Positioning method and device, equipment and storage medium

Abstract

The invention provides a positioning method and device, equipment and a storage medium, relates to the technical field of computers, and can effectively improve the positioning accuracy of target positioning equipment. The method comprises the steps that anchor node device information corresponding to anchor node devices is acquired, the anchor node devices are devices with known positions, and the anchor node device information is used for determining the credibility of the anchor node devices. And screening the anchor node devices based on the anchor node device information to obtain at least one candidate anchor node device meeting a positioning condition. And based on the relative position relationship between the target positioning equipment and the candidate anchor node equipment and the known position information of the candidate anchor node equipment, positioning the target positioning equipment to obtain the position information of the target positioning equipment.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a positioning method, device, equipment and storage medium. Background Art

[0002] When locating the target positioning device, it can be achieved through devices with known locations. These devices with known locations can detect and upload their location information relative to the target positioning device, and the location of the target positioning device can be calculated through this location information.

[0003] In the related technology, in the process of locating the target positioning device, in order to improve the positioning accuracy, hardware devices such as protective covers and anti-eavesdropping devices can be installed to prevent the device with a known location from being physically attacked or eavesdropped and tampered with, thereby protecting the data security and accuracy in the device with a known location.

[0004] However, in the related art, the method of improving positioning accuracy by adding hardware equipment often requires a lot of resources and costs; moreover, external hardware equipment cannot guarantee whether the location information provided by the device with a known location is accurate, resulting in the final positioning accuracy being difficult to guarantee. Summary of the invention

[0005] The present application provides a positioning method, apparatus, device and storage medium, which can reduce the cost of anchor node equipment to resist malicious attacks and effectively improve the accuracy of positioning the target positioning device.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a positioning method, the method comprising: obtaining anchor node device information corresponding to an anchor node device, screening the anchor node devices based on the anchor node device information, and obtaining at least one candidate anchor node device that meets the positioning conditions. Based on the relative position relationship between the target positioning device and the candidate anchor node device, and the known position information of the candidate anchor node device, the target positioning device is positioned to obtain the position information of the target positioning device. The anchor node device refers to a device with a known position, and the anchor node device information is used to determine the credibility of the anchor node device.

[0008] The solution provided by the present application, when positioning the target positioning device through the anchor node device, evaluates the credibility of the anchor node device based on the anchor node device information of the anchor node device, selects the anchor node devices whose credibility meets the positioning conditions as candidate anchor node devices, and locates the target positioning device based on the candidate anchor node devices, and eliminates some anchor node devices whose credibility does not meet the positioning conditions, that is, eliminates the anchor node devices that are susceptible to malicious attacks, thereby ensuring the credibility of the information provided by the candidate anchor node devices and improving the accuracy of the positioning results of the target positioning device. In addition, the positioning solution provided by the present application does not require the addition of additional hardware devices, thus avoiding the investment of additional resources and costs.

[0009] A possible implementation method is to screen the anchor node devices based on the anchor node device information to obtain at least one candidate anchor node device that meets the positioning condition, which can be specifically implemented as follows: calculating the trust value of the anchor node device based on the anchor node device information, screening the anchor node devices based on the trust value, and obtaining at least one candidate anchor node device that meets the positioning condition. The trust value calculated by the anchor node device information intuitively reflects the trustworthiness of the anchor node device, and at the same time, screening the anchor node devices by the trust value makes the screening process more convenient.

[0010] In another possible implementation, the trust value includes a security value and a positioning quality value. The security value is used to determine the security level of the anchor node device, and the positioning quality value is used to determine the positioning accuracy of the anchor node device. The anchor node devices are screened based on the trust value to obtain at least one candidate anchor node device that meets the positioning conditions. This can be specifically implemented as follows: when the security value and the positioning quality value of the anchor node device meet the positioning conditions, the anchor node device that meets the positioning conditions is determined as a candidate anchor node device. The trust value is divided into a security value and a positioning quality value. The security value is used to eliminate anchor node devices that do not meet the positioning conditions, that is, to eliminate anchor node devices with low security levels and that are easily attacked by malicious attacks, thereby improving the reliability of anchor node devices that participate in positioning the target positioning device. The positioning quality value is used to eliminate anchor node devices that do not meet the positioning conditions, thereby ensuring the positioning quality of the anchor node devices that participate in positioning.

[0011] Another possible implementation method is to locate the target positioning device based on the relative position relationship between the target positioning device and the candidate anchor node device, and the known position information of the candidate anchor node device, and obtain the position information of the target positioning device. This can be specifically implemented as follows: when there are multiple candidate anchor node devices, the target positioning device is located based on the relative position relationship between the target positioning device and each candidate anchor node device, and the known position information of each candidate anchor node device, and the positioning results of each candidate anchor node device on the target positioning device are obtained. The positioning results corresponding to each candidate anchor node device are weighted averaged to obtain the position information of the target positioning device. Multiple candidate anchor node devices can locate the target positioning device from different directions, different distances, etc. of the target positioning device, obtain multiple positioning results, average multiple positioning results, and finally obtain the position information of the target positioning device. In the case of a positioning failure or error in a candidate anchor node device, the positioning results of other candidate anchor node devices can still be used to reduce the possible errors in the positioning of a single candidate anchor node device, and improve the accuracy of positioning the target positioning device.

[0012] In another possible implementation, the relative position relationship includes the positioning distance and positioning angle between the target positioning device and the candidate anchor node device. The target positioning device can be positioned through the positioning distance and positioning angle, and the target positioning device can be positioned through multiple angles, thereby improving the positioning accuracy of the target positioning device.

[0013] In another possible implementation, the positioning method provided by the present application may further include: in the case of performing multiple rounds of positioning of the target positioning device based on the anchor node device, the candidate anchor node devices used in each round of positioning are the same or different. Perform multiple rounds of positioning of the target positioning device, and adjust the positioning result of the target positioning device by updating the located candidate anchor node devices, so that the location information of the target positioning device finally obtained is more stable and reliable, and is not easily affected by individual candidate anchor node devices.

[0014] In another possible implementation, the positioning method provided by the present application may also include: in the case of performing multiple rounds of positioning of the target positioning device based on the anchor node device, weighted averaging the positioning information results of the target positioning device obtained in each round of positioning to obtain the position information of the target positioning device. In the case of multiple rounds of positioning, each round of positioning may have a certain error, and the error in each round of positioning is usually random and independent. By weighted averaging the positioning information results of multiple rounds of positioning, a part of the error can be offset and reduced, thereby improving the positioning accuracy. And when the position of the target positioning device changes, multiple rounds of positioning can better adapt to the position change of the target positioning device, and the positioning result is closer to the position of the target positioning device after the change, which also improves the positioning accuracy.

[0015] Another possible implementation method, the positioning method provided by the present application may also include: when the number of candidate anchor node devices does not meet the number of positioning anchor node devices, based on a reconfigurable intelligent meta surface (RIS), adjusting the signal transmission direction between the anchor node device and the target positioning device, screening the adjusted anchor node device, and obtaining at least one candidate anchor node device that meets the positioning conditions. Among them, the number of positioning anchor node devices is the number of anchor node devices participating in the positioning of the target positioning device. By adjusting the signal transmission direction between the anchor node device and the target positioning device through RIS, the number of anchor node devices that can participate in the positioning of the target positioning device is increased, and then the number of candidate anchor node devices is increased, so that the number of candidate anchor node devices can meet the number of positioning anchor node devices, ensuring the smooth progress of the positioning process. In addition, by adjusting the signal transmission direction through RIS, each electromagnetic unit of RIS can realize independent flexible control, the flexibility of signal transmission direction adjustment is stronger, and the operating power consumption is lower. And through RIS adjustment, there is no need to make changes to the anchor node device or the target positioning device itself, and RIS can also be flexibly deployed in various locations according to demand, further reducing the positioning cost.

