to the position of the trough point. According to the invention, high-efficiency and low-cost accurate underground auxiliary positioning is realized.

Description

Technical Field

[0001] The present invention belongs to the field of positioning technology, and in particular relates to an underground space carrier-to-noise ratio auxiliary positioning method and device based on a room-based antenna system. Background Art

[0002] With the acceleration of urbanization and the continuous improvement of underground space utilization, higher requirements are placed on the effective utilization and management of underground space.

[0003] The complex environment of underground space, such as parking lots, subway stations, underground shopping malls, etc., poses more stringent challenges to positioning technology. Traditional GPS positioning technology becomes ineffective in underground space because the signal cannot penetrate the ground. Indoor positioning technologies, such as Wi-Fi positioning and Bluetooth Low Energy (BLE) beacon positioning, although they can provide better positioning accuracy in some scenarios, usually require additional hardware support and complex signal processing algorithms, and rely on battery power, which requires regular battery replacement, which not only increases the deployment cost of the system, but may also affect its scalability and maintenance difficulty. Summary of the invention

[0004] In view of this, the purpose of the present invention is to propose an underground space carrier-to-noise ratio assisted positioning method and device based on a room-distributed antenna system, so as to achieve efficient and low-cost accurate underground assisted positioning.

[0005] Based on the above purpose, the present invention provides an underground space carrier-to-noise ratio assisted positioning method based on a room-divided antenna system, comprising:

[0006] Acquire first carrier-to-noise ratio information of base station antennas in a specified area, and acquire second carrier-to-noise ratio information captured by a basement antenna; the first carrier-to-noise ratio information and the second carrier-to-noise ratio information are derived from the same satellite;

[0007] Preprocessing the data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information, wherein the preprocessing includes removing extreme values, calculating differences, and averaging differences to obtain an average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information;

[0008] Perform a change trend analysis on the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information. During the change trend analysis, define a sliding window of a preset size, and find the local minimum of the average difference through the sliding window of the preset size. If the center point value in the sliding window is less than the non-center point value in the sliding window, determine that the center point in the sliding window is a trough point, and determine the position of the indoor antenna passed by the mobile terminal according to the position where the trough point appears.

[0009] As a preferred solution of the underground space carrier-to-noise ratio assisted positioning method based on a room-distributed antenna system, in the process of removing extreme values ​​of the data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information, the maximum value and the minimum value in each group of the first carrier-to-noise ratio information and the second carrier-to-noise ratio information data are removed.

[0010] As a preferred solution of the underground space carrier-to-noise ratio auxiliary positioning method based on the indoor antenna system, the first carrier-to-noise ratio information data set after removing the maximum value and the minimum value It is expressed as:

[0011]

[0012] In the formula, is the carrier-to-noise ratio value measured by the base station antenna for the i-th time; max(C B ) is the maximum value of the carrier-to-noise ratio measured by the base station antenna, min(C B ) is the minimum value of the carrier-to-noise ratio values ​​measured by the base station antenna;

[0013] The second carrier-to-noise ratio information data set after removing the maximum value and the minimum value It is expressed as:

[0014]

[0015] In the formula, is the carrier-to-noise ratio value measured by the basement antenna for the i-th time, max(C U ) is the maximum value of the carrier-to-noise ratio measured by the basement antenna, min(C U ) is the minimum value of the carrier-to-noise ratio measured by the basement antennas.

[0016] As a preferred solution of the underground space carrier-to-noise ratio assisted positioning method based on the indoor antenna system, the data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information are removed for extreme values ​​and then the difference is calculated. The formula for the difference calculation is:

[0017]

[0018] In the formula, C i is a data difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information after removing extreme values;

[0019] The formula for averaging the difference between the data in the first carrier-to-noise ratio information and the data in the second carrier-to-noise ratio information is:

[0020]

[0021] In the formula, The average of the data difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information; ΔC i is the difference between the carrier-to-noise ratio value measured by the base station antenna for the i-th time and the carrier-to-noise ratio value measured by the basement antenna for the i-th time, and N is the number of carrier-to-noise ratio measurements.

