Network-free positioning system and method based on 5G Sidelink

Abstract

The present invention discloses a network-free positioning system and method based on 5G Sidelink. The network-free positioning system based on 5G Sidelink includes multiple positioning anchor points and a mobile terminal. The multiple positioning anchor points are distributed at their corresponding preset positions. The positioning anchor points are powered by batteries and support 3GPP R18 protocol. Each positioning anchor point is configured to send broadcast signals. The mobile terminal is configured to scan the broadcast signals sent by the positioning anchor points around it, and screen the broadcast signals sent by the positioning anchor points that meet the preset requirements. The mobile terminal calculates its own position coordinates according to the broadcast signals of the screened positioning anchor points.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a network-free positioning system and method based on 5G Sidelink. Background Art

[0002] With the development of science and technology and the progress of society, people have higher and higher requirements for safety management. Especially in scenarios involving personnel safety management such as chemical industry, industry and trade, the personnel positioning system has become an indispensable tool. These scenarios usually involve indoor and outdoor positioning. Therefore, the integrated positioning technology based on Bluetooth, Zigbee, UWB plus GPS, and Beidou has become a commonly used solution.

[0003] However, although the above positioning technology can achieve high-precision positioning, it requires the deployment of a dedicated positioning network, including positioning beacons, base stations, etc., and must use dedicated positioning terminals such as positioning cards, positioning bracelets, positioning helmets, etc., which leads to the problem of poor versatility.

[0004] Currently, there are positioning capabilities based on 5G networks, including positioning technologies such as E-CID, OTDOA and UTDOA, as well as multi-RTT, UL-AoA and DL-AoD introduced in R16 to solve the above-mentioned problem of poor versatility. However, these technologies rely on the participation of cellular base stations and core networks. Although they can provide high-precision positioning services in complex indoor scenarios, they require a large number of pico base stations, which leads to high base station costs and construction costs, thus limiting the promotion of the technology.

[0005] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of the present invention is to provide a network-free positioning system and method based on 5G Sidelink, aiming to solve the above-mentioned technical problems in the prior art.

[0007] To achieve the above object, the present invention provides a network-free positioning system based on 5G Sidelink, and the network-free positioning system based on 5G Sidelink includes:

[0008] A plurality of positioning anchor points are distributed at corresponding preset positions, the positioning anchor points are powered by batteries and support 3GPP R18 protocol, and each positioning anchor point is configured to send a broadcast signal;

[0009] The mobile terminal is configured to scan the broadcast signals sent by the positioning anchor points around it, and filter the broadcast signals sent by the positioning anchor points that meet the preset requirements; and calculate its own position coordinates based on the broadcast signals of the filtered positioning anchor points.

[0010] Preferably, in the network-free positioning system based on 5G Sidelink positioning, the mobile terminal is further configured as follows:

[0011] Get the map data of the current location;

[0012] According to the map data, query the positioning anchor points near the current position;

[0013] According to the queried signal strength values ​​of the positioning anchor points, positioning anchor points that meet preset requirements are screened out.

[0014] Preferably, in the network-free positioning system based on 5G Sidelink positioning, the mobile terminal is further configured as follows:

[0015] When the signal strength value of the positioning anchor point is greater than the first threshold, it is confirmed that the positioning anchor point meets the preset requirement.

[0016] Preferably, in the network-free positioning system based on 5G Sidelink positioning, the mobile terminal is a 5G smartphone, and the 5G smartphone is connected to the positioning anchor point through a PC5 interface.

[0017] In order to achieve the above object, the present invention also provides a network-free positioning method based on 5G Sidelink, which is applied to a mobile terminal. The network-free positioning method is performed based on the above positioning system, and the positioning method includes:

[0018] Acquire signal data of multiple scanned positioning anchor points;

[0019] Adding two positioning anchor points with the strongest signal strength values ​​among the scanned multiple positioning anchor points to the first anchor point group;

[0020] Traverse the other scanned positioning anchor points in turn, and select one of the positioning anchor points in turn as the current positioning anchor point to add to the first anchor point group;

[0021] Input the first anchor point group into a pre-trained support vector machine-based classifier and output the classification result;

[0022] When the classification result is abnormal, the current positioning anchor point is removed from the first anchor point group, and the next positioning anchor point is traversed;

[0023] When the classification result is normal, continue to traverse the next positioning anchor point until all positioning anchor points are traversed;

[0024] The positioning anchor points in the first anchor point group are output as positioning anchor points that meet preset requirements.