[0016] Another possible implementation is to adjust the signal transmission direction between the anchor node device and the target positioning device based on RIS, which can be specifically implemented as follows: adjusting the signal transmission direction between the anchor node device and the target positioning device by changing the reflection amplitude and reflection phase of RIS. When the RIS incident signal is known, the RIS reflection signal can be adjusted by changing the reflection amplitude and reflection phase of RIS, thereby adjusting the signal transmission direction between the anchor node device and the target positioning device.

[0017] In a second aspect, a positioning device is provided, the device comprising: an acquisition module, a processing module and a positioning module.

[0018] The acquisition module is used to acquire the anchor node device information corresponding to the anchor node device.

[0019] The processing module is used to screen the anchor node devices based on the anchor node device information to obtain at least one candidate anchor node device that meets the positioning condition.

[0020] The positioning module is used to locate the target positioning device based on the relative position relationship between the target positioning device and the candidate anchor node device and the known position information of the candidate anchor node device to obtain the position information of the target positioning device.

[0021] The anchor node device refers to a device with a known location, and the anchor node device information is used to determine the trustworthiness of the anchor node device.

[0022] In a possible implementation, the processing module is further used to: calculate a trust value of the anchor node device based on the anchor node device information, and screen the anchor node devices based on the trust value to obtain at least one candidate anchor node device that meets the positioning condition.

[0023] In another possible implementation, the credible value includes a security value and a positioning quality value, the security value is used to determine the security level of the anchor node device, and the positioning quality value is used to determine the positioning accuracy of the anchor node device. The above processing module is also used to: when the security value and the positioning quality value of the anchor node device meet the positioning condition, determine the anchor node device that meets the positioning condition as a candidate anchor node device.

[0024] In another possible implementation, the positioning module is further used to: when there are multiple candidate anchor node devices, locate the target positioning device based on the relative position relationship between the target positioning device and each candidate anchor node device and the known position information of each candidate anchor node device, and obtain the positioning result of each candidate anchor node device for the target positioning device. Perform weighted averaging on the positioning results corresponding to each candidate anchor node device to obtain the position information of the target positioning device.

[0025] In another possible implementation, the relative position relationship includes a positioning distance and a positioning angle between the target positioning device and the candidate anchor node device.

[0026] In another possible implementation, when multiple rounds of positioning are performed on the target positioning device based on the anchor node device, the candidate anchor node devices used in each round of positioning process are the same or different.

[0027] In another possible implementation, the positioning module is further used to: when multiple rounds of positioning of the target positioning device are performed based on the anchor node device, weighted average the positioning information results of the target positioning device obtained in each round of positioning to obtain the position information of the target positioning device.

[0028] In another possible implementation, the processing module is further configured to: when the number of candidate anchor node devices does not meet the number of positioning anchor node devices, adjust the signal transmission direction between the anchor node device and the target positioning device based on RIS, and screen the adjusted anchor node devices to obtain at least one candidate anchor node device that meets the positioning condition. The number of positioning anchor node devices is the number of anchor node devices that participate in positioning the target positioning device.

[0029] In another possible implementation, the processing module is further configured to adjust the signal transmission direction between the anchor node device and the target positioning device by changing the reflection amplitude and reflection phase of the RIS.

[0030] The technical effects corresponding to any one of the implementation methods in the second aspect can refer to the technical effects corresponding to any one of the implementation methods in the above-mentioned first aspect, and will not be repeated here.

[0031] In a third aspect, a computer device is provided, the computer device comprising: a processor and a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to implement the positioning method in the above aspect.

[0032] In a fourth aspect, a computer-readable storage medium is provided, in which at least one computer program is stored, and the at least one computer program is loaded and executed by a processor to implement the positioning method of the above aspect.

[0033] In a fifth aspect, a computer program product is provided. The computer program product includes a computer program or instructions. When the computer program or instructions are executed by a processor, the positioning method of the above aspect is implemented.

[0034] The solutions provided in the third to fifth aspects are used to implement the method provided in the first aspect, and their specific implementations are not described one by one. The technical effects corresponding to any one of the implementations of the solutions provided in the third to fifth aspects can be referred to the technical effects corresponding to any one of the implementations in the first aspect, and are not described here.

[0035] It should be noted that various possible implementation methods of any of the above aspects can be combined under the premise that the solutions are not contradictory. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of the architecture of a computer system provided for an exemplary embodiment;

[0037] Figure 2 A flowchart of a positioning method provided for an exemplary embodiment;

[0038] Figure 3 A schematic flow chart of another positioning method provided for an exemplary embodiment;

[0039] Figure 4 A schematic flow chart of another positioning method provided for an exemplary embodiment;

[0040] Figure 5 A schematic flow chart of another positioning method provided for an exemplary embodiment;

[0041] Figure 6 A schematic structural diagram of a positioning device provided as an exemplary embodiment;

[0042] Figure 7 A schematic diagram of the structure of a computer device is provided for an exemplary embodiment. DETAILED DESCRIPTION

[0043] In the embodiments of the present application, in order to clearly describe the technical solutions of the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially identical functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different. There is no order of precedence or size between the technical features described by the "first" and "second".

[0044] In the embodiments of the present application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0045] In the embodiments of the present application, at least one can also be described as one or more, and multiple can be two, three, four or more, which is not limited in the present application.

[0046] In addition, the network architecture and scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. A person of ordinary skill in the art can appreciate that with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0047] To facilitate understanding, the terms involved in the embodiments of the present application are first explained.

[0048] Positioning: refers to the process of determining the coordinates (such as longitude and latitude) of an object or person. In maps or navigation systems, it is usually achieved through the Global Positioning System (GPS) or other positioning technologies. In the field of wireless technology, node positioning technology is usually used to determine the absolute or relative position of each node in a wireless network. Specifically, with the help of a certain number of anchor node devices (nodes with known locations), the location of the target positioning device (unknown node) is estimated through distance measurement, angle measurement or connectivity information, and topological relationships between neighboring nodes (nodes that are directly connected and can communicate). The process of locating the target positioning device through a large number of anchor node devices (network devices) is also called crowdsourcing positioning.

[0049] Anchor node devices: In wireless sensor networks, anchor node devices are also called beacon node devices. These devices usually know their own locations and are used to assist other node devices with unknown locations in the network to locate. Specifically, anchor node devices send their location information to node devices with unknown locations to help them determine their locations. This is an important part of wireless sensor network positioning technology.

[0050] Reconfigurable intelligent metasurface: is a technology that uses programmable sub-wavelength two-dimensional metamaterials to actively and intelligently control electromagnetic waves through digital coding. Metamaterials can be composed of diodes, triodes, micro-electro-mechanical systems (MEMS), graphene, temperature-sensitive devices, photosensitive devices, etc., and can achieve "on" or "off" states under different voltages, so they have dynamic coding capabilities. This enables the metasurface to change the amplitude and phase of the incident (or reflected) electromagnetic waves through the built-in control chip, thereby realizing signal beamforming and reconstruction of wireless channels. RIS can also be applied to any wall and object to enhance communication and positioning performance.

[0051] Malicious attack: mainly refers to the malicious attack of the attacker on the anchor node device, which can be divided into internal attack and external attack. When the attacker conducts an internal attack, he captures the devices in the network, especially the anchor node devices, to obtain their trust keys and internal information. The captured anchor node devices may be used to send false positioning reference information to mislead the positioning evaluation results of the target positioning device. It is also possible to arbitrarily tamper with the spatial relationship of the network and locate multiple false positioning reference information to the same wrong position, so it is not easy to be discovered and is highly destructive. External attacks mainly target the positioning mechanism and do not need to gain the trust of the node devices, such as replay attacks, forwarding attacks, witch attacks, wormhole attacks, etc. Replay attacks refer to blocking the signal transmission between node devices and replaying wrong or outdated data information in the network. Forwarding attacks refer to attacking node devices hijacking and forwarding the information of legitimate node devices, disguising as legitimate node devices to communicate. Sybil attacks refer to attackers disguising themselves as multiple different node devices and sending false information to other node devices in the network. Wormhole attacks refer to transmitting legitimate information from one end of the network to the other end through wormhole links to deceive other node devices in the network.