[0022] As a preferred solution of the underground space carrier-to-noise ratio assisted positioning method based on the indoor antenna system, the formula for analyzing the change trend of the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information is:

[0023]

[0024] Where IsValley(j) indicates whether the specified point j is a valley point; △C j is the central signal difference point of the current window; △C j-w / 2 is the signal difference point on the left edge of the current window; △C j+w / 2 It is the signal difference point on the right edge of the current window;

[0025] As a preferred solution of the underground space carrier-to-noise ratio assisted positioning method based on the indoor antenna system, it also includes: setting a threshold T, when the value of the designated point is lower than the average value of the points within a preset range before and after the designated point and reaches the threshold T, the designated point is determined to be a trough point;

[0026] The formula for judging whether a specified point is a trough point is:

[0027]

[0028] Where IsConfirmedValley(j) indicates whether the specified point j is a valley point, w is the set sliding window size, usually an odd number, to ensure that the window has a certain center point; △C k is the kth signal difference point in a sliding window.

[0029] The present invention also provides an underground space carrier-to-noise ratio auxiliary positioning device based on a room-divided antenna system, comprising:

[0030] A carrier-to-noise ratio information acquisition module, used to acquire first carrier-to-noise ratio information of base station antennas in a specified area, and to acquire second carrier-to-noise ratio information captured by basement antennas; the first carrier-to-noise ratio information and the second carrier-to-noise ratio information are derived from the same satellite;

[0031] a carrier-to-noise ratio data preprocessing module, configured to preprocess the data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information, wherein the preprocessing includes removing extreme values, calculating differences, and averaging differences to obtain an average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information;

[0032] The carrier-to-noise ratio auxiliary positioning module is used to perform a change trend analysis on the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information. During the change trend analysis, a sliding window of a preset size is defined, and a local minimum value of the average difference is found through the sliding window of the preset size. If the center point value in the sliding window is less than the non-center point value in the sliding window, the center point in the sliding window is determined to be a trough point, and the indoor antenna position passed by the mobile terminal is determined according to the position where the trough point appears.

[0033] As a preferred solution of the underground space carrier-to-noise ratio auxiliary positioning device based on the indoor antenna system, in the carrier-to-noise ratio data preprocessing module, the maximum value and the minimum value in each group of the first carrier-to-noise ratio information and the second carrier-to-noise ratio information data are removed;

[0034] In the carrier-to-noise ratio data preprocessing module:

[0035] The first carrier-to-noise ratio information data set after removing the maximum value and the minimum value It is expressed as:

[0036]

[0037] In the formula, is the carrier-to-noise ratio value measured by the base station antenna for the i-th time; max(C B ) is the maximum value of the carrier-to-noise ratio measured by the base station antenna, min(C B ) is the minimum value of the carrier-to-noise ratio values ​​measured by the base station antenna;

[0038] In the carrier-to-noise ratio data preprocessing module:

[0039] The second carrier-to-noise ratio information data set after removing the maximum value and the minimum value It is expressed as:

[0040]

[0041] In the formula, is the carrier-to-noise ratio value measured by the basement antenna for the i-th time, max(C U ) is the maximum value of the carrier-to-noise ratio measured by the basement antenna, min(C U ) is the minimum value of the carrier-to-noise ratio measured by the basement antennas.

[0042] As a preferred solution of the underground space carrier-to-noise ratio auxiliary positioning device based on the indoor antenna system, in the carrier-to-noise ratio data preprocessing module, the formula for difference calculation is:

[0043]

[0044] In the formula, C iis a data difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information after removing extreme values;

[0045] In the carrier-to-noise ratio data preprocessing module, the formula for taking the average of the difference between the data in the first carrier-to-noise ratio information and the data in the second carrier-to-noise ratio information is:

[0046]

[0047] In the formula, The average of the data difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information; ΔC i is the difference between the carrier-to-noise ratio value measured by the base station antenna for the i-th time and the carrier-to-noise ratio value measured by the basement antenna for the i-th time, and N is the number of carrier-to-noise ratio measurements.

[0048] As a preferred solution of the underground space carrier-to-noise ratio auxiliary positioning device based on the indoor antenna system, in the carrier-to-noise ratio auxiliary positioning module:

[0049] The formula for performing a change trend analysis on the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information is:

[0050]

[0051] Where IsValley(j) indicates whether the specified point j is a valley point; △C j is the central signal difference point of the current window; △C j-w / 2 is the signal difference point on the left edge of the current window; △C j+w / 2 It is the signal difference point on the right edge of the current window;

[0052] In the carrier-to-noise ratio auxiliary positioning module, a threshold T is also set. When the value of a designated point is lower than the average value of points within a preset range before and after the designated point and reaches the threshold T, the designated point is determined to be a trough point;

[0053] The formula for judging whether a specified point is a trough point is:

[0054]

[0055] Where IsConfirmedValley(j) indicates whether the specified point j is a valley point, w is the set sliding window size, usually an odd number, to ensure that the window has a certain center point; △C k is the kth signal difference point in a sliding window.