[0025] Preferably, in the network-free positioning method based on 5G Sidelink, the regression equation of the regression layer of the support vector machine is:

[0026] f(x)=w T F+b;

[0027] The objective function of the support vector machine regression layer is:

[0028]

[0029] subject toys i -(w T x i +b)≤∈+ξ i ;

[0030] and(w T x i +b)-y i ≤∈+ξ i ;

[0031] andξ i ≥0, i=1, 2, …, N;

[0032] Among them, w is the weight vector;

[0033] b is the bias term;

[0034] C is the coefficient of the penalty term;

[0035] ζ i is the slack variable;

[0036] ∈ is the boundary interval value;

[0037] y i is the target variable value of the i-th sample.

[0038] Preferably, in the network-free positioning method based on 5G Sidelink, before the step of inputting the first anchor point group into a pre-trained support vector machine-based classifier and outputting the classification result, the method further includes:

[0039] Get the sample positioning anchor point group;

[0040] The sample positioning anchor point group is used as the input of the support vector machine-based classifier, and the classification result is output;

[0041] According to the classification results, the support vector machine-based classifier is adjusted using the loss function, and the loss function is:

[0042]

[0043] Among them, p k is the classification result;

[0044] y is the true label of the sample;

[0045] a, β are hyper parameters;

[0046] t is the threshold for adjusting the weight of negative samples.

[0047] In order to achieve the above object, the present invention also provides a network-free positioning device based on 5G Sidelink, comprising:

[0048] An acquisition unit, used to acquire signal data of multiple scanned positioning anchor points;

[0049] an initialization unit, configured to add two positioning anchor points with the strongest signal strength values ​​among the scanned multiple positioning anchor points to the first anchor point group;

[0050] A traversal unit, used to traverse the other scanned positioning anchor points in turn, and select one of the positioning anchor points in turn as the current positioning anchor point to be added to the first anchor point group;

[0051] A classification unit, used for inputting the first anchor point group into a pre-trained support vector machine-based classifier and outputting a classification result;

[0052] A screening unit, configured to remove the current positioning anchor point from the first anchor point group and continue to traverse the next positioning anchor point when the classification result is abnormal;

[0053] A determination unit, configured to continue traversing the next positioning anchor point when the classification result is normal, until all positioning anchor points are traversed;

[0054] The output unit is used to output the positioning anchor points in the first anchor point group as positioning anchor points that meet preset requirements.

[0055] In order to achieve the above object, the present invention further provides a mobile terminal, the mobile terminal comprising:

[0056] at least one processor; and,

[0057] a memory communicatively connected to the at least one processor; wherein,

[0058] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned 5G Sidelink-based network-free positioning method.

[0059] In order to achieve the above-mentioned objectives, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned 5G Sidelink-based network-free positioning method.

[0060] The present invention has at least the following beneficial effects:

[0061] The network-free positioning system based on 5G Sidelink provided by the present invention includes multiple positioning anchor points and a mobile terminal. The multiple positioning anchor points are distributed at their corresponding preset positions. The positioning anchor points are powered by batteries and support the 3GPP R18 protocol. Each positioning anchor point is configured to send broadcast signals; the mobile terminal is configured to scan the broadcast signals sent by the positioning anchor points around it, and screen the broadcast signals sent by the positioning anchor points that meet the preset requirements; according to the broadcast signals of the screened positioning anchor points, its own position coordinates are calculated, so that high-precision positioning based on 5G Sidelink technology without the participation of base stations can be achieved, which solves the problem that the existing 5G positioning technology must rely on the participation of cellular network base stations and core networks, and also avoids the need to deploy a large number of pico base stations, thereby improving the versatility and user experience of mobile terminals. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A schematic diagram of a network-free positioning system based on 5G Sidelink provided by the present invention;

[0063] Figure 2 for Figure 1 The composition diagram of the positioning anchor points;

[0064] Figure 3 A schematic diagram of a network-free positioning method based on 5G Sidelink provided by the present invention;

[0065] Figure 4 A schematic diagram of a network-free positioning device based on 5G Sidelink provided by the present invention;

[0066] Figure 5 It is a schematic diagram of a mobile terminal of the present invention.