[0052] It should be noted that the information (including but not limited to device information, subject personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the subject or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards. For example, the anchor node device information, the relative position relationship between the target positioning device and the candidate anchor node device, the known location information of the candidate anchor node device, etc. involved in this application are all obtained with full authorization.

[0053] In order to ensure the accuracy of positioning information, the common methods in the industry to ensure the accuracy of positioning information include: encryption-based location data protection method, access control policy-based data protection method and physical security measures-based data protection method. The above methods are briefly described below.

[0054] Method 1: Location data protection method based on encryption. Specifically, the location data of anchor node devices is encrypted through encryption methods such as spatial encryption, homomorphic encryption technology and fuzzy theory technology. Among them, spatial encryption refers to inputting location data as plain text into the encryption algorithm, calculating the ciphertext, transmitting and storing the ciphertext, and only users or devices holding the correct key can decrypt the location data, effectively preventing the location data from being illegally obtained. Homomorphic encryption technology means that all location data is encrypted by homomorphic encryption technology. The device can retrieve the correct result by using the characteristics of homomorphic encryption technology without decryption. Even if the attacker obtains the ciphertext, the correct information cannot be retrieved. Fuzzy theory technology refers to disrupting the attacker's data calculation progress by using the uncertainty of the time when the location information is obtained. For example, multiple location information can be sent at different time points, making it difficult for the attacker to determine the real location information. However, the encryption and decryption process requires a lot of calculation and conversion work, which may consume additional computing resources and time overhead.

[0055] Method 2: Data protection method based on access control strategy. Specifically, according to different business needs and importance, the location data categories are divided into different levels, such as core data, general data, and public / external data. Corresponding access permission requirements are formulated for each data category to ensure that only appropriate users can access the corresponding location data. The principle of least privilege is followed when formulating permission requirements, that is, users are assigned the minimum permissions required to complete their work. Unauthorized access and operations are not allowed, and attackers do not have access authorization to location data, effectively preventing attackers from stealing location information.

[0056] Method 3: Data protection method based on physical security measures. Specifically, physical security measures include measures such as access control systems and monitoring systems to prevent attackers from physically damaging anchor node devices, as well as measures such as anti-eavesdropping devices and security defense systems to prevent attackers from eavesdropping or tampering with location data. For example: anti-eavesdropping devices can scan and monitor radio waves in space, capture weak signals emitted by eavesdropping devices, and scan multiple channels to find the channel where the eavesdropping device is located. After finding the transmission source of the eavesdropping device, the anti-eavesdropping device can also send out interference signals or confusing signals to prevent the eavesdropping device from working properly.

[0057] However, the encryption and decryption process in the above method 1 involves a lot of calculation and conversion work, which requires additional computing resources and time. Although method 2 does not require encryption and decryption, as the scale and complexity of the positioning system increase, the difficulty of formulating and managing access control policies will also increase accordingly, increasing management costs. The anti-eavesdropping equipment in method 3 requires a lot of money and resources for equipment deployment and maintenance, which also requires a lot of costs. Moreover, the above methods are all processed from the perspective of location information, and do not consider the situation where the anchor node device is attacked during the positioning process.

[0058] Based on this, the present application provides a positioning method, when positioning the target positioning device through the anchor node device, the trustworthiness of the anchor node device is evaluated based on the anchor node device information of the anchor node device, and the anchor node devices whose trustworthiness meets the positioning conditions are selected as candidate anchor node devices, and the target positioning device is positioned based on the candidate anchor node devices, and some anchor node devices whose trustworthiness does not meet the positioning conditions are eliminated, that is, anchor node devices that are susceptible to malicious attacks are eliminated, thereby improving the accuracy of the positioning result of the target positioning device. In addition, the positioning solution provided by the present application does not require the addition of additional hardware devices, thus avoiding the investment of additional resources and costs.

[0059] The solutions provided by the embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0060] The solution provided in this application can be applied to Figure 1 In the computer system shown, Figure 1 An architectural diagram of a computer system is shown.

[0061] For example, Figure 1 The computer system shown includes a target positioning device 100 and an anchor node device 110. The target positioning device 100 is a device that needs to be positioned, and the anchor node device 110 is a device with a known position. The target positioning device 100 can communicate with the anchor node device 110 located in the coverage area, and calculate the position information of the target positioning device 100 based on the anchor node position information of the anchor node device.

[0062] Optionally, the target positioning device 100 may be a server, a fixed base station, etc. that can support communication and data processing. For example, the target positioning device 100 may be an evolutionary Node B (eNB or eNodeB) in a Long Term Evolution (LTE) system, or a wireless controller in a Cloud Radio Access Network (CRAN), or may also be a mobile switching center, a relay station, an access point, a vehicle-mounted device, a wearable device, a hub, a switch, a bridge, a router, etc.

[0063] Optionally, the anchor node device 110 can be a positioning base station, network device, server, etc. with a known location, and is usually configured with hardware components such as sensors, processors, communication modules, power modules, etc., for collecting positioning information to locate the target positioning device 100, or collecting positioning information and sending it to the target positioning device 100 or other devices to locate the target positioning device 100, thereby obtaining the location information of the target positioning device 100.

[0064] Exemplarily, the connection between the target positioning device 100 and the anchor node device 110 may be a wired communication connection mode or a wireless communication connection mode. Figure 1 One target positioning device 100 and five anchor node devices 110 are exemplarily shown, and the present application does not limit the number of target positioning devices 100 and anchor node devices 110 .

[0065] Optionally, the computer system may also include additional devices or positioning systems such as servers and processors that can perform positioning, and directly collect the location information of the anchor node device to locate the target positioning device.

[0066] The server may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and cloud servers that provide basic cloud computing services such as big data. This application embodiment does not limit this.

[0067] Figure 2 A flowchart of a positioning method provided by an exemplary embodiment is shown. The method can be executed by a target positioning device. The target positioning device can be Figure 1 The target positioning device 100 may also be other devices such as servers that support data processing and communication processes.

[0068] like Figure 2 As shown, the positioning method provided in the embodiment of the present application may include:

[0069] S201: The target positioning device obtains the anchor node device information corresponding to the anchor node device.

[0070] The anchor node device refers to a device with a known location, and the anchor node device information is used to determine the trustworthiness of the anchor node device.

[0071] Optionally, the anchor node device can be a router, access point, server and other devices, and can also be an unmanned aerial vehicle or drone, a satellite capable of broadcasting its location and time information, a sensor with a known location and other devices, which is not specifically limited in the embodiments of the present application.

[0072] The known position refers to the known absolute position of the anchor node device in the global coordinate system, or the known relative position of the anchor node device relative to other anchor node devices. The global coordinate system is a fixed reference frame that provides a unified positioning reference for all objects, so that the positional relationship between different objects can be clearly expressed, usually a Cartesian coordinate system.

[0073] Optionally, the anchor node device information includes at least one of the remaining energy, positioning distance, positioning angle, node vulnerability, attack probability, node social value, and trust value of the anchor node device, but is not limited to this, and the embodiments of the present application do not make specific limitations on this.

[0074] The residual energy refers to the residual power or battery energy currently available to the anchor node device (such as wireless sensor nodes, mobile devices, etc.), which can be used to evaluate whether the anchor node device is sufficient to complete the positioning task of the target positioning device.

[0075] Exemplarily, the remaining energy of the anchor node device can be calculated by subtracting the transmission loss and other energy consumption (such as processing, receiving, etc.) from the initial energy of the anchor node device. It can also be obtained by real-time or periodic measurement by sensors, or calculated by parameters such as the battery capacity and current voltage or current of the anchor node device.

[0076] For example, if a sensor of an anchor node device measures the current voltage of a battery of the anchor node device, the remaining power of the anchor node device can be expressed as the ratio of the battery rated capacity multiplied by the current voltage and the battery rated voltage.