[0056] As can be seen from the above, the technical solution provided by the present invention can use the deployed indoor antenna for auxiliary positioning, significantly reducing the need for additional hardware investment. Since indoor communication systems generally have installed indoor antennas, these existing infrastructures can be used to achieve auxiliary positioning without increasing additional hardware costs; unlike systems that require specific positioning hardware, the present invention achieves accurate positioning of mobile terminals by analyzing the carrier-to-noise ratio data in existing indoor antenna systems, thereby improving resource utilization efficiency; since coverage and signal penetration have been considered in the design of indoor antenna systems, positioning using these systems has a natural advantage in environmental adaptability, especially in complex indoor environments; relying on the existing indoor antenna infrastructure, the present invention is simpler and more cost-effective in system maintenance, without the need to frequently update or replace positioning equipment; in emergency situations, such as when natural disasters occur, the present invention can provide accurate positioning information to help rescuers quickly locate trapped persons and improve rescue efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the present invention or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0058] Figure 1 A schematic diagram of an underground space carrier-to-noise ratio assisted positioning method based on a room-divided antenna system provided by an embodiment of the present invention;

[0059] Figure 2 An architecture diagram of an underground space carrier-to-noise ratio auxiliary positioning device based on a room-divided antenna system provided by an embodiment of the present invention;

[0060] Figure 3 Schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0062] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. The words "include" or "comprise" and the like used in the embodiments of the present invention mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but do not exclude other elements or objects.

[0063] In the existing technology, positioning systems based on Bluetooth and WI FI / UWB require the additional deployment of a large number of hardware devices (such as beacons or receivers), which not only has high initial costs, but also incurs continuous costs for maintaining and updating these devices over time; especially for Bluetooth-based positioning systems, devices usually rely on batteries and need to be replaced regularly, which is a significant operating cost and logistics challenge for large-scale deployed systems; in addition, the positioning accuracy of WI FI and UWB is greatly affected by environmental factors. Obstacles such as walls and crowds can significantly affect signal strength and quality, resulting in unstable positioning accuracy; in specific environments, such as underground or confined spaces, WI FI and UWB signals may be unstable or have insufficient coverage, affecting positioning performance.

[0064] Indoor distributed antenna systems (usually referred to as indoor distributed systems, i.e., Distributed Antenna System, DAS) have been widely deployed in many underground spaces, mainly for providing mobile communication services. These existing infrastructures provide a unique opportunity. By analyzing the carrier-to-noise ratio data in these systems, efficient and low-cost underground auxiliary positioning can be achieved. In view of this, an embodiment of the present invention provides an underground space carrier-to-noise ratio assisted positioning method and device based on a room-distributed antenna system to solve the problems of high deployment and maintenance costs, high energy consumption, and unstable positioning accuracy caused by environmental limitations, which affect positioning performance in traditional technologies, and achieve efficient and low-cost precise underground auxiliary positioning.

[0065] The core of the present invention is to utilize the distributed antenna networks that have been deployed in indoor environments. These antenna networks were originally used to provide wireless communication services. By measuring and analyzing the changes in the carrier-to-noise ratio strength of the signal received by the mobile terminal at different relative positions of the indoor antenna, an innovative auxiliary positioning method is realized. Utilizing the unique performance of the indoor antenna, the present invention can accurately capture the location information of the mobile terminal in the indoor environment. In practical applications, the present invention provides important information for auxiliary positioning. By evaluating the changes in the carrier-to-noise ratio data, the position of the mobile terminal relative to the indoor antenna can be effectively determined. This positioning method is not only reliable but also efficient, and provides more accurate location data for the indoor positioning system. At the same time, the innovation of the present invention lies in the clever application of the performance of the indoor antenna to auxiliary positioning, thereby effectively reducing the cost of indoor positioning. By integrating mainstream indoor positioning technologies, the present invention provides users with a more accurate and cost-effective positioning solution. The following is the specific content of an embodiment of the present invention.