[0067] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0068] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0069] In the embodiments of the present invention, the term "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0070] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0071] In the embodiments of the present invention, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0072] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0073] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it can be understood by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present invention can also be implemented. The division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0074] Traditional 5G positioning methods must involve the core network, the system is complex, and the equipment cost is high. In traditional 5G positioning methods, NG-RAN is a 5G base station device. According to the deployment environment and coverage, it can be divided into macro base stations, micro base stations, pico base stations, flying base stations and other types. The cost of these base station equipment is very high, and it needs to be connected to the core network through BBU, and the power supply and deployment costs are very high. For complex indoor environments, in order to ensure the positioning effect, a large number of base station equipment must be deployed, and the system cost is very high.

[0075] In the traditional 5G positioning method, AMF and LMF are network element services of the 5G core network, which means that positioning can only be achieved with the participation of the core network. This positioning system is very complex. Moreover, the base station belongs to national infrastructure and its location information cannot be published, so the location solution on the terminal side cannot be achieved.

[0076] In order to solve the above problems, this embodiment relates to a network-free positioning system based on 5G Sidelink, such as Figure 1 As shown, the 5G Sidelink-based network-free positioning system includes multiple positioning anchor points and a mobile terminal.

[0077] Multiple positioning anchor points are distributed at their corresponding preset positions. The positioning anchor points are powered by batteries and support the 3GPP R18 protocol. Each positioning anchor point is configured to send broadcast signals. In specific settings, the positioning anchor point can be selected to only support Sidelink distance and angle measurement, and not support 5G data and voice communications. In this way, low-cost processors, baseband chips, RF and other devices can be selected, and their power consumption can be very low, so they can be powered by batteries and do not need network supply. Therefore, compared with traditional 5G pico base stations, positioning anchor points greatly reduce base station costs and construction costs, thereby controlling costs.

[0078] The mobile terminal is configured to scan the broadcast signals sent by the positioning anchor points around it, and screen the broadcast signals sent by the positioning anchor points that meet the preset requirements; calculate its own position coordinates based on the broadcast signals of the screened positioning anchor points. Specifically, the mobile terminal can select a conventional 5G smartphone, which measures distance or angle with the surrounding positioning anchor points through the PC5 interface. After the mobile terminal obtains the distance / angle between it and the positioning anchor point, it can solve its own position coordinates according to the corresponding positioning algorithm to achieve positioning, thereby improving the versatility and user experience of the mobile terminal. The mobile terminal is also configured to obtain the map data of the current location; query the positioning anchor points near the current location according to the map data; and filter out the positioning anchor points that meet the preset requirements based on the signal strength values ​​of the queried positioning anchor points. For example, if the mobile terminal enters house 1, then which positioning anchor points are in house 1 can be determined through map data. However, there are walls 1 and 2 in house 1. In order to avoid the positioning anchor points of room 2 separated by wall 1 when the mobile terminal enters room 1, it is necessary to further determine which positioning anchor points are available. For example, when the signal strength value of the positioning anchor point is greater than a first threshold, it can be determined that the positioning anchor point meets the preset requirement.

[0079] It should be noted that the mobile terminal is a 5G smartphone, and the 5G smartphone is connected to the positioning anchor point through a PC5 interface.

[0080] The positioning anchor point can support distance measurement or angle measurement, and you can choose to use RTT, TOA or AoA to achieve position solution. When RTT or TOA is selected, there must be more than 3 anchor point UEs that can be directly viewed; when AoA is selected, due to the arrival angle and distance, only a single anchor point device that can be directly viewed can be used for positioning.