[0077] The positioning distance refers to the distance between the anchor node device and the target positioning device. The closer the distance between the anchor node device and the target positioning device, the smaller the error of the positioning distance measured by the anchor node device will be, and the higher the positioning accuracy of the target positioning device will be.

[0078] Exemplarily, the positioning distance is calculated by the transmission parameters of the wireless signal between the anchor node device and the target positioning device, and the transmission parameters are specifically the arrival time, arrival time difference, arrival angle, etc. of the wireless signal. The positioning distance can also be calculated by the received signal strength indication (RSSI).

[0079] For example: the target positioning device transmits a wireless signal with a certain transmission power, the anchor node device receives the wireless signal and measures the received signal strength. Based on the known transmission power, received signal strength and the attenuation model between the signal and the distance, the distance between the target positioning device and the anchor node device is calculated. Among them, the attenuation model between the signal and the distance is used to describe the relationship between the signal strength weakening as the distance increases. For example: free space transmission model, logarithmic distance loss model, etc.

[0080] The positioning angle is used to indicate the direction and orientation of the target positioning device. The larger the antenna angle between the target positioning device and the anchor node device, the greater the error of the positioning angle measured by the anchor node device.

[0081] Exemplarily, the positioning angle is measured by a measurement method based on the angle of arrival (AOA), and can also be measured by electronic devices such as a gyroscope, an accelerometer, and a total station.

[0082] For example, the anchor node device receives the signal from the target positioning device as the transmitting source through multiple receivers or antenna arrays, and calculates the signal's incident angle according to the signal strength or phase difference received by different receivers or antennas. Specifically, the sine value of the signal incident angle can be expressed as the product of the time difference of the signal reaching different antenna units and the speed of light, and the ratio of the distance between the antenna units.

[0083] Node vulnerabilities refer to security weaknesses or defects that exist in nodes in computer networks, communication systems, or blockchain networks.

[0084] For example: code injection vulnerabilities and buffer overflow vulnerabilities in the application software running on the anchor node device, as well as permission management vulnerabilities such as improper permission settings and permission abuse of the anchor node device. These vulnerabilities may cause software crashes, data leakage, or malicious operations on the anchor node device after the attacker obtains access rights.

[0085] Among them, code injection vulnerabilities refer to the vulnerabilities generated when users submit database query codes and obtain certain data based on the results returned by the program. Buffer overflow vulnerabilities refer to the vulnerabilities generated when the program attempts to write data to the buffer and exceeds the buffer capacity, causing data to overflow to adjacent memory areas.

[0086] Exemplarily, node vulnerabilities of anchor node devices are evaluated through a vulnerability scoring system. For example, the vulnerability scoring system first discovers vulnerabilities in anchor node devices through security scanning, penetration testing, code review, etc.; then collects detailed information about the vulnerabilities by consulting vulnerability databases, security bulletins, technical documents, etc., which may include the type of vulnerability, triggering conditions, attack methods, potential impact, etc.; then analyzes the severity, exploitability, and impact range of the vulnerabilities based on the collected information, and scores the node vulnerabilities of anchor node devices based on the measurement standards of the vulnerability scoring system.

[0087] The vulnerability scoring system may be a Common Vulnerability Scoring System (CVSS).

[0088] The probability of being attacked refers to the probability that the anchor node device is attacked by the attacker. It is usually evaluated based on the positioning distance and positioning angle. The closer the anchor node device is to the target positioning device and the smaller the angle is, the higher the attack value is. The greater the probability of being selected to perform the positioning task, the greater the probability of being attacked. Alternatively, it can be evaluated based on factors such as the density of the distribution of anchor node devices and the deployment location. The denser the distribution of anchor node devices and the higher and more spacious the deployment location, the greater the probability of being attacked.

[0089] For example: the positioning distance of anchor node device 1 relative to the target positioning device is 100m, and the positioning angle is 30°; the positioning distance of anchor node device 2 relative to the target positioning device is 150m, and the positioning angle is 45°; the positioning distance of anchor node device 3 relative to the target positioning device is 250m, and the positioning angle is 75°. Then the probability of attack of anchor node device 1 may be assessed as 80%, the probability of attack of anchor node device 2 is 70%, and the probability of attack of anchor node device 3 is 50%. The probability of attack is inversely proportional to the positioning distance and the positioning angle.

[0090] Node social value is used to describe the influence of anchor node devices on other nodes.

[0091] Exemplarily, the node social value is evaluated by the attack graph in which the anchor node device is located. For example, the node social value is calculated by the number of nodes directly or connected to the anchor node device in the attack graph. The more nodes the anchor node device is connected to, the higher the node social value.

[0092] Among them, the attack graph is used to show the attack sequence that the attacker may launch. It consists of two parts: vertices and directed edges. The vertices can represent the anchor node devices in the network, and the directed edges represent the attack paths that the attacker may use. The anchor node devices are connected to other nodes through directed edges. The more nodes the anchor node device is connected to, the more nodes may be attacked, and the more important the anchor node device is.

[0093] The trust value is used to describe the reliability of the anchor node device. It is an expectation or evaluation of the behavior that the anchor node device may exhibit in the future, and reflects the degree of trust that other nodes or systems have in the anchor node device.

[0094] Exemplarily, the trust value is calculated through the interaction relationship, social relationship and historical behavior of the anchor node device. For example, anchor node device A interacts with anchor node device C through anchor node device B, and anchor node device B has a positive evaluation or recommendation for anchor node device C, that is, anchor node device B has a high trust value for anchor node device C, then anchor node device A can adopt the trust value evaluated by anchor node device B for anchor node device C, or re-evaluate the trust value of anchor node device C based on the trust value of anchor node device B for anchor node device C.

[0095] S202: The target positioning device screens the anchor node devices based on the anchor node device information to obtain at least one candidate anchor node device that meets the positioning condition.

[0096] The candidate anchor node device refers to an anchor node device used to locate the target positioning device.

[0097] The positioning condition is used to filter out candidate anchor node devices from the anchor node devices. For example, the anchor node devices whose attack probability is lower than the attack probability threshold are filtered out from the anchor node devices and are used as candidate anchor node devices.

[0098] Exemplarily, different positioning conditions are set for different anchor node devices, or different positioning conditions are set for different positioning tasks or positioning targets, and different candidate anchor node devices are screened. For example, the positioning condition is to screen anchor node devices that simultaneously meet the conditions that the probability of being attacked is lower than the attack probability threshold and the positioning angle is lower than the positioning angle threshold from the anchor node devices as candidate anchor node devices, and the positioning condition can be adjusted by setting different attack probability thresholds or positioning angle thresholds.

[0099] Among them, the attack probability threshold and the positioning angle threshold are default values, or manually preset values, but are not limited to this, and the embodiments of the present application do not make specific limitations on this.

[0100] S203: The target positioning device locates the target positioning device based on the relative position relationship between the target positioning device and the candidate anchor node device and the known position information of the candidate anchor node device to obtain the position information of the target positioning device.

[0101] The relative position relationship is used to describe the position relationship of the target positioning device relative to the candidate anchor node device; or, the relative position relationship is used to describe the position relationship of the candidate anchor node device relative to the target positioning device. Optionally, the relative position relationship includes the positioning distance, positioning angle, relative direction, etc. between the target positioning device and the candidate anchor node device, but is not limited thereto, and the embodiments of the present application do not specifically limit this.

[0102] Optionally, the known location information may be the location coordinates of the candidate anchor node device in a global coordinate system, or the location coordinates of the candidate anchor node device relative to other anchor node devices or other reference coordinate systems. The location information of the target positioning device may be the location coordinates of the target positioning device.

[0103] Exemplarily, the target positioning device is positioned based on the relative position information and the known position information of the candidate anchor node device. For example, in the plane rectangular coordinate system xoy, the two-dimensional plane coordinates of the anchor node device a are (10, 15), the positioning distance between the anchor node device a and the target positioning device is 20, and the angle between the line connecting the anchor node device a and the target positioning device and the x-axis direction is 30°, then the two-dimensional plane coordinates of the target positioning device are ( 25).

