Positioning method, device, electronic device and storage medium

Abstract

The present application discloses a positioning method, device, electronic device and storage medium. The method includes: receiving a first detection signal sent by a detection device through an RIS, and based on the first detection signal, reflecting an echo signal corresponding to the first detection signal to the detection device, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal; receiving a second detection signal sent by the detection device through the RIS; determining backscatter communication data through the RIS based on the position information of the RIS pre-stored therein, and modulating the backscatter communication data into the echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance and relative speed between the RIS and the detection device to obtain the position information of the RIS, and determines the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device.

Description

Technical Field

[0001] The present application belongs to the field of communication perception technology, and specifically relates to a positioning method, device, electronic device and storage medium. Background Art

[0002] Among the related positioning technologies, vehicle positioning usually uses fixed anchor points for auxiliary positioning. For example, the global navigation satellite system uses satellites for auxiliary positioning, and the base station cellular positioning technology uses base stations in the cellular network for auxiliary positioning. The vehicle determines its own position by receiving reference signals from multiple anchor points and estimating information such as the arrival time of the signals.

[0003] However, the coverage of base station cellular positioning technology is restricted by the distribution of base stations and the distance of signal propagation. The error range of the location information provided by the Global Navigation Satellite System (GNSS) is usually 3 to 10 meters, and signal blocking or interference may make it unavailable. In other words, if the relevant positioning technology is to be applied to scenarios with higher positioning accuracy requirements, the cost of the hardware to be deployed is high, or it is difficult to meet the positioning accuracy requirements of the application scenario.

[0004] That is, related positioning technologies have problems of high hardware cost or poor positioning accuracy. Summary of the invention

[0005] The embodiments of the present application provide a positioning method, device, electronic device and storage medium, which can solve the problems of high hardware cost or poor positioning accuracy in related positioning technologies.

[0006] In a first aspect, an embodiment of the present application provides a positioning method, the method comprising: receiving a first detection signal sent by a detection device through an intelligent reflecting surface (RIS), and reflecting an echo signal corresponding to the first detection signal to the detection device based on the first detection signal, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal; receiving a second detection signal sent by the detection device through the RIS; determining backscattered communication data through the RIS based on the position information of the RIS pre-stored in the RIS, and modulating the backscattered communication data into the echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance and relative speed between the RIS and the detection device to obtain the position information of the RIS, and determines the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device.

[0007] In a second aspect, an embodiment of the present application provides a positioning device, the device comprising: a reflection module, configured to receive a first detection signal sent by a detection device through a RIS, and reflect a first echo signal corresponding to the first detection signal to the detection device based on the first detection signal, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal; a receiving module, configured to receive a second detection signal sent by the detection device through the RIS; a positioning module, configured to determine backscattered communication data through the RIS based on the position information of the RIS pre-stored in the RIS, and modulate the backscattered communication data into an echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance and relative speed between the RIS and the detection device to obtain the position information of the RIS, and determines the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device.

[0008] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor; and a memory arranged to store computer executable instructions, wherein the executable instructions are configured to be executed by the processor, and the executable instructions include instructions for executing the positioning method as described in the first aspect.

[0009] In a fourth aspect, an embodiment of the present application provides a storage medium, wherein the storage medium is used to store computer-executable instructions, wherein the computer-executable instructions enable a computer to execute the positioning method as described in the first aspect.

[0010] In a fifth aspect, an embodiment of the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the positioning method as described in the first aspect.

[0011] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the positioning method as described in the first aspect.

[0012] In an embodiment of the present application, a first detection signal sent by a detection device is received by the RIS, and based on the first detection signal, an echo signal corresponding to the first detection signal is reflected to the detection device, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal; thereafter, a second detection signal sent by the detection device is received by the RIS; backscattered communication data is determined by the RIS based on the position information of the RIS pre-stored in the RIS, and the backscattered communication data is modulated into the echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance and relative speed between the RIS and the detection device, and determines the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device. Compared with related positioning methods, the present application sets RIS as an anchor point. On the one hand, the detection signal emitted by the detection device is modulated and reflected, and the power consumption and hardware cost are low. On the other hand, the echo signal is reflected to the detection device by RIS, so that the detection device can sense the relative speed and distance between RIS and the detection device, and then demodulate the data communicated between RIS and the detection device based on the sensed relative speed and distance between RIS and the detection device to obtain the position information of RIS, so as to locate the detection device based on the position information of RIS, that is, the positioning method of perception-assisted communication is adopted, which effectively utilizes the complementary advantages of communication and perception and achieves accurate positioning. Thus, the problem of high hardware cost or poor positioning accuracy of related positioning technologies is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a flowchart of a positioning method provided in an embodiment of the present application; Figure 2 A schematic diagram of an application scenario of a positioning method provided in an embodiment of the present application; Figure 3 A schematic swimming lane diagram of another positioning method provided in an embodiment of the present application; Figure 4 A schematic diagram of the change of positioning accuracy during the movement of a vehicle provided in an embodiment of the present application; Figure 5 A schematic diagram of the relationship between the number of RIS and positioning accuracy provided in an embodiment of the present application; Figure 6 is a structural schematic diagram of a positioning device provided in an embodiment of the present application; Figure 7 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0015] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0016] The positioning method, device, electronic device and storage medium provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0017] Figure 1 A positioning method provided by an embodiment of the present invention is shown. The method can be executed by an electronic device. The electronic device may include: a module corresponding to the RIS and a module corresponding to the first object, wherein the module corresponding to the RIS is set on the module corresponding to the first object. The method includes the following steps: S102: receiving a first detection signal sent by a detection device through the RIS, and reflecting an echo signal corresponding to the first detection signal to the detection device based on the first detection signal, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal.