[0081] Specifically, when positioning anchor points are used for positioning, the following steps are included:

[0082] (1) Deploy positioning anchor points.

[0083] Deploy a certain number of positioning anchor points in the area where positioning is required. The selection of positioning anchor points can be based on actual needs. For example, in an indoor environment, positioning anchor points can be deployed in corners, ceilings, and other locations to ensure that the entire area that needs positioning is covered.

[0084] (2) Access of mobile terminals.

[0085] The mobile terminal can be but is not limited to a conventional 5G smartphone. The user can turn on the positioning function of the mobile terminal when positioning is needed, and connect to the surrounding positioning anchor points through the PC5 interface.

[0086] (3) Distance or angle measurement.

[0087] The PC5 interface is used to transmit data between the positioning anchor point and the mobile terminal to achieve distance or angle measurement. In specific implementation, you can choose to use RTT, TOA or AoA to achieve position solution. When RTT or TOA is selected, there must be more than 3 UEs that can directly see the anchor point; when AoA is selected, due to the arrival angle and distance, only a single device that can directly see the anchor point can be used for positioning.

[0088] (4) Calculation of position coordinates.

[0089] After the mobile terminal obtains the distance / angle between itself and the positioning anchor point, it can calculate its own position coordinates according to the corresponding positioning algorithm to achieve positioning.

[0090] The specific positioning algorithm may adopt any one of the existing technologies, such as trilateration, triangulation, etc.

[0091] In this embodiment, the hardware architecture of the positioning anchor point is as follows: Figure 2 As shown, it includes processors, baseband chips, radio frequency and other devices, and these devices can choose low-cost models to reduce costs. At the same time, the power consumption of the positioning anchor point is very low, and it can be powered by batteries without the need for network supply, which greatly reduces the cost of base stations and construction costs.

[0092] In addition, in this embodiment, the mobile terminal can be a conventional 5G smartphone, so it has good versatility and user experience. Users can conveniently use their smartphones for positioning when positioning is needed without carrying additional positioning equipment.

[0093] The network-free positioning system based on 5G Sidelink provided by the present invention can realize high-precision positioning based on 5G Sidelink technology without the participation of base stations, solving the problem that the existing 5G positioning technology must rely on the participation of cellular network base stations and core networks. At the same time, it also avoids the need to deploy a large number of pico base stations, thereby improving the versatility and user experience of the positioning terminal.

[0094] Compared with the existing technology, the beneficial effects of this technical solution are as follows:

[0095] (1) Low cost: The high-precision positioning system based on 5G Sidelink technology proposed in the present invention does not require the participation of cellular base stations and core networks, which greatly reduces the complexity and cost of the system. Compared with traditional 5G pico base stations, the cost and construction cost of positioning anchor points are greatly reduced, thereby controlling costs.

[0096] (2) High precision: The present invention utilizes Sidelink positioning technology, which can include multiple implementations such as SL-RTT\SL-AoA\SL-TDOA\SL-TOA, and can provide high-precision positioning services in indoor and outdoor positioning scenarios. Especially in complex indoor scenarios, the positioning accuracy of the present invention can reach sub-meter level, or even more accurate.

[0097] (3) Easy to promote: The mobile terminal of the present invention is a conventional 5G smartphone, which does not require the use of a dedicated positioning terminal such as a positioning card, positioning bracelet, positioning helmet, etc. It has good versatility and good user experience. At the same time, since there is no need to deploy a large number of pico base stations, the promotion of this technology becomes easy.

[0098] (4) Strong independence: The positioning system of the present invention supports standalone mode. Even in a scenario without network coverage, positioning can be achieved through communication between the anchor UE and the target UE. This independence enables the present technology to provide stable positioning services in various environments.

[0099] (5) Low power consumption: Since the hardware architecture of the anchor UE is simple, the power consumption can be very low. Therefore, it can be powered by a battery and does not require a network supply, which further reduces the complexity and cost of the system.