[0104] In some embodiments, the target positioning device is positioned by the anchor node device to obtain the location information of the target positioning device.

[0105] Exemplarily, the target positioning device sends a positioning task to the anchor node device. After receiving the positioning task, the anchor node device queries or obtains the corresponding anchor node device information and sends the anchor node device information to the target positioning device. Meanwhile, the anchor node device locates the target positioning device.

[0106] The positioning task is used to indicate the positioning requirements of the target positioning device.

[0107] Exemplarily, the positioning task includes identity information (identifier), timestamp, positioning request, verification information, etc. of the target positioning device.

[0108] The method of locating the target positioning device based on the anchor node device includes at least one of the following methods in addition to the method in step S203, but is not limited to these:

[0109] Method 1: The anchor node device automatically locates the target positioning device and obtains the location information of the target positioning device. When the target positioning device obtains the anchor node information of the anchor node device, the anchor node device sends the anchor node information and the location information of the target positioning device to the target positioning device, so that the target positioning device decides whether to use the location information according to the anchor node information.

[0110] Method 2: After the anchor node device is screened as a candidate anchor node device, the target positioning device sends a positioning result request to the anchor node device. After the anchor node device receives the positioning result request, the anchor node device locates the target positioning device, obtains the location information of the target positioning device, and sends the location information of the target positioning device to the target positioning device. The positioning result request is used to instruct the anchor node device to locate the target positioning device.

[0111] In other embodiments, positioning is performed by a target positioning device to obtain position information of the target positioning device.

[0112] Exemplarily, the anchor node device sends the anchor node device information to the target positioning device, and the target positioning device performs positioning based on the anchor node device information to obtain the location information of the target positioning device.

[0113] In summary, when positioning the target positioning device through the anchor node device, the embodiment of the present application evaluates the trustworthiness of the anchor node device based on the anchor node device information of the anchor node device, selects the anchor node devices whose trustworthiness meets the positioning conditions as candidate anchor node devices, and locates the target positioning device based on the candidate anchor node devices, and eliminates some anchor node devices whose trustworthiness does not meet the positioning conditions, that is, eliminates anchor node devices that are susceptible to malicious attacks, thereby improving the accuracy of the positioning result of the target positioning device. In addition, the positioning solution provided by the present application does not require the addition of additional hardware devices, thus avoiding the investment of additional resources and costs.

[0114] Figure 3 A flowchart of another positioning method provided for an exemplary embodiment. The method can be executed by a target positioning device. The method includes:

[0115] S301: The target positioning device obtains the anchor node device information corresponding to the anchor node device.

[0116] In some embodiments, the target positioning device acquires the anchor node device information in at least one of the following ways, but is not limited thereto. The embodiments of the present application do not specifically limit this:

[0117] Method 1: The target positioning device obtains the anchor node device information of all anchor node devices around the target positioning device.

[0118] Exemplarily, after the anchor node device confirms the anchor node device information, it can store the anchor node device information locally, or periodically report the anchor node device information to third-party platforms such as information management platforms, blockchain management platforms, and network management platforms. The target positioning device can directly send an information query request to the anchor node device or the third-party platform to obtain the anchor node device information.

[0119] Mode 2: The target positioning device obtains the anchor node device information of the anchor node devices whose distance to the target positioning device does not exceed the distance threshold range.

[0120] In some embodiments, the target positioning device sends an information query request to the anchor node device within the distance threshold range to obtain the anchor node device information. Alternatively, the target positioning device sends an information query request to the anchor node device within a certain area range to obtain the anchor node device information. For example: the target positioning device sends an information query request to the anchor node device in the local area network where it is located to obtain the anchor node device information.

[0121] In other embodiments, the target positioning device first obtains the anchor node device information of all surrounding anchor node devices, and then filters out the anchor node device information of the anchor node devices that do not exceed the distance threshold range based on the distance between the target positioning device and the anchor node device.

[0122] Among them, the distance threshold range and the certain area range are default values, or artificially preset values, but are not limited to this, and the embodiments of the present application do not make specific limitations on this.

[0123] Mode 3: The target positioning device broadcasts the positioning task, and receives the anchor node device information sent by the anchor node device based on the positioning task.

[0124] Exemplarily, after receiving the positioning task, the anchor node devices that can participate in positioning send the anchor node device information to the target positioning device, so that the target positioning device pre-eliminates the anchor node devices that cannot participate in positioning.

[0125] Among them, being able to participate in positioning means that the anchor node device has the ability to locate the target positioning device and can support the positioning process of the target positioning device. For example, the anchor node device has the ability to calculate the remaining energy, positioning distance and positioning angle.

[0126] Optionally, the target positioning device may also broadcast the positioning task to the anchor node devices within a certain area, and receive the anchor node device information sent by the anchor node devices within the certain area based on the positioning task.

[0127] For other descriptions of this step, please refer to step S201, which will not be described in detail here.

[0128] S302: The target positioning device calculates a trust value of the anchor node device based on the anchor node device information, and screens the anchor node devices based on the trust value to obtain at least one candidate anchor node device that meets the positioning condition.

[0129] The trust value includes a security value and a positioning quality value. The security value is used to determine the security level of the anchor node device, and the positioning quality value is used to determine the positioning accuracy of the anchor node device.

[0130] Exemplarily, the security value is calculated based on at least one of the node vulnerability, attack probability, node social value and trust value of the anchor node device. The fewer the node vulnerabilities of the anchor node device, the lower the attack probability, the lower the social value, and the higher the trust value, the higher the calculated security value.

[0131] Exemplarily, the positioning quality value is calculated based on at least one of the remaining energy of the anchor node device, the positioning distance, and the positioning angle. The higher the remaining energy of the anchor node device, the shorter the positioning distance, and the smaller the positioning angle, the higher the calculated service quality value.

[0132] In some embodiments, the calculation method of the safety value and the positioning quality value includes at least one of the following methods, but is not limited thereto, and the embodiments of the present application do not specifically limit this:

[0133] Method 1: Sum the node vulnerability, attack probability, node social value and trust value in the anchor node device information of the anchor node device to obtain the security value, and sum the remaining energy, positioning distance and positioning angle in the anchor node device information to obtain the service quality value.

[0134] For example: the rated energy of the anchor node device is 10000mAh, and the node remaining energy of anchor node device a is 5000mAh; the positioning distance of the anchor node device farthest from the target positioning device is 500m, and the positioning distance of anchor node device a is 200m; the positioning angle of the anchor node device with the largest positioning angle is 160°, and the positioning angle of anchor node device a is 40°; the measurement values ​​of the node remaining energy, positioning distance and positioning angle of anchor node device a are unified, and the values ​​of the node remaining energy, positioning distance and positioning angle of anchor node device a are 50, 80 and 75 respectively, then the service quality value of anchor node device a is 205.

[0135] The node vulnerability score of anchor node device a is 8 points (out of 10 points), and the attack probability is 60%. The measurement values ​​of the node vulnerability and attack probability of anchor node device a are unified, and the values ​​of the node vulnerability and attack probability of anchor node device a are 20 and 40 respectively. The security value of anchor node device a is 60.

[0136] Method 2: Obtain the weights of the security value and service quality value, weighted sum the node vulnerability, attack probability, node social value and trust value to obtain the security value, and weighted sum the remaining energy, positioning distance and positioning angle to obtain the service quality value.

[0137] For example, if the values ​​of the remaining energy, positioning distance and positioning angle of anchor node device a are 50, 80 and 75 respectively, and the weight values ​​of the remaining energy, positioning distance and positioning angle are 0.3, 0.3 and 0.4 respectively, then the service quality value of anchor node device a is 69.

[0138] In some embodiments, the positioning condition includes: the credibility indicated by the anchor node device information is the highest; or the credibility indicated by the anchor node device information is greater than or equal to a credibility threshold.