[0066] See also Figure 1 The embodiment of the present invention provides an underground space carrier-to-noise ratio assisted positioning method based on a room-divided antenna system, comprising the following steps:

[0067] S1. Acquire first carrier-to-noise ratio information of base station antennas in a specified area, and acquire second carrier-to-noise ratio information captured by basement antennas; the first carrier-to-noise ratio information and the second carrier-to-noise ratio information are derived from the same satellite;

[0068] S2. Preprocessing the data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information, wherein the preprocessing includes removing extreme values, calculating differences, and averaging differences to obtain an average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information;

[0069] S3. Analyze the change trend of the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information. During the change trend analysis, define a sliding window of a preset size, and use the sliding window of the preset size to find the local minimum of the average difference. If the center point value in the sliding window is less than the non-center point value in the sliding window, determine that the center point in the sliding window is a trough point, and determine the position of the indoor antenna passed by the mobile terminal according to the position where the trough point appears.

[0070] In this embodiment, in step S1, the first carrier-to-noise ratio information of the base station antenna is first acquired. The system acquires the first carrier-to-noise ratio information of the base station antenna in the current specified area by communicating with the server. The first carrier-to-noise ratio information reflects the signal quality from the satellite to the base station antenna. Then, the second carrier-to-noise ratio information captured by the basement antenna is acquired. The system captures the corresponding second carrier-to-noise ratio information through the underground indoor antenna, that is, the carrier-to-noise ratio of the signal after passing through a specific path in the underground environment. At the same time, by comparing the satellite number, it is ensured that the first carrier-to-noise ratio information and the second carrier-to-noise ratio information obtained from the base station antenna and the indoor antenna are derived from the same satellite, thereby ensuring the consistency and comparability of the data.

[0071] In this embodiment, in step S2, in the process of removing extreme values ​​of the data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information, the maximum value and the minimum value in each group of the first carrier-to-noise ratio information and the second carrier-to-noise ratio information data are first removed to eliminate the influence of extreme situations on positioning accuracy.

[0072] Among them, the first carrier-to-noise ratio information data set after removing the maximum value and the minimum value It is expressed as:

[0073]

[0074] In the formula, is the carrier-to-noise ratio value measured by the base station antenna for the i-th time; max(C B ) is the maximum value of the carrier-to-noise ratio measured by the base station antenna, min(C B ) is the minimum value of the carrier-to-noise ratio values ​​measured by the base station antenna;

[0075] The second carrier-to-noise ratio information data set after removing the maximum value and the minimum value It is expressed as:

[0076]

[0077] In the formula, is the carrier-to-noise ratio value measured by the basement antenna for the i-th time, max(C U ) is the maximum value of the carrier-to-noise ratio measured by the basement antenna, min(C U ) is the minimum value of the carrier-to-noise ratio measured by the basement antennas.

[0078] Wherein, after removing extreme values ​​from the data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information, difference calculation is performed, and the formula for difference calculation is:

[0079]

[0080] In the formula, C i is a data difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information after removing extreme values;

[0081] The formula for averaging the difference between the data in the first carrier-to-noise ratio information and the data in the second carrier-to-noise ratio information is:

[0082]

[0083] In the formula, The average of the data difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information; ΔC i is the difference between the carrier-to-noise ratio value measured by the base station antenna for the i-th time and the carrier-to-noise ratio value measured by the basement antenna for the i-th time, and N is the number of carrier-to-noise ratio measurements.

[0084] In this embodiment, in step S3, the formula for performing a change trend analysis on the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information is:

[0085]

[0086] Where IsValley(j) indicates whether the specified point j is a valley point; △C j is the central signal difference point of the current window; △C j-w / 2 is the signal difference point on the left edge of the current window; △C j+w / 2 It is the signal difference point on the right edge of the current window;

[0087] Specifically, by analyzing the variation trend of the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information, first find the local minimum: define a sliding window size w, and find the local minimum point by sliding the window. j If the value of is smaller than the values ​​of other points in the window, then this point is considered to be a trough point.

[0088] In order to further confirm the trough point, it also includes: setting a threshold T, when the value of the designated point is lower than the average value of the points within a preset range before and after the designated point and reaches the threshold T, the designated point is determined to be a trough point;

[0089] The formula for judging whether a specified point is a trough point is:

[0090]

[0091] Where IsConfirmedValley(j) indicates whether the specified point j is a valley point, w is the set sliding window size, usually an odd number, to ensure that the window has a certain center point; △C k is the kth signal difference point in a sliding window.