[0018] In practical applications, the first object may be a roadside unit (RSU), and a RIS is set on the RSU. The detection device may be a radar, etc., and the detection device may be set on a second object such as a vehicle.

[0019] Specifically, if the detection device is a radar, the first detection signal and the second detection signal mentioned below are pulse signals; the radar may be specifically a Frequency Modulated Continuous Wave Radar (FMCW), and accordingly, the first detection signal and the second detection signal mentioned below are FMCW signals.

[0020] Specifically, RIS is a metasurface that contains electronically controllable and low-power analog processing elements. The absorption, reflection, refraction and phase of passive reflective elements can be adjusted in real time to guide the incident electromagnetic signal to the desired direction, thereby solving the problem of signal obstruction. The phase and amplitude of the reflected signal maximize the effective channel gain. RIS can be deployed in different locations and attached to surfaces such as buildings, vehicles and indoor walls with minimal cost and effort. Another advantage is that it is compatible with current radio technology and supports advanced wireless waveforms and full-duplex and half-duplex communications over a wide bandwidth and frequency range.

[0021] It should be noted that the above-mentioned first object, detection equipment, second object and radar are only examples and are not specifically limited.

[0022] S104: Receive, through the RIS, a second detection signal sent by the detection device.

[0023] S106: Determine the backscatter communication data through the RIS based on the position information of the RIS pre-stored in the RIS, and modulate the backscatter communication data into an echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance between the RIS and the detection device, and the relative speed to obtain the position information of the RIS, and determine the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device.

[0024] Specifically, the pre-stored location information of the RIS may be determined by using a longitude and latitude encoding GeoHash algorithm for the location data of the RIS. The two-dimensional longitude and latitude coordinates of the RIS are converted into a one-dimensional string representation through the GeoHash algorithm.

[0025] Specifically, the first reflection coefficient of the RIS may be determined based on the backscatter communication data, and then based on the first reflection coefficient of the RIS, an echo signal corresponding to the second detection signal may be reflected to the detection device.

[0026] The positioning method provided by the embodiment of the present invention receives a first detection signal sent by a detection device through an RIS, and reflects an echo signal corresponding to the first detection signal to the detection device based on the first detection signal, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal; then, receives a second detection signal sent by the detection device through the RIS; determines backscatter communication data through the RIS based on the position information of the RIS pre-stored in the RIS, and modulates the backscatter communication data into the echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance and relative speed between the RIS and the detection device, and determines the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device. Compared with related positioning methods, the present application sets RIS as an anchor point. On the one hand, the detection signal emitted by the detection device is modulated and reflected, and the power consumption and hardware cost are low. On the other hand, the echo signal is reflected to the detection device by RIS, so that the detection device can sense the relative speed and distance between RIS and the detection device, and then demodulate the data communicated between RIS and the detection device based on the sensed relative speed and distance between RIS and the detection device to obtain the position information of RIS, so as to locate the detection device based on the position information of RIS, that is, the positioning method of perception-assisted communication is adopted, which effectively utilizes the complementary advantages of communication and perception and achieves accurate positioning. Thus, the problem of high hardware cost or poor positioning accuracy of related positioning technologies is solved.

[0027] In one implementation, the detection device demodulates the modulated echo signal corresponding to the second detection signal to obtain the position information of the RIS based on the echo signal corresponding to the first detection signal, the distance between the RIS and the detection device, and the relative speed (i.e., S106), which can be specifically performed as follows: Steps A1 to A2: Step A1: determining a backscatter communication channel by using a detection device based on an echo signal corresponding to a first detection signal, a distance between the RIS and the detection device, and a relative speed.