[0139] Specifically, the positioning conditions may include conditions that a trust value satisfies, conditions that a security value satisfies, and conditions that a service quality value satisfies.

[0140] In some embodiments, the method of obtaining the candidate anchor node device that meets the positioning condition based on the credibility value screening includes at least one of the following methods, but is not limited thereto, and the embodiments of the present application do not specifically limit this:

[0141] Method 1: First, select anchor node devices whose security value is greater than or equal to the security threshold and / or whose service quality value is greater than or equal to the quality threshold from the anchor node devices, and use them as candidate anchor node devices.

[0142] Method 2: First, m anchor node devices with the highest security value are selected from the anchor node devices, and then n anchor node devices with the highest service quality value are selected from the m anchor node devices as candidate anchor node devices.

[0143] Method 3: Select n anchor node devices with the highest trust values ​​from the anchor node devices as candidate anchor node devices.

[0144] Mode 4: Filter out anchor node devices whose credibility values ​​are greater than or equal to the credibility threshold from the anchor node devices as candidate anchor node devices.

[0145] Mode 5: Filter out anchor node devices whose credibility values ​​are within a credibility threshold range from the anchor node devices as candidate anchor node devices.

[0146] Exemplarily, the trust value is obtained by summing the security value and the service quality value, or the trust value can also be obtained by weighted summing the security value and the service quality value.

[0147] Among them, m is a positive integer greater than n, and m, n, safety threshold, quality threshold, credibility threshold and credibility threshold range are default values, or artificial preset values, but are not limited to this. The embodiments of the present application do not make specific limitations on this.

[0148] S303: When the number of candidate anchor node devices does not meet the number of positioning anchor node devices, the target positioning device adjusts the signal transmission direction between the anchor node device and the target positioning device based on RIS, and screens the adjusted anchor node devices to obtain at least one candidate anchor node device that meets the positioning condition.

[0149] Among them, the number of positioning anchor node devices refers to the number of anchor node devices participating in positioning the target positioning device. This number is a default value or a manually preset value, but is not limited to this. The embodiments of the present application do not make specific limitations on this.

[0150] RIS refers to a reconfigurable intelligent metasurface that can change the signal transmission between the target positioning device and the anchor node device. RIS can be set on the surface of the anchor node device or the target positioning device, or between the anchor node device or the target positioning device or other locations, and can adjust the signal transmission direction between the anchor node device and the target positioning device. The embodiments of the present application do not specifically limit this.

[0151] Adjusting the signal transmission direction between the anchor node device and the target positioning device can adjust the acquisition, processing and transmission of the anchor node device information, ensure the anchor node device information acquisition process, increase the number of anchor node devices that can participate in positioning, and thus increase the number of candidate anchor node devices screened. It is also possible to increase the number of anchor node devices that can receive the positioning tasks broadcast by the target positioning device, thereby increasing the number of candidate anchor node devices screened. For example: when calculating the positioning distance based on the arrival time difference, it is necessary to compare the time difference of receiving signals at different receiving points (anchor node devices or target positioning devices) to calculate the distance. Changing the signal transmission direction can ensure that multiple receiving points can receive the signal, ensuring the calculation process of the positioning distance. When calculating the positioning angle by receiving the signal sent by the target positioning device through multiple receivers, adjusting the signal transmission direction can also ensure that multiple receivers can receive the signal, ensuring the calculation process of the positioning angle.

[0152] Exemplarily, after the candidate anchor node devices are screened, it is determined whether the number of candidate anchor node devices meets the number of positioning anchor node devices. If so, the target positioning device is positioned based on the candidate anchor node devices. If not, the signal transmission direction between the anchor node device and the target positioning device is adjusted based on RIS to increase the number of anchor node devices that can participate in positioning, and the adjusted anchor node devices are re-screened to obtain candidate anchor node devices.

[0153] In some embodiments, when the number of candidate anchor node devices obtained by rescreening still does not meet the number of positioning anchor node devices, the signal transmission direction between the anchor node device and the target positioning device continues to be adjusted based on RIS until the number of candidate anchor node devices obtained by screening meets the number of positioning anchor node devices.

[0154] In some embodiments, the signal transmission direction is adjusted based on the RIS by changing the reflection amplitude and reflection phase of the RIS to adjust the signal transmission direction between the anchor node device and the target positioning device.

[0155] Exemplarily, a plurality of reflection units are provided on the RIS, and by adjusting the reflection amplitude and reflection phase on each reflection unit, the signal can be guided to the direction of the target positioning device or the anchor node device.

[0156] The signal model of the reflection unit can be expressed by the following formula:

[0157]

[0158] Among them, X n represents the incident signal of the nth reflection unit, Y n represents the reflection signal of the nth reflection unit, β n represents the reflection amplitude adjustment of the nth reflection unit, θ n Represents the reflection phase adjustment of the nth reflection unit.

[0159] It can be seen from the formula that, when the incident signal remains unchanged, the amplitude and phase of the reflected signal of the reflection unit can be adjusted by adjusting the reflected amplitude and the reflected phase, and the reflected signal can be concentrated to the target positioning device or the anchor node device.

[0160] In some embodiments, the reflection amplitude and reflection phase are changed as follows: the reflection phase is adjusted by changing the physical properties of the reflection unit (such as capacitance, inductance, etc.) or using phase modulation technology (such as varactor diode, micromechanical system (MEMS) etc.) The reflection amplitude is adjusted by a variable gain amplifier integrated in the reflection unit.

[0161] For example, the bias voltage of the variable capacitance element (such as a varactor diode) integrated in the reflection unit is adjusted to change its capacitance value to adjust the reflection phase. The control instruction is sent to the variable gain amplifier through a microprocessor or a digital signal processor to adjust its gain, thereby adjusting the reflection amplitude.

[0162] In some embodiments, the values ​​of the reflection amplitude and the reflection phase change may be default values ​​or artificially preset values, but are not limited thereto, and the embodiments of the present application do not specifically limit this.

[0163] S304: The target positioning device locates the target positioning device based on the relative position relationship between the target positioning device and the candidate anchor node device and the known position information of the candidate anchor node device to obtain the position information of the target positioning device.

[0164] In some embodiments, when the number of candidate anchor node devices is one, the target positioning device is positioned based on the relative position relationship between the target positioning device and the candidate anchor node device and the known position information of the candidate anchor node device to obtain the position information of the target positioning device.

[0165] Exemplarily, the location information of the target positioning device can be expressed by the following formula:

[0166]

[0167] Among them, x1 is the horizontal coordinate of the candidate anchor node device, x2 is the vertical coordinate of the candidate anchor node device, d is the positioning distance between the candidate anchor node device and the target positioning device, θ is the positioning angle between the candidate anchor node device and the target positioning device, t1 is the horizontal coordinate of the target positioning device, and t2 is the vertical coordinate of the target positioning device.

[0168] In some embodiments, when there are multiple candidate anchor node devices, the target positioning device is positioned based on the relative position relationship between the target positioning device and each candidate anchor node device, and the known position information of each candidate anchor node device, to obtain the positioning results of each candidate anchor node device for the target positioning device; the positioning results corresponding to each candidate anchor node device are weighted averaged to obtain the position information of the target positioning device.

[0169] The positioning result is the position coordinates obtained by each candidate anchor node device positioning the target positioning device respectively.

[0170] For example: in the plane rectangular coordinate system xoy, the candidate anchor node device a locates the target positioning device and the obtained positioning result is (10, 15); the candidate anchor node device b locates the target positioning device and the obtained positioning result is (16, 17); the two positioning results are averaged to obtain the location information of the target positioning device as (13, 16).

[0171] Exemplarily, when there are multiple candidate anchor node devices, i candidate anchor node devices with the highest credibility values ​​may be selected from the candidate anchor node devices to participate in positioning the target positioning device.

[0172] Among them, i is a default value, or a manually preset value, or the number of positioning anchor node devices, but is not limited to this, and the embodiments of the present application do not make specific limitations on this.