[0092] The point where the trough point appears represents the indoor antenna position where the signal passes, because the trough point usually means that the signal has experienced relatively large attenuation at this position. Once the trough point is detected, the system can determine the indoor antenna position where the mobile terminal passes according to the specific location where the trough point appears, thereby assisting in positioning.

[0093] In one possible embodiment, indoor antenna-assisted positioning technology is used in combination with wearable devices to monitor the health status of people in underground environments in real time, such as heart rate, blood pressure and other indicators. Once an abnormality is detected, the system can automatically send an emergency positioning signal to quickly initiate rescue operations.

[0094] In one possible embodiment, this technology is used in underground warehouses or complex industrial environments to accurately locate and track materials and equipment, optimize inventory management, and improve logistics efficiency.

[0095] In a possible embodiment, machine learning and deep learning algorithms are introduced to perform in-depth analysis and processing on the carrier-to-noise ratio data obtained by indoor antennas to further improve the positioning accuracy and the intelligence level of the system.

[0096] In a possible embodiment, a room-based antenna network is used in combination with environmental sensors to monitor the air quality, temperature, humidity and other indicators of the underground environment in real time to provide data support for disaster warning. In VR games or simulation training, combined with room-based antenna auxiliary positioning technology, more realistic and accurate spatial positioning is provided to enhance immersion.

[0097] In summary, the embodiment of the present invention obtains first carrier-to-noise ratio information of base station antennas in a specified area, and obtains second carrier-to-noise ratio information captured by a basement antenna; the first carrier-to-noise ratio information and the second carrier-to-noise ratio information are derived from the same satellite; data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information are preprocessed, and the preprocessing includes removing extreme values, difference calculation and difference averaging to obtain an average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information; a change trend analysis is performed on the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information. During the change trend analysis, a sliding window of a preset size is defined, and a local minimum value of the average difference is found through the sliding window of the preset size. If the center point value in the sliding window is less than the non-center point value in the sliding window, the center point in the sliding window is determined to be a trough point, and the position of the indoor antenna passed by the mobile terminal is determined according to the position where the trough point appears. The embodiments of the present invention utilize the existing base station and indoor antenna infrastructure for auxiliary positioning, avoiding additional hardware investment and complex deployment work, and significantly reducing the cost of system implementation; based on the optimization and utilization of the deployed network, the daily maintenance and upgrade requirements of the system are simplified, and the long-term operating cost is further reduced; through fine CNR data preprocessing and difference analysis, the accuracy of signal processing is effectively improved, thereby improving the accuracy of positioning; the positioning algorithm designed specifically for complex environments such as underground can effectively deal with signal attenuation and multipath effects, and ensure the accuracy and reliability of the positioning results; it can be flexibly adjusted according to actual application scenarios and is easy to adapt to changes in different environments and needs; it can be easily integrated with other positioning technologies (such as Wi-Fi positioning, Bluetooth positioning, etc.) to provide richer and more accurate positioning services, and has good scalability; providing fast and accurate positioning information can greatly improve the user's navigation experience in environments such as underground; it is applicable to a variety of complex environments, such as underground parking lots, subway stations, etc., to meet the positioning needs of users in different scenarios, and greatly enhance the practical value and user satisfaction of the system; in emergency situations, such as when disasters such as earthquakes and fires occur, the present invention can provide accurate positioning information to help rescuers quickly locate trapped persons and improve rescue efficiency and safety. In summary, the present invention not only improves the positioning accuracy and reliability in special environments such as underground, but also shows significant advantages in cost control, system flexibility, user experience and security. It has important practical application value and broad market prospects.

[0098] It should be noted that the method of the embodiment of the present invention can be performed by a single device, such as a computer or a server. The method of this embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present invention, and the multiple devices will interact with each other to complete the described method.