[0028] It should be noted that this method of determining the backscatter communication channel is to reconstruct (restore) the backscatter communication channel, rather than the related technology of having the detection device transmit a third detection signal (the detection signal transmitted for the third time), thereby estimating the backscatter communication channel based on the third detection signal.

[0029] Step A2: demodulate the modulated echo signal corresponding to the second detection signal based on the backscatter communication channel by the detection device to obtain backscatter communication data, so as to obtain the position information of the RIS according to the backscatter communication data.

[0030] Specifically, the detection device performs a correlation operation based on the backscatter communication channel and the second echo signal to obtain the backscatter communication data.

[0031] In this embodiment, compared with general communications that use channel estimation to obtain the communication channel, this embodiment uses an integrated communication perception system to reconstruct the backscatter communication channel by estimating distance and speed. There is no need for the detection device to transmit a third detection signal, saving energy consumption.

[0032] In one implementation, the RIS includes a sensing unit and a reflection unit; modulating the backscattered communication data into an echo signal corresponding to the second detection signal reflected to the detection device (ie, S106) can be specifically performed as follows: Steps B1 to B2: Step B1, determining a first reflection coefficient of a reflection unit based on backscatter communication data through a sensing unit.

[0033] Step B2: Reflecting an echo signal corresponding to the second detection signal to the detection device through the reflection unit based on the first reflection coefficient.

[0034] Based on the detection signal, reflecting the echo signal corresponding to the first detection signal to the detection device (ie, S102) can be specifically performed as follows: Step B3 to Step B4: Step B3: estimate the arrival angle of the first detection signal through the sensing unit to obtain a target arrival angle, and determine a second reflection coefficient of the reflection unit based on the target arrival angle.

[0035] Specifically, the arrival angle may include the arrival angle of the RIS in the horizontal direction and the elevation direction.

[0036] Step B4: Reflecting the echo signal corresponding to the first detection signal to the detection device through the reflection unit based on the second reflection coefficient.

[0037] In actual use, the direction of the detection device is estimated by the sensing unit, and the reflection coefficient is adjusted according to the estimated direction so that the echo signal is aligned with the detection device.

[0038] Compared with the related technology that directly uses backscatter tags as anchor points, in this embodiment, a sensing unit and a reflection unit are set in the RIS, and the reflection unit acts as a backscatter tag to modulate the detection signal emitted by the detection device to reduce power consumption and hardware costs. At the same time, the sensing unit is used to estimate the direction of the detection signal from the detection device to assist in the design of the reflection coefficient of the reflection unit, which can enhance the echo signal strength and improve the signal-to-noise ratio of the backscatter signal, thereby reducing the round-trip path loss and ultimately improving the positioning accuracy.

[0039] In one implementation, based on the location information of the RIS and the distance between the RIS and the detection device, determining the location information of the detection device (ie, S106) may be specifically performed as follows: step C1: Step C1, based on the location information of the RIS and the distance between the RIS and the detection device, the location information of the detection device is determined by a first preset algorithm.

[0040] The first preset algorithm includes a time of arrival (TOA) positioning algorithm, or the first preset algorithm includes a TOA positioning algorithm and a weighted linear least squares (WLLS) algorithm.

[0041] For example, let Represents the unknown position of the detection device, The position information of the above RIS is expressed as ,in The distance between the above RIS and the detection equipment It can be expressed as:

[0042] in for The ranging error in , based on the zero-mean noise assumption.

[0043] The TOA observation model can be approximately transformed into a linear form, which can be expressed as

[0044] in,

[0045] =

[0046]

[0047] Among them, R is a dummy variable that satisfies .

[0048] The WLLS algorithm can be used for position estimation. Its cost function is designed according to the least squares criterion, and a weighted matrix W is introduced to improve the positioning accuracy. The cost function of the WLLS algorithm can be expressed as:

[0049] in yes The quadratic function W can be determined by the principle of the best linear unbiased estimator and can be expressed as

[0050] in for The variance of , the estimated value of the WLLS algorithm , the corresponding position estimate is and Represents estimated values The first and second elements of .

[0051] Reuse , in order to further improve the positioning accuracy. The actual location of the detection device When close enough, and It can be approximately expressed as:

[0052] The corresponding model can be constructed as:

[0053] in,

[0054]

[0055]

[0056] At this time, z is the parameter vector to be estimated, and the weighting matrix Ξ is

[0057] The estimated value of z based on the WLLS algorithm is

[0058] Since the vector z In the absence of corresponding symbol information, the location information of the detection device can be determined by using the symbol information of the estimation result of the following formula: .