[0100] In order to solve the above problems, this embodiment relates to a network-free positioning method based on 5G Sidelink, which can be applied to a mobile terminal. The mobile terminal can be a desktop, tablet computer, notebook, and other electronic devices with data processing capabilities. In other embodiments, it can also be other electronic devices with data processing capabilities, which are not specifically limited here. In this embodiment, the mobile terminal can be a 5G smartphone.

[0101] The implementation details of the 5G Sidelink-based network-free positioning method of the first embodiment of the present invention are described below. The following content is only the implementation details provided for ease of understanding and is not necessary for the implementation of this solution.

[0102] The specific process of this implementation is as follows: Figure 3 As shown, specifically including:

[0103] Step S210, acquiring signal data of multiple scanned positioning anchor points;

[0104] It should be noted that when the mobile terminal scans, it will scan the signal data of multiple positioning anchor points near it, some of which may meet the requirements or may not meet the requirements (for example, a positioning anchor point may be scanned that is separated from the current location of the mobile terminal by a wall or is not on the same floor).

[0105] Step S220, adding two positioning anchor points with the strongest signal strength values ​​among the scanned multiple positioning anchor points to the first anchor point group;

[0106] It should be noted that the positioning anchor points will have signal attenuation behind the wall. The two strongest positioning anchor points can be screened out first, and the others that cannot be distinguished due to distance or signal attenuation caused by walls can be further screened.

[0107] Step S230, traversing the other scanned positioning anchor points in turn, and selecting one of the positioning anchor points in turn as the current positioning anchor point to be added to the first anchor point group;

[0108] It should be noted that after the two A0 and A1 with the strongest signal strength values ​​are added to the first anchor point group, the remaining {A2, A3, A4, ...} are added to the first anchor point group in sequence and analyzed respectively until all positioning anchor points have been traversed.

[0109] Step S240, inputting the first anchor point group into a pre-trained support vector machine-based classifier, and outputting a classification result;

[0110] The regression equation of the regression layer of the support vector machine is:

[0111] f(x)=w T F+b;

[0112] The objective function of the support vector machine regression layer is:

[0113]

[0114] subject toys i -(w T x i +b)≤∈+ξ i ;

[0115] and(w T x i +b)-y i ≤∈+ξ i ;

[0116] andξ i ≥0, i=1, 2, …, N;

[0117] Among them, w is the weight vector;

[0118] b is the bias term;

[0119] C is the coefficient of the penalty term;

[0120] ζ i is the slack variable;

[0121] ∈ is the boundary interval value;

[0122] y i is the target variable value of the i-th sample.

[0123] Before step S240, the method further includes:

[0124] Get the sample positioning anchor point group;

[0125] The sample positioning anchor point group is used as the input of the support vector machine-based classifier, and the classification result is output;

[0126] According to the classification results, the support vector machine-based classifier is adjusted using the loss function, and the loss function is:

[0127]

[0128] Among them, pk is the classification result;

[0129] y is the true label of the sample;

[0130] a, β are hyper parameters;

[0131] t is the threshold for adjusting the weight of negative samples.

[0132] Step S250: when the classification result is abnormal, the current positioning anchor point is removed from the first anchor point group, and the next positioning anchor point is traversed;

[0133] It should be understood that when the classification result is normal, it means that the positioning anchor points in the first anchor point group can be used for positioning; if the classification result is abnormal, it means that the positioning anchor points in the first anchor point group cannot be used for positioning, which may be because the added positioning anchor points are not in the area where the mobile terminal is located (for example, not in the same room, separated by a wall), or there may be abnormal positioning anchor points.

[0134] Step S260: When the classification result is normal, continue to traverse the next positioning anchor point until all positioning anchor points are traversed;

[0135] Step S270: output the positioning anchor points in the first anchor point group as positioning anchor points that meet preset requirements.

[0136] It should be understood that the three positioning anchor points can be used to calculate the position of the mobile terminal by using the triangulation positioning method, because the positions of the three positioning anchor points are known, and the coordinates are positioning anchor point 1 (x1, y1, z1), positioning anchor point 1 (x2, y2, z2), and positioning anchor point 3 (x3, y3, z3), respectively. The distances from positioning anchor point 1, positioning anchor point 2, and positioning anchor point 3 to the mobile terminal can be determined, then the coordinates of the mobile terminal can be solved according to the distances from positioning anchor point 1, positioning anchor point 2, and positioning anchor point 3 to the mobile terminal, and the coordinates from positioning anchor point 1 to positioning anchor point 3.