[0099] It should be noted that some embodiments of the present invention are described above. In some cases, the actions or steps recorded can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0100] See also Figure 2 Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, an embodiment of the present invention further provides an underground space carrier-to-noise ratio auxiliary positioning device based on a room-divided antenna system, comprising:

[0101] The carrier-to-noise ratio information acquisition module 100 is used to acquire first carrier-to-noise ratio information of base station antennas in a specified area, and acquire second carrier-to-noise ratio information captured by basement antennas; the first carrier-to-noise ratio information and the second carrier-to-noise ratio information are derived from the same satellite;

[0102] A carrier-to-noise ratio data preprocessing module 200, configured to preprocess the data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information, wherein the preprocessing includes removing extreme values, calculating differences, and averaging differences to obtain an average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information;

[0103] The carrier-to-noise ratio auxiliary positioning module 300 is used to perform a change trend analysis on the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information. During the change trend analysis, a sliding window of a preset size is defined, and a local minimum value of the average difference is found through the sliding window of the preset size. If the center point value in the sliding window is less than the non-center point value in the sliding window, the center point in the sliding window is determined to be a trough point, and the indoor antenna position passed by the mobile terminal is determined according to the position where the trough point appears.

[0104] In this embodiment, in the carrier-to-noise ratio data preprocessing module 200, the maximum value and the minimum value in each group of the first carrier-to-noise ratio information and the second carrier-to-noise ratio information data are removed;

[0105] In the carrier-to-noise ratio data preprocessing module 200:

[0106] The first carrier-to-noise ratio information data set after removing the maximum value and the minimum value It is expressed as:

[0107]

[0108] In the formula, is the carrier-to-noise ratio value measured by the base station antenna for the i-th time; max(C B ) is the maximum value of the carrier-to-noise ratio measured by the base station antenna, min(C B ) is the minimum value of the carrier-to-noise ratio values ​​measured by the base station antenna;

[0109] In the carrier-to-noise ratio data preprocessing module 200:

[0110] The second carrier-to-noise ratio information data set after removing the maximum value and the minimum value It is expressed as:

[0111]

[0112] In the formula, is the carrier-to-noise ratio value measured by the basement antenna for the i-th time, max(C U ) is the maximum value of the carrier-to-noise ratio measured by the basement antenna, min(C U ) is the minimum value of the carrier-to-noise ratio measured by the basement antennas.

[0113] In this embodiment, in the carrier-to-noise ratio data preprocessing module 200, the formula for difference calculation is:

[0114]

[0115] In the formula, C i is a data difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information after removing extreme values;

[0116] In the carrier-to-noise ratio data preprocessing module 200, the formula for taking the average of the difference between the data in the first carrier-to-noise ratio information and the data in the second carrier-to-noise ratio information is:

[0117]

[0118] In the formula, The average of the data difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information; ΔC i is the difference between the carrier-to-noise ratio value measured by the base station antenna for the i-th time and the carrier-to-noise ratio value measured by the basement antenna for the i-th time, and N is the number of carrier-to-noise ratio measurements.

[0119] In this embodiment, in the carrier-to-noise ratio assisted positioning module 300:

[0120] The formula for performing a change trend analysis on the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information is:

[0121]

[0122] Where IsValley(j) indicates whether the specified point j is a valley point; △C j is the central signal difference point of the current window; △C j-w / 2 is the signal difference point on the left edge of the current window; △C j+w / 2 It is the signal difference point on the right edge of the current window;

[0123] In the carrier-to-noise ratio auxiliary positioning module 300, a threshold T is also set. When the value of a designated point is lower than the average value of points within a preset range before and after the designated point and reaches the threshold T, the designated point is determined to be a trough point.

[0124] The formula for judging whether a specified point is a trough point is:

[0125]

[0126] Where IsConfirmedValley(j) indicates whether the specified point j is a valley point, w is the set sliding window size, usually an odd number, to ensure that the window has a certain center point; △C k is the kth signal difference point in a sliding window.

[0127] The device of the above embodiment is used to implement a corresponding underground space carrier-to-noise ratio assisted positioning method based on a room-divided antenna system in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0128] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the underground space carrier-to-noise ratio assisted positioning method based on a room-based antenna system as described in any of the above embodiments is implemented.

[0129] Figure 3 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 410, a memory 420, an input / output interface 430, a communication interface 440, and a bus 450. The processor 410, the memory 420, the input / output interface 430, and the communication interface 440 are connected to each other through the bus 450 in the device.

[0130] The processor 410 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0131] The memory 420 may be implemented in the form of ROM (Read On ly Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 420 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 420 and are called and executed by the processor 410.

[0132] The input / output interface 430 is used to connect the input / output module to realize information input and output. The input / output module can be configured as a component in the device (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0133] The communication interface 440 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WI FI, Bluetooth, etc.).