[0173] In some embodiments, multiple rounds of positioning may be performed on the target positioning device based on the anchor node device.

[0174] Specifically, based on the anchor node device information, the anchor node devices are screened multiple times to obtain multiple rounds of candidate anchor node devices. Based on the relative position relationship between the target positioning device and each round of candidate anchor node devices, and the known position information of each round of candidate anchor node devices, the target positioning device is positioned multiple times to obtain the positioning information result of the target positioning device obtained in each round of positioning process.

[0175] Exemplarily, different positioning conditions may be set when the anchor node devices are screened multiple times based on the anchor node device information, so that the candidate anchor node devices screened in each round of positioning process are the same or different.

[0176] For example: the candidate anchor node devices in the first round are candidate anchor node device a, candidate anchor node device b, and candidate anchor node device c; in the second round of screening, candidate anchor node devices with shorter positioning distances are given priority. Assuming that the positioning distance between candidate anchor node device d and the target positioning device is smaller than the positioning distance between candidate anchor node device c and the target positioning device, the candidate anchor node devices obtained in the second round of screening are candidate anchor node device a, candidate anchor node device b, and candidate anchor node device d. The candidate anchor node devices in the second round are different from those in the first round.

[0177] Exemplarily, the positioning information results of the target positioning device obtained in each round of positioning are weighted averaged to obtain the position information of the target positioning device. For example, in the plane rectangular coordinate system xoy, the positioning information result obtained in the first round is (20, 35), the positioning information result obtained in the second round is (27, 31), and the positioning information result obtained in the first round is (22, 33), then the position information of the target positioning device is (23, 33).

[0178] In summary, when positioning the target positioning device through the anchor node device, the credibility of the anchor node device is evaluated based on the anchor node device information such as the positioning distance and trust value of the anchor node device, and the anchor node devices with high credibility are selected as candidate anchor node devices to position the target positioning device or multiple rounds of positioning, thereby improving the credibility of the anchor node devices involved in positioning the target positioning device and effectively improving the accuracy of the positioning result. At the same time, when the number of candidate anchor node devices does not meet the number of positioning anchor node devices, the signal transmission direction between the target positioning device and the anchor node device is adjusted through RIS to increase the number of anchor node devices that can locate the target positioning device, thereby increasing the number of candidate anchor node devices and ensuring the smooth progress of the positioning process.

[0179] Figure 4A flowchart of another positioning method provided for an exemplary embodiment. The method includes:

[0180] S401: The target positioning device generates a positioning task.

[0181] The positioning task is used to indicate the positioning requirements of the target positioning device.

[0182] Exemplarily, the positioning task includes identity information (identifier), timestamp, positioning request, verification information, etc. of the target positioning device.

[0183] S402: The target positioning device broadcasts the positioning task.

[0184] Exemplarily, the target positioning device broadcasts the positioning task to the anchor node device, or the target positioning device broadcasts the positioning task to the anchor node devices within a certain area.

[0185] S403: The anchor node device waits for the positioning task to be assigned.

[0186] Exemplarily, an anchor node device capable of locating a target positioning device sends anchor node device information to the target positioning device when receiving a positioning task sent by the target positioning device.

[0187] The anchor node device information is used to determine the credibility of the anchor node device.

[0188] Optionally, the anchor node device information includes at least one of the remaining energy, positioning distance, positioning angle, node vulnerability, attack probability, node social value, and trust value of the anchor node device, but is not limited to this, and the embodiments of the present application do not make specific limitations on this.

[0189] S404: The target positioning device receives anchor node device information.

[0190] S405: The target positioning device calculates a trust value based on the anchor node device information, and screens candidate anchor node devices from the anchor node devices based on the trust value.

[0191] The candidate anchor node device refers to an anchor node device that locates the target positioning device.

[0192] The trust value includes a security value and a positioning quality value. The security value is used to determine the security level of the anchor node device, and the positioning quality value is used to determine the positioning accuracy of the anchor node device.

[0193] Exemplarily, the security value is calculated based on at least one of the node vulnerability, attack probability, node social value and trust value of the anchor node device. The fewer the node vulnerabilities of the anchor node device, the lower the attack probability, the lower the social value, and the higher the trust value, the higher the calculated security value.

[0194] The positioning quality value is calculated based on at least one of the remaining energy, positioning distance and positioning angle of the anchor node device. The higher the remaining energy of the anchor node device, the shorter the positioning distance and the smaller the positioning angle, the higher the calculated service quality value.

[0195] S406: The candidate anchor node device performs the positioning task.

[0196] Exemplarily, the candidate node sends the relative position relationship between the target positioning device and the candidate anchor node device, and the known position information of the candidate anchor node device to the target positioning device.

[0197] S407: The target positioning device receives the relative position relationship between the target positioning device and the candidate anchor node device, and the known position information of the candidate anchor node device.

[0198] The relative position relationship refers to the relative position information of the target positioning device and the candidate anchor node device. For example, the relative position information includes the positioning distance, positioning angle, relative direction, etc. between the target positioning device and the candidate anchor node device.

[0199] Optionally, the known location information may be the location coordinates of the candidate anchor node device in a global coordinate system, or the location coordinates of the candidate anchor node device relative to other anchor node devices or other reference coordinate systems. The location information of the target positioning device may be the location coordinates of the target positioning device.

[0200] S408: The target positioning device locates the target positioning device based on the relative position relationship between the target positioning device and the candidate anchor node device and the known position information of the candidate anchor node device to obtain the position information of the target positioning device.

[0201] Exemplarily, the target positioning device is positioned based on the positioning angle, positioning distance and known position information of the candidate anchor node device. For example, in the plane rectangular coordinate system xoy, the two-dimensional plane coordinates of the anchor node device a are (10, 15), the positioning distance between the anchor node device a and the target positioning device is 20, and the angle between the line connecting the anchor node device a and the target positioning device and the x-axis direction is 30°, then the two-dimensional plane coordinates of the target positioning device are ( 25).

[0202] In summary, the target positioning device broadcasts the positioning task, and the anchor node devices that want to participate in the positioning respond to the anchor node device information, so that the target positioning device can calculate the trust value based on the anchor node device information, and evaluate the trustworthiness of the anchor node device based on the trust value, select the anchor node devices with high trustworthiness as candidate anchor node devices, and locate the target positioning device. Eliminate the anchor node devices that are vulnerable to malicious attacks, improve the trustworthiness of the anchor node devices participating in the positioning of the target positioning device, and then improve the accuracy of the positioning results.

[0203] Figure 5 A flowchart of another positioning method provided for an exemplary embodiment. The method includes:

[0204] S501: The target positioning device broadcasts the positioning task and receives the anchor node device information.

[0205] The positioning task is used to indicate the positioning requirement of the target positioning device, and the anchor node device information is used to determine the credibility of the anchor node device.

[0206] Optionally, the positioning task includes identity information (identifier), timestamp, positioning request, verification information, etc. of the target positioning device.

[0207] Optionally, the anchor node device information includes at least one of the remaining energy, positioning distance, positioning angle, node vulnerability, attack probability, node social value, and trust value of the anchor node device, but is not limited to this, and the embodiments of the present application do not make specific limitations on this.

[0208] Exemplarily, the target positioning device broadcasts the positioning task to the anchor node device, or the target positioning device broadcasts the positioning task to the anchor node devices within a certain area.

[0209] S502: The target positioning device calculates the trust value of the anchor node device based on the anchor node device information, and screens to obtain candidate anchor node devices.

[0210] The trust value includes a security value and a positioning quality value. The security value is used to determine the security level of the anchor node device, and the positioning quality value is used to determine the positioning accuracy of the anchor node device.

[0211] Exemplarily, the security value is calculated based on at least one of the node vulnerability, attack probability, node social value and trust value of the anchor node device. The fewer the node vulnerabilities of the anchor node device, the lower the attack probability, the lower the social value, and the higher the trust value, the higher the calculated security value.