[0137] The present invention first obtains signal data of multiple scanned positioning anchor points; adds two positioning anchor points with the strongest signal strength values ​​among the multiple scanned positioning anchor points to a first anchor point group; sequentially traverses other scanned positioning anchor points, and sequentially selects one of the positioning anchor points as the current positioning anchor point to add to the first anchor point group; inputs the first anchor point group into a pre-trained support vector machine-based classifier, and outputs a classification result; when the classification result is abnormal, the current positioning anchor point is removed from the first anchor point group, and the next positioning anchor point is continuously traversed; when the classification result is normal, the next positioning anchor point is continuously traversed until all positioning anchor points are traversed; and the positioning anchor points in the first anchor point group are output as positioning anchor points that meet preset requirements, so that one or more first anchor point groups that meet the requirements can be screened out.

[0138] The present invention also provides a network-free positioning device based on 5G Sidelink, such as Figure 4 As shown, the network-free positioning device based on 5G Sidelink includes an acquisition unit 310, an initialization unit 320, a traversal unit 330, a classification unit 340, a screening unit 350, a determination unit 360, and an output unit 370.

[0139] The acquisition unit 310 is used to acquire signal data of multiple scanned positioning anchor points.

[0140] It should be noted that when the mobile terminal scans, it will scan the signal data of multiple positioning anchor points near it, some of which may meet the requirements or may not meet the requirements (for example, a positioning anchor point may be scanned that is separated from the current location of the mobile terminal by a wall or is not on the same floor).

[0141] The initialization unit 320 is used to add two positioning anchor points with the strongest signal strength values ​​among the scanned multiple positioning anchor points to the first anchor point group.

[0142] It should be noted that the positioning anchor points will have signal attenuation behind the wall. The two strongest positioning anchor points can be screened out first, and the others that cannot be distinguished due to distance or signal attenuation caused by walls can be further screened.

[0143] The traversal unit 330 is used to traverse the other scanned positioning anchor points in sequence, and select one of the positioning anchor points in sequence as the current positioning anchor point to be added to the first anchor point group.

[0144] The classification unit 340 is used to input the first anchor point group into a pre-trained support vector machine-based classifier and output a classification result.

[0145] The screening unit 350 is configured to remove the current positioning anchor point from the first anchor point group and continue to traverse the next positioning anchor point when the classification result is abnormal.

[0146] The determination unit 360 is configured to, when the classification result is normal, continue to traverse the next positioning anchor point until all positioning anchor points are traversed.

[0147] The output unit 370 is used to output the positioning anchor points in the first anchor point group as positioning anchor points that meet preset requirements.

[0148] In order to achieve the above object, the present invention also provides a server, such as Figure 5 As shown, the server includes at least one processor 401; and a memory 402 communicatively connected to the at least one processor 401; wherein the memory 402 stores instructions executable by the at least one processor 401, and the instructions are executed by the at least one processor 401 so that the at least one processor 401 can execute the above-mentioned 5G Sidelink-based network-free positioning method.

[0149] The memory 402 and the processor 401 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 401 and the memory 402 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 401 is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor 401.

[0150] The processor 401 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 402 can be used to store data used by the processor 401 when performing operations.

[0151] In order to achieve the above-mentioned objectives, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned 5G Sidelink-based network-free positioning method.

[0152] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned implementation method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each implementation of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0153] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, ordinary technicians in this field can make other different forms of changes or modifications without creative work, which should fall within the scope of protection of the present invention.

Claims

1. A network-free positioning system based on 5G Sidelink, characterized in that: include: A plurality of positioning anchor points are distributed at corresponding preset positions, the positioning anchor points are powered by batteries and support 3GPP R18 protocol, and each positioning anchor point is configured to send a broadcast signal; The mobile terminal is configured to scan the broadcast signals sent by the positioning anchor points around it, and filter the broadcast signals sent by the positioning anchor points that meet the preset requirements; and calculate its own position coordinates based on the broadcast signals of the filtered positioning anchor points.