[0059] In one implementation, the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal (ie, S102), which can be specifically performed as follows: Steps D1 to D2: In step D1, the echo signal corresponding to the first detection signal and the first detection signal are mixed and low-pass filtered by the detection device to obtain a beat frequency signal, and the beat frequency signal is sampled by an analog-to-digital converter (ADC) and a preset sampling rate to obtain a sampled signal.

[0060] Step D2, using the detection device and based on the sampled signal, using a second preset algorithm, determines the distance and relative speed between the RIS and the detection device.

[0061] The second preset algorithm may be a Root-MUSIC algorithm for orientation estimation.

[0062] In actual applications, after determining the backscatter communication data, RIS modulates the backscatter communication data into an echo signal corresponding to the second detection signal reflected to the detection device. Correspondingly, a new beat frequency signal is received on the detection device side, and the new beat frequency signal is sampled through the ADC and the preset sampling rate to obtain a new sampling signal (i.e., the modulated echo signal corresponding to the second detection signal received on the detection device side).

[0063] In one implementation, determining the backscatter communication data (ie, S106) by the RIS based on the RIS location information pre-stored in the RIS may be specifically performed as follows: Step E1: Step E1, performing binary phase shift keying (BPSK) modulation on the RIS position information pre-stored in the RIS through the RIS to determine the backscatter communication data.

[0064] In one implementation, the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal (ie, S102), which can be specifically performed as the following step F1: Step F1, using the detection device to determine the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal using the Root-MUSIC algorithm.

[0065] Specifically, the Root-MUSIC algorithm is used to estimate the distance and relative speed between RIS and the detection device in the fast time dimension and the slow time dimension respectively.

[0066] In one embodiment, the positioning method provided by the present application can be applied to Figure 2 In the vehicle positioning scenario shown, the detection device is a radar 201, the second object is a vehicle 202, that is, the radar is arranged on the vehicle, the first object is a roadside unit 203, and the RIS 204 is arranged on the roadside unit; the RIS includes a sensing unit 2041 and a reflection unit 2042, and the sensing unit is used to sense the detection signal to adjust the reflection coefficient of the reflection unit. Figure 3 The illustrated embodiment is described by taking this scenario as an example. It should be noted that the specific configuration method of configuring the RIS 204 on the roadside unit 203 is not limited.

[0067] Figure 3 is a schematic swimming lane diagram of another positioning method provided in the embodiment of the present application. Figure 3 As shown, the method includes: S3.1, the radar arranged on the vehicle sends a first detection signal to the RIS on the roadside unit.

[0068] S3.2, the sensing unit of the RIS receives the first detection signal, estimates the arrival angle of the first detection signal, obtains the target arrival angle, and determines the second reflection coefficient of the reflection unit based on the target arrival angle.

[0069] S3.3, the reflection unit of the RIS reflects the echo signal corresponding to the first detection signal to the radar based on the second reflection coefficient.

[0070] Exemplarily, the detection device is an FMCW radar, and the detection signal (including the first detection signal and the second detection signal) is a pulse signal. The FMCW radar can use a single transmitting antenna and a single receiving antenna. In each pulse repetition interval (Pulse Repetition Interval, PRI), the Chirp pulse signal s(t) emitted by the FMCW radar can be expressed as: , Among them, rect is a rectangular function. When rect . Bandwidth of the radar system for is the frequency modulation slope of the FMCW signal, is the pulse width, is the pulse repetition period, which must satisfy ; j is the basic unit of imaginary number, and j is also the basic unit of imaginary number in the following text.

[0071] A coherent processing interval (CPI) is composed of The pulses sent periodically. Radar pulse , assuming that the pulse is emitted by the transmitting antenna. , the radar transmission waveform can be expressed as:

[0072] in, is the starting carrier frequency. Consider The RIS is located in the far field, and the corresponding distance and radial velocity are .

[0073] For the kth RIS, the observed echo delay is

[0074] Where c is the speed of light.

[0075] The echo signal received on the receiving antenna array element is:

[0076] in, , indicating the The free path loss of the echo signal from each RIS, is the wavelength, Representing the target value; represents the complex gain generated by RIS, assuming that RIS contains Passive reflector units, of which and They refer to the number of units in the RIS pitch dimension and the horizontal dimension respectively, and the corresponding complex gain is defined as:

[0077] in, is the phase shift matrix of the kth RIS, where and represent the arrival angles of the kth RIS in the horizontal and elevation directions respectively, and the corresponding steering vector can be expressed as:

[0078] S3.4, the radar performs mixing and low-pass filtering on the echo signal corresponding to the first detection signal and the first detection signal to obtain a beat frequency signal, and samples the beat frequency signal through the analog-to-digital converter ADC and a preset sampling rate to obtain a sampling signal.