[0134] The bus 450 comprises a pathway for transmitting information between the various components of the device (eg, the processor 410, the memory 420, the input / output interface 430, and the communication interface 440).

[0135] It should be noted that, although the above device only shows the processor 410, the memory 420, the input / output interface 430, the communication interface 440 and the bus 450, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0136] The electronic device of the above embodiment is used to implement a corresponding underground space carrier-to-noise ratio assisted positioning method based on a room-based antenna system in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0137] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present invention also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute an underground space carrier-to-noise ratio assisted positioning method based on a room-based antenna system as described in any of the above embodiments.

[0138] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0139] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute an underground space carrier-to-noise ratio assisted positioning method based on a room-based antenna system as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0140] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of the embodiments of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0141] In addition, to simplify the description and discussion, and in order not to obscure the embodiments of the present invention, known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the devices may be shown in the form of block diagrams to avoid obscuring the embodiments of the present invention, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present invention will be implemented (i.e., these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present invention, it will be apparent to those skilled in the art that embodiments of the present invention may be implemented without these specific details or with variations in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0142] Although the present invention has been described in conjunction with specific embodiments of the present invention, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0143] The embodiments of the present invention are intended to cover all such substitutions, modifications and variations that fall within the scope of the protection claimed. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the protection scope of the present invention.

Claims

1. Underground space carrier-to-noise ratio assisted positioning method based on indoor antenna system, where: include: Obtaining first carrier-to-noise ratio information of base station antennas in a specified area, and obtaining second carrier-to-noise ratio information captured by basement antennas; The first carrier-to-noise ratio information and the second carrier-to-noise ratio information are derived from the same satellite; Preprocessing the data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information, wherein the preprocessing includes removing extreme values, calculating differences, and averaging differences to obtain an average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information; Perform a change trend analysis on the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information. During the change trend analysis, define a sliding window of a preset size, and find the local minimum of the average difference through the sliding window of the preset size. If the center point value in the sliding window is less than the non-center point value in the sliding window, determine that the center point in the sliding window is a trough point, and determine the position of the indoor antenna passed by the mobile terminal according to the position where the trough point appears.

2. The underground space carrier-to-noise ratio assisted positioning method based on the indoor antenna system according to claim 1, wherein: In the process of removing extreme values ​​from the data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information, the maximum value and the minimum value in each group of the first carrier-to-noise ratio information and the second carrier-to-noise ratio information data are removed.

3. The underground space carrier-to-noise ratio assisted positioning method based on the indoor antenna system according to claim 2, wherein: The first carrier-to-noise ratio information data set after removing the maximum value and the minimum value It is expressed as: In the formula, is the carrier-to-noise ratio value measured by the base station antenna for the i-th time; max(C B ) is the maximum value of the carrier-to-noise ratio measured by the base station antenna, min(C B ) is the minimum value of the carrier-to-noise ratio values ​​measured by the base station antenna; The second carrier-to-noise ratio information data set after removing the maximum value and the minimum value It is expressed as: In the formula, is the carrier-to-noise ratio value measured by the basement antenna for the i-th time, max(C U ) is the maximum value of the carrier-to-noise ratio measured by the basement antenna, min(C U ) is the minimum value of the carrier-to-noise ratio measured by the basement antennas.

4. The underground space carrier-to-noise ratio assisted positioning method based on the indoor antenna system according to claim 3, wherein: The data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information are subjected to difference calculation after removing extreme values. The difference calculation formula is: In the formula, C i is a data difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information after removing extreme values; The formula for averaging the difference between the data in the first carrier-to-noise ratio information and the data in the second carrier-to-noise ratio information is: In the formula, averaging the data differences between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information; ΔC i is the difference between the carrier-to-noise ratio value measured by the base station antenna for the i-th time and the carrier-to-noise ratio value measured by the basement antenna for the i-th time, and N is the number of carrier-to-noise ratio measurements.

5. The underground space carrier-to-noise ratio assisted positioning method based on the indoor antenna system according to claim 4, wherein: The formula for performing a change trend analysis on the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information is: Where IsValley(j) indicates whether the specified point j is a valley point; ΔC j is the central signal difference point of the current window; ΔC j-w / 2 is the signal difference point on the left edge of the current window; ΔC j+w / 2 It is the signal difference point at the right edge of the current window.