2. The network-free positioning system based on 5G Sidelink positioning as claimed in claim 1, characterized in that: The mobile terminal is further configured to: Get the map data of the current location; According to the map data, query the positioning anchor points near the current position; According to the queried signal strength values ​​of the positioning anchor points, positioning anchor points that meet preset requirements are screened out.

3. The network-free positioning system based on 5G Sidelink positioning as claimed in claim 2, characterized in that: The mobile terminal is further configured to: When the signal strength value of the positioning anchor point is greater than the first threshold, it is confirmed that the positioning anchor point meets the preset requirement.

4. The network-free positioning system based on 5G Sidelink positioning as claimed in claim 1, characterized in that: The mobile terminal is a 5G smartphone, and the 5G smartphone is connected to the positioning anchor point via a PC5 interface.

5. A network-free positioning method based on 5G Sidelink, applied to a mobile terminal, characterized in that: The positioning method is performed based on the positioning system according to any one of claims 1 to 4, and the positioning method includes: Acquire signal data of multiple scanned positioning anchor points; Adding two positioning anchor points with the strongest signal strength values ​​among the scanned multiple positioning anchor points to the first anchor point group; Traverse the other scanned positioning anchor points in turn, and select one of the positioning anchor points in turn as the current positioning anchor point to add to the first anchor point group; Input the first anchor point group into a pre-trained support vector machine-based classifier and output the classification result; When the classification result is abnormal, the current positioning anchor point is removed from the first anchor point group, and the next positioning anchor point is traversed; When the classification result is normal, continue to traverse the next positioning anchor point until all positioning anchor points are traversed; The positioning anchor points in the first anchor point group are output as positioning anchor points that meet preset requirements.

6. The network-free positioning method based on 5G Sidelink as claimed in claim 5, characterized in that: The regression equation of the regression layer of the support vector machine is: f(x)=w T F+b; The objective function of the support vector machine regression layer is: subject toy i -(w T x i +b)≤∈+ξ i ; and(w T x i +b)-y i ≤∈+ξ i ; andξ i ≥0,i=1,2,...,N; Among them, w is the weight vector; b is the bias term; C is the coefficient of the penalty term; ζ i is the slack variable; ∈ is the boundary interval value; y i is the target variable value of the i-th sample.

7. The network-free positioning method based on 5G Sidelink as claimed in claim 6, characterized in that: Before the step of inputting the first anchor point group into a pre-trained support vector machine-based classifier and outputting the classification result, the step further includes: Get the sample positioning anchor point group; The sample positioning anchor point group is used as the input of the support vector machine-based classifier, and the classification result is output; According to the classification results, the support vector machine-based classifier is adjusted using the loss function, and the loss function is: Among them, p k is the classification result; y is the true label of the sample; α, β are hyperparameters; t is the threshold for adjusting the weight of negative samples.

8. A network-free positioning device based on 5G Sidelink, characterized in that: include: An acquisition unit, used to acquire signal data of multiple scanned positioning anchor points; an initialization unit, configured to add two positioning anchor points with the strongest signal strength values ​​among the scanned multiple positioning anchor points to the first anchor point group; A traversal unit, used to traverse the other scanned positioning anchor points in turn, and select one of the positioning anchor points in turn as the current positioning anchor point to be added to the first anchor point group; A classification unit, used for inputting the first anchor point group into a pre-trained support vector machine-based classifier and outputting a classification result; A screening unit, configured to remove the current positioning anchor point from the first anchor point group and continue to traverse the next positioning anchor point when the classification result is abnormal; A determination unit, configured to continue traversing the next positioning anchor point when the classification result is normal, until all positioning anchor points are traversed; The output unit is used to output the positioning anchor points in the first anchor point group as positioning anchor points that meet preset requirements.

9. A mobile terminal, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the 5GSidelink-based network-free positioning method as described in any one of claims 5 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the 5GSidelink-based network-free positioning method is implemented as described in any one of claims 5 to 7.

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