[0079] Continuing with the above example, the echo signal and radar transmission waveform Mixing is performed and low-pass filtering is performed to obtain the beat frequency signal. This operation can be expressed as:

[0080] Where LPF stands for low-pass filtering, ( )* represents the conjugate operation. The beat frequency signal can be approximately expressed as:

[0081] in, , represents the band-limited Gaussian noise after mixing and low-pass filtering. When performing signal analysis, assume that and , then the beat frequency signal can be re-expressed as:

[0082] Getting the beat frequency signal After that, we need to use an analog-to-digital converter (Analog-to-Digital Converter, ) to sample it, and the sampling rate is set to ,in, Represents the sampling interval. Since the maximum detection distance r max Limitation of sampling rate is set to In each pulse repetition interval (PRI), the number of sampling points is The sampling time is ,in , the corresponding sampling signal is:

[0083] because is usually small, so the sampled signal can be expressed as:

[0084] Specifically in this embodiment, it can be set: , , , , =512 S3.5, the radar uses the Root-MUSIC algorithm based on the sampled signal to determine the distance and relative speed between the RIS and the vehicle.

[0085] S3.6, the radar sends a second detection signal to the RIS.

[0086] S3.7, the RIS receives a second detection signal; and, performs BPSK modulation on the position information of the RIS pre-stored in the RIS, determines backscatter communication data, and determines a first reflection coefficient of the reflection unit based on the backscatter communication data.

[0087] S3.8, the RIS reflects an echo signal corresponding to the second detection signal to the radar based on the first reflection coefficient.

[0088] Continuing with the above example, the BPSK scheme is used to modulate the location information of the RIS, where Indicates of tags symbols, satisfying ∈{1, -1}, the symbol period is T, and the corresponding data sequence (backscatter communication data) is , set the reflection coefficient of RIS (first reflection coefficient) to .

[0089] The modulated echo signal corresponding to the second detection signal (i.e., the new beat signal received on the detection device side) can be approximately expressed as:

[0090] in, represents the band-limited Gaussian noise after mixing and low-pass filtering. When performing signal analysis, assume that and , then the new beat frequency signal can be re-expressed as:

[0091] After obtaining the new beat frequency signal, we need to use It is sampled and the sampling rate is set to ,in Represents the sampling interval. Since the maximum detection distance r max Limitation of sampling rate is set to In each PRI, the number of sampling points is The sampling time is ,in , the corresponding new sampling signal is:

[0092] because Usually very small, so the new sampling signal (that is, the modulated echo signal corresponding to the second detection signal received by the detection device side) can be expressed as:

[0093] S3.9, the radar determines a backscatter communication channel based on an echo signal corresponding to the first detection signal, a distance between the RIS and the vehicle, and a relative speed.

[0094] Continuing with the above example, the (reconstructed) backscatter communication channel is determined as:

[0095] S3.10, the radar demodulates the modulated echo signal corresponding to the second detection signal based on the backscatter communication channel to obtain backscatter communication data, so as to obtain the position information of the RIS according to the backscatter communication data.

[0096] Continuing with the above example, let the backscatter communication channel The modulated echo signal corresponding to the second detection signal (the above-mentioned new sampling signal) Do the correlation and get the backscatter communication data as:

[0097] in, For the The frequency modulated signal The demodulation result of a backscattered communication signal (the modulated echo signal corresponding to the second detection signal) is obtained. To take the real part operation, is a symbolic function.

[0098] S3.11, the radar determines the location information of the vehicle based on the location information of the RIS and the distance between the RIS and the vehicle through the TOA positioning algorithm and the WLLS algorithm.

[0099] In this embodiment, the Root-MUSIC algorithm is used to estimate the distance between the vehicle and the RIS, and then the TOA algorithm is used to locate the vehicle, with high positioning accuracy (hereinafter referred to as high-precision positioning). The performance of the two positioning methods, high-precision positioning and GNSS positioning, is compared. Figure 4 As shown in the figure, it can be seen that the positioning error of the high-precision positioning designed in this embodiment can reach the centimeter level, and the algorithm is better than the positioning solution based on GNSS positioning. The horizontal axis is the position of the vehicle on the x-axis, in meters, and the vertical axis is the root mean square error of the positioning accuracy, in meters; the positioning error of the GNSS algorithm is defined as the mean value with the precise position of the vehicle as the standard deviation. =3 and =5 Gaussian variable.