6. The underground space carrier-to-noise ratio assisted positioning method based on the indoor antenna system according to claim 5, wherein: It also includes: setting a threshold value T, and when the value of the designated point is lower than the average value of the points within a preset range before and after the designated point by reaching the threshold value T, determining that the designated point is a trough point; The formula for judging whether a specified point is a trough point is: Where IsConfirmedValley(j) indicates whether the specified point j is a valley point, w is the set sliding window size, usually an odd number, to ensure that the window has a certain center point; ΔC k is the kth signal difference point in a sliding window.

7. An underground space carrier-to-noise ratio auxiliary positioning device based on a room-based antenna system, wherein: include: The carrier-to-noise ratio information acquisition module is used to acquire the first carrier-to-noise ratio information of the base station antenna in the specified area, and acquire the second carrier-to-noise ratio information captured by the basement antenna; The first carrier-to-noise ratio information and the second carrier-to-noise ratio information are derived from the same satellite; a carrier-to-noise ratio data preprocessing module, configured to preprocess the data in the first carrier-to-noise ratio information and the second carrier-to-noise ratio information, wherein the preprocessing includes removing extreme values, calculating differences, and averaging differences to obtain an average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information; The carrier-to-noise ratio auxiliary positioning module is used to perform a change trend analysis on the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information. During the change trend analysis, a sliding window of a preset size is defined, and a local minimum value of the average difference is found through the sliding window of the preset size. If the center point value in the sliding window is less than the non-center point value in the sliding window, the center point in the sliding window is determined to be a trough point, and the indoor antenna position passed by the mobile terminal is determined according to the position where the trough point appears.

8. The underground space carrier-to-noise ratio auxiliary positioning device based on the indoor antenna system according to claim 7, wherein: In the carrier-to-noise ratio data preprocessing module, the maximum value and the minimum value in each group of the first carrier-to-noise ratio information and the second carrier-to-noise ratio information data are removed; In the carrier-to-noise ratio data preprocessing module: The first carrier-to-noise ratio information data set after removing the maximum value and the minimum value It is expressed as: In the formula, is the carrier-to-noise ratio value measured by the base station antenna for the i-th time; max(C B ) is the maximum value of the carrier-to-noise ratio measured by the base station antenna, min(C B ) is the minimum value of the carrier-to-noise ratio values ​​measured by the base station antennas; In the carrier-to-noise ratio data preprocessing module: The second carrier-to-noise ratio information data set after removing the maximum value and the minimum value It is expressed as: In the formula, is the carrier-to-noise ratio value measured by the basement antenna for the i-th time, max(C U ) is the maximum value of the carrier-to-noise ratio measured by the basement antenna, min(C U ) is the minimum value of the carrier-to-noise ratio measured by the basement antennas.

9. The underground space carrier-to-noise ratio auxiliary positioning device based on the indoor antenna system according to claim 8, wherein: In the carrier-to-noise ratio data preprocessing module, the formula for difference calculation is: In the formula, C i is a data difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information after removing extreme values; In the carrier-to-noise ratio data preprocessing module, the formula for taking the average of the difference between the data in the first carrier-to-noise ratio information and the data in the second carrier-to-noise ratio information is: In the formula, averaging the data differences between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information; ΔC i is the difference between the carrier-to-noise ratio value measured by the base station antenna for the i-th time and the carrier-to-noise ratio value measured by the basement antenna for the i-th time, and N is the number of carrier-to-noise ratio measurements.

10. The underground space carrier-to-noise ratio auxiliary positioning device based on the indoor antenna system according to claim 9, wherein: In the carrier-to-noise ratio assisted positioning module: The formula for performing a change trend analysis on the average difference between the first carrier-to-noise ratio information and the second carrier-to-noise ratio information is: Where IsValley(j) indicates whether the specified point j is a valley point; ΔC j is the central signal difference point of the current window; ΔC j-w / 2 is the signal difference point on the left edge of the current window; ΔC j+w / 2 It is the signal difference point on the right edge of the current window; In the carrier-to-noise ratio auxiliary positioning module, a threshold T is also set. When the value of a designated point is lower than the average value of points within a preset range before and after the designated point and reaches the threshold T, the designated point is determined to be a trough point; The formula for judging whether a specified point is a trough point is: Where IsConfirmedValley(j) indicates whether the specified point j is a valley point, w is the set sliding window size, usually an odd number, to ensure that the window has a certain center point; ΔC k is the kth signal difference point in a sliding window.

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