[0100] In addition, this embodiment also considers the relationship between the number of RIS and positioning accuracy. As shown in Figure 5, when the number of smart reflective surfaces is greater than a certain threshold, high-precision positioning can be achieved, highlighting the performance gain of RIS in the system. The horizontal axis is the number of RIS, and the vertical axis is the root mean square error of positioning, in meters. Preferably, the number of RIS can be set to 3.

[0101] The specific process of S3.1-S3.11 has been described in detail in the above embodiment and will not be repeated here.

[0102] In this embodiment, a first detection signal sent by a detection device is received by the RIS, and based on the first detection signal, an echo signal corresponding to the first detection signal is reflected to the detection device, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal; thereafter, a second detection signal sent by the detection device is received by the RIS; backscatter communication data is determined by the RIS based on the position information of the RIS pre-stored in the RIS, and the backscatter communication data is modulated into the echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance and relative speed between the RIS and the detection device, and determines the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device. Compared with related positioning methods, the present application sets RIS as an anchor point. On the one hand, the detection signal emitted by the detection device is modulated and reflected, and the power consumption and hardware cost are low. On the other hand, the echo signal is reflected to the detection device by RIS, so that the detection device can sense the relative speed and distance between RIS and the detection device, and then demodulate the data communicated between RIS and the detection device based on the sensed relative speed and distance between RIS and the detection device to obtain the position information of RIS, so as to locate the detection device based on the position information of RIS, that is, the positioning method of perception-assisted communication is adopted, which effectively utilizes the complementary advantages of communication and perception and achieves accurate positioning. Thus, the problem of high hardware cost or poor positioning accuracy of related positioning technologies is solved.

[0103] Corresponding to the positioning method provided in the above embodiment, based on the same technical concept, the embodiment of the present invention also provides a positioning device, Figure 6 is a schematic diagram of the structure of a positioning device according to an embodiment of the present invention, the positioning device is used to perform Figures 1 to 5 The positioning method described, such as Figure 6 As shown, the positioning device includes: a reflection module 610 , a receiving module 620 and a positioning module 630 .

[0104] The reflection module 610 is used to receive the first detection signal sent by the detection device through the RIS, and reflect the first echo signal corresponding to the first detection signal to the detection device based on the first detection signal, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal; The receiving module 620 is used to receive the second detection signal sent by the detection device through the RIS; The positioning module 630 is used to determine the backscatter communication data through the RIS based on the position information of the RIS pre-stored in the RIS, and modulate the backscatter communication data into the echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance between the RIS and the detection device, and the relative speed to obtain the position information of the RIS, and determines the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device.

[0105] In one implementation, the positioning module 630 is specifically configured to: Determine the backscatter communication channel by the detection device based on the echo signal corresponding to the first detection signal, the distance and relative speed between the RIS and the detection device; The detection device demodulates the modulated echo signal corresponding to the second detection signal based on the backscatter communication channel to obtain backscatter communication data, so as to obtain the position information of the RIS according to the backscatter communication data.

[0106] In one implementation, the RIS includes a sensing unit and a reflection unit; the positioning module 630 is further configured to: Determining, by the sensing unit, a first reflection coefficient of the reflection unit based on the backscatter communication data; An echo signal corresponding to the second detection signal is reflected toward the detection device through the reflection unit based on the first reflection coefficient.

[0107] The reflection module 610 is specifically used for: The sensing unit estimates the arrival angle of the first detection signal to obtain a target arrival angle, and determines a second reflection coefficient of the reflection unit based on the target arrival angle; An echo signal corresponding to the first detection signal is reflected toward the detection device through the reflection unit based on the second reflection coefficient.

[0108] In one implementation, the positioning module 630 is specifically configured to: Based on the location information of the RIS and the distance between the RIS and the detection device, determining the location information of the detection device through a first preset algorithm; The first preset algorithm includes a TOA positioning algorithm, or the first preset algorithm includes a TOA positioning algorithm and a WLLS algorithm.

[0109] In one implementation, the reflection module 610 is further configured to: By means of a detection device, an echo signal corresponding to the first detection signal and the first detection signal are mixed and low-pass filtered to obtain a beat frequency signal, and the beat frequency signal is sampled by means of an analog-to-digital converter ADC and a preset sampling rate to obtain a sampling signal; The detection device is used to determine the distance and relative speed between the RIS and the detection device based on the sampled signal and using a second preset algorithm.

[0110] In one implementation, the positioning module 630 is further configured to: Through the RIS, the position information of the RIS pre-stored in the RIS is modulated by binary phase shift keying (BPSK) to determine the backscatter communication data.

[0111] In one implementation, the reflection module 610 is further configured to: The detection device determines the distance and relative speed between the RIS and the detection device by using a Root-MUSIC algorithm based on the echo signal corresponding to the first detection signal and the first detection signal.

[0112] In this embodiment, a first detection signal sent by a detection device is received by the RIS, and based on the first detection signal, an echo signal corresponding to the first detection signal is reflected to the detection device, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal; thereafter, a second detection signal sent by the detection device is received by the RIS; backscatter communication data is determined by the RIS based on the position information of the RIS pre-stored in the RIS, and the backscatter communication data is modulated into the echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance and relative speed between the RIS and the detection device, and determines the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device. Compared with related positioning methods, the present application sets RIS as an anchor point. On the one hand, the detection signal emitted by the detection device is modulated and reflected, and the power consumption and hardware cost are low. On the other hand, the echo signal is reflected to the detection device by RIS, so that the detection device can sense the relative speed and distance between RIS and the detection device, and then demodulate the data communicated between RIS and the detection device based on the sensed relative speed and distance between RIS and the detection device to obtain the position information of RIS, so as to locate the detection device based on the position information of RIS, that is, the positioning method of perception-assisted communication is adopted, which effectively utilizes the complementary advantages of communication and perception and achieves accurate positioning. Thus, the problem of high hardware cost or poor positioning accuracy of related positioning technologies is solved.

[0113] Those skilled in the art should understand that the above-mentioned positioning device can be used to implement the positioning method described above, and the detailed description thereof should be similar to the description of the method described above, and will not be repeated here to avoid repetition.

[0114] Based on the same technical concept, an embodiment of the present application further provides an electronic device, which is used to execute the above positioning method. Figure 7 A schematic diagram of the structure of an electronic device for implementing various embodiments of the present application. The electronic device may have relatively large differences due to different configurations or performances, and may include a processor (processor) 710, a communication interface (Communications Interface) 720, a memory (memory) 730 and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call a computer program stored in the memory 730 and executable on the processor 710 to perform the following steps: receiving a first detection signal sent by a detection device through an intelligent reflection surface RIS, and reflecting an echo signal corresponding to the first detection signal to the detection device based on the first detection signal, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal; receiving, through the RIS, a second detection signal sent by the detection device; The RIS determines the backscatter communication data based on the position information of the RIS pre-stored in the RIS, and modulates the backscatter communication data into an echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance between the RIS and the detection device, and the relative speed to obtain the position information of the RIS, and determines the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device.

[0115] In this embodiment, a first detection signal sent by a detection device is received by the RIS, and based on the first detection signal, an echo signal corresponding to the first detection signal is reflected to the detection device, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal; thereafter, a second detection signal sent by the detection device is received by the RIS; backscatter communication data is determined by the RIS based on the position information of the RIS pre-stored in the RIS, and the backscatter communication data is modulated into the echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance and relative speed between the RIS and the detection device, and determines the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device. Compared with related positioning methods, the present application sets RIS as an anchor point. On the one hand, the detection signal emitted by the detection device is modulated and reflected, and the power consumption and hardware cost are low. On the other hand, the echo signal is reflected to the detection device by RIS, so that the detection device can sense the relative speed and distance between RIS and the detection device, and then demodulate the data communicated between RIS and the detection device based on the sensed relative speed and distance between RIS and the detection device to obtain the position information of RIS, so as to locate the detection device based on the position information of RIS, that is, the positioning method of perception-assisted communication is adopted, which effectively utilizes the complementary advantages of communication and perception and achieves accurate positioning. Thus, the problem of high hardware cost or poor positioning accuracy of related positioning technologies is solved.

[0116] The specific execution steps can refer to the various steps of the above positioning method embodiment, and can achieve the same technical effect. To avoid repetition, they will not be repeated here.

[0117] It should be noted that the electronic devices in the embodiments of the present application include: servers, terminals, or other devices except terminals.

[0118] The above electronic device structure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. For example, the input unit may include a graphics processing unit (GPU) and a microphone, and the display unit may be configured with a display panel in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit includes a touch panel and at least one of other input devices. The touch panel is also called a touch screen. Other input devices may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0119] The memory can be used to store software programs and various data. The memory may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory may include a volatile memory or a non-volatile memory, or the memory may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory (DRRAM).

[0120] The processor may include one or more processing units; optionally, the processor integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to the operating system, user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor.

[0121] The embodiment of the present application further provides a storage medium, on which computer executable instructions are stored. When the computer executable instructions are executed by a processor, the various processes of the above-mentioned positioning method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0122] The processor is the processor in the electronic device described in the above embodiment. The storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0123] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned positioning method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0124] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0125] The embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, each process of the above-mentioned positioning method embodiment is implemented and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0126] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include multitasking and parallel processing according to the functions involved, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0127] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0128] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A positioning method, characterized in that: The method comprises: receiving a first detection signal sent by a detection device through a smart reflective surface RIS, and reflecting an echo signal corresponding to the first detection signal to the detection device based on the first detection signal, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal; receiving, through the RIS, a second detection signal sent by the detection device; The RIS determines the backscatter communication data based on the position information of the RIS pre-stored in the RIS, and modulates the backscatter communication data into an echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance between the RIS and the detection device, and the relative speed to obtain the position information of the RIS, and determines the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device.

2. The method according to claim 1, characterized in that The detection device demodulates the modulated echo signal corresponding to the second detection signal to obtain the position information of the RIS based on the echo signal corresponding to the first detection signal, the distance between the RIS and the detection device, and the relative speed, including: Determining a backscatter communication channel by the detection device based on an echo signal corresponding to the first detection signal, the distance between the RIS and the detection device, and the relative speed; The detection device demodulates the modulated echo signal corresponding to the second detection signal based on the backscatter communication channel to obtain the backscatter communication data, so as to obtain the position information of the RIS according to the backscatter communication data.

3. The method according to claim 1, characterized in that The RIS includes a sensing unit and a reflection unit; the modulating the backscattered communication data into an echo signal corresponding to the second detection signal reflected to the detection device includes: Determining, by the sensing unit, a first reflection coefficient of the reflection unit based on the backscatter communication data; reflecting, by the reflection unit, an echo signal corresponding to the second detection signal to the detection device based on the first reflection coefficient; The step of reflecting an echo signal corresponding to the first detection signal to the detection device based on the detection signal includes: estimating the angle of arrival of the first detection signal by the sensing unit to obtain a target angle of arrival, and determining a second reflection coefficient of the reflection unit based on the target angle of arrival; An echo signal corresponding to the first detection signal is reflected toward the detection device through the reflection unit based on the second reflection coefficient.

4. The method according to claim 1, characterized in that: The determining the location information of the detection device based on the location information of the RIS and the distance between the RIS and the detection device includes: Based on the location information of the RIS and the distance between the RIS and the detection device, determine the location information of the detection device through a first preset algorithm; The first preset algorithm includes a time of arrival TOA positioning algorithm, or the first preset algorithm includes a TOA positioning algorithm and a weighted linear least squares WLLS algorithm.

5. The method according to claim 1, characterized in that The detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal, including: By means of the detection device, the echo signal corresponding to the first detection signal and the first detection signal are mixed and low-pass filtered to obtain a beat frequency signal, and the beat frequency signal is sampled by means of an analog-to-digital converter ADC and a preset sampling rate to obtain a sampling signal; The distance and the relative speed between the RIS and the detection device are determined by the detection device based on the sampling signal and using a second preset algorithm.

6. The method according to claim 1, characterized in that The determining, by the RIS based on the position information of the RIS pre-stored in the RIS, backscatter communication data comprises: Through the RIS, binary phase shift keying (BPSK) modulation is performed on the position information of the RIS pre-stored in the RIS to determine the backscatter communication data.

7. The method according to claim 1 or 5, characterized in that: The detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal, including: The detection device determines the distance and relative speed between the RIS and the detection device by using a Root-MUSIC algorithm for azimuth estimation based on an echo signal corresponding to the first detection signal and the first detection signal.

8. A positioning device, characterized in that: The device comprises: a reflection module, configured to receive a first detection signal sent by a detection device through the RIS, and reflect a first echo signal corresponding to the first detection signal to the detection device based on the first detection signal, so that the detection device determines the distance and relative speed between the RIS and the detection device based on the echo signal corresponding to the first detection signal and the first detection signal; A receiving module, configured to receive, through the RIS, a second detection signal sent by the detection device; A positioning module is used to determine the backscatter communication data through the RIS based on the position information of the RIS pre-stored in the RIS, and modulate the backscatter communication data into the echo signal corresponding to the second detection signal reflected to the detection device, so that the detection device demodulates the modulated echo signal corresponding to the second detection signal based on the echo signal corresponding to the first detection signal, the distance between the RIS and the detection device, and the relative speed to obtain the position information of the RIS, and determines the position information of the detection device based on the position information of the RIS and the distance between the RIS and the detection device.

9. An electronic device, characterized in that: include: processor; as well as A memory arranged to store computer executable instructions, wherein the executable instructions are configured to be executed by the processor, and the executable instructions include instructions for executing the positioning method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is used to store computer-executable instructions, and the computer-executable instructions enable a computer to execute the positioning method according to any one of claims 1 to 7.

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