[0212] The positioning quality value is calculated based on at least one of the remaining energy, positioning distance and positioning angle of the anchor node device. The higher the remaining energy of the anchor node device, the shorter the positioning distance and the smaller the positioning angle, the higher the calculated service quality value.

[0213] S503: The target positioning device determines whether the number of candidate anchor node devices meets the number of positioning anchor node devices. If not, step S504 is executed; if yes, step S505 is executed.

[0214] Among them, the number of positioning anchor node devices refers to the number of anchor node devices participating in positioning the target positioning device. This number is a default value or a manually preset value, but is not limited to this. The embodiments of the present application do not make specific limitations on this.

[0215] S504: The target positioning device adjusts the signal transmission direction between the anchor node device and the target positioning device based on the RIS.

[0216] Among them, RIS refers to a reconfigurable intelligent metasurface that can change the signal transmission between the target positioning device and the anchor node device. Adjusting the signal transmission direction between the anchor node device and the target positioning device can increase the number of candidate anchor node devices screened and ensure the calculation process of the positioning angle.

[0217] In some embodiments, the signal transmission direction is adjusted based on the RIS by changing the reflection amplitude and reflection phase of the RIS to adjust the signal transmission direction between the anchor node device and the target positioning device.

[0218] Exemplarily, a plurality of reflection units are provided on the RIS, and by adjusting the reflection amplitude and reflection phase on each reflection unit, the signal can be guided to the direction of the target positioning device or the anchor node device.

[0219] S505: The target positioning device selects i candidate anchor node devices with the highest credibility values ​​to locate the target positioning device, and obtains the location information of the target positioning device.

[0220] Among them, i is a default value, or a manually preset value, or the number of positioning anchor node devices, but is not limited to this, and the embodiments of the present application do not make specific limitations on this.

[0221] In summary, when locating the target positioning device through the anchor node device, if the number of candidate anchor node devices does not meet the number of positioning anchor node devices, the signal transmission direction between the target positioning device and the anchor node device is adjusted through RIS to increase the number of anchor node devices that can locate the target positioning device, thereby increasing the number of candidate anchor node devices and ensuring the smooth progress of the positioning process. In addition, each electromagnetic unit of RIS can be independently and flexibly controlled, achieving greater flexibility in adjusting the signal transmission direction and lower operating power consumption. Moreover, RIS adjustment also does not require changes to the anchor node device or the target positioning device itself. RIS can be flexibly deployed in various locations according to demand, further reducing the positioning cost.

[0222] like Figure 6 The structural diagram of the positioning device shown in FIG. 6 shows that the positioning device may include an acquisition module 600, a processing module 601 and a positioning module 602. The acquisition module 600 is used to execute Figure 2 The operation of step S201 in the illustrated method is also used to perform Figure 3 In the operation of step S301 of the illustrated method, the processing module 601 is used to perform Figure 2 The operation of step S202 in the illustrated method is also used to perform Figure 3 In the steps S302 and S303 of the illustrated method, the positioning module 602 is used to perform Figure 2 The operation of step S203 in the illustrated method is also used to perform Figure 3 The step S304 in the illustrated method.

[0223] In some embodiments, in order to realize the above functions, the positioning device includes hardware structures and / or software modules corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0224] The embodiment of the present application can divide the functional modules of the positioning device according to the above method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0225] like Figure 7 As shown, the computer device provided in the embodiment of the present application may include a processor 701, a bus 702, a communication interface 703, and a memory 704. The processor 701, the memory 704, and the communication interface 703 communicate with each other through the bus 702. It should be understood that the present application does not limit the number of processors and memories in the network device.

[0226] The bus 702 may be a PCI bus or an extended industry standard architecture (EISA) bus, or a USB bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 The bus 702 is represented by only one line, but it does not mean that there is only one bus or one type of bus. The bus 702 may include a path for transmitting information between various components of the computer device (for example, the memory 704, the processor 701, and the communication interface 703).

[0227] The processor 701 may include any one or more processors such as a CPU, a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0228] The memory 704 may include a volatile memory, such as a random access memory (RAM). The processor 701 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0229] The communication interface 703 uses a transceiver module such as, but not limited to, a network interface card or a transceiver to implement communication between the network device and other devices or a communication network.

[0230] The memory 704 stores executable program codes, and the processor 701 executes the executable program codes to respectively implement the functions of the aforementioned method embodiments. That is, the memory 704 stores instructions for executing the aforementioned positioning method.

[0231] On the other hand, a computer-readable storage medium is provided, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor to implement the positioning method provided in the above method embodiments.

[0232] On the other hand, a computer program product is provided. The computer program product includes a computer program or instructions. When the computer program or instructions are executed by a processor, the positioning method provided by the above method embodiments is implemented.

[0233] Through the description of the above implementation methods, technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the module is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0234] Since the positioning device, computer-readable storage medium, and computer program product in the embodiments of the present invention can be applied to the above method, the technical effects that can be obtained can also refer to the above method embodiments, and the embodiments of the present invention will not be repeated here.

[0235] The method steps in this embodiment can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device. Of course, the processor and the storage medium can also exist in a network device as discrete components.

[0236] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When a computer program or instruction is loaded and executed on a computer, the process or function of the embodiment of the present application is executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device or other programmable module. The computer program or instruction can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instruction can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that integrates one or more available media. The available medium can be a magnetic medium, for example, a floppy disk, a hard disk, a tape; it can also be an optical medium, for example, a digital video disc (digital video disc, DVD); it can also be a semiconductor medium, for example, a solid state drive (solid statedrive, SSD). The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A positioning method, characterized in that: The method comprises: Acquire anchor node device information corresponding to an anchor node device, where the anchor node device refers to a device with a known location, and the anchor node device information is used to determine the credibility of the anchor node device; Based on the anchor node device information, the anchor node devices are screened to obtain at least one candidate anchor node device that meets the positioning condition; Based on the relative position relationship between the target positioning device and the candidate anchor node device, and the known position information of the candidate anchor node device, the target positioning device is positioned to obtain the position information of the target positioning device.

2. The method according to claim 1, characterized in that The screening of the anchor node devices based on the anchor node device information to obtain at least one candidate anchor node device that meets the positioning condition includes: The trust value of the anchor node device is calculated based on the anchor node device information, and the anchor node devices are screened based on the trust value to obtain at least one candidate anchor node device that meets the positioning condition.

3. The method according to claim 2, characterized in that The trustworthy value includes a security value and a positioning quality value, wherein the security value is used to determine the security level of the anchor node device, and the positioning quality value is used to determine the positioning accuracy of the anchor node device; The screening of the anchor node devices based on the trustworthy value to obtain at least one candidate anchor node device that meets the positioning condition includes: When the security value and the positioning quality value of the anchor node device meet the positioning condition, the anchor node device that meets the positioning condition is determined as the candidate anchor node device.

4. The method according to any one of claims 1 to 3, characterized in that: The method of locating the target positioning device based on the relative position relationship between the target positioning device and the candidate anchor node device and the known position information of the candidate anchor node device to obtain the position information of the target positioning device includes: In the case where there are multiple candidate anchor node devices, based on the relative position relationship between the target positioning device and each of the candidate anchor node devices, and the known position information of each of the candidate anchor node devices, the target positioning device is positioned to obtain positioning results of each of the candidate anchor node devices for the target positioning device; The positioning results corresponding to the candidate anchor node devices are weighted averaged to obtain the location information of the target positioning device.

5. The method according to claim 4, characterized in that The relative position relationship includes a positioning distance and a positioning angle between the target positioning device and the candidate anchor node device.

6. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: In the case of performing multiple rounds of positioning on the target positioning device based on the anchor node device, the candidate anchor node devices used in each round of positioning process are the same or different.

7. The method according to claim 6, characterized in that The method further comprises: In the case where multiple rounds of positioning are performed on the target positioning device based on the anchor node device, the positioning information results of the target positioning device obtained in each round of positioning are weighted averaged to obtain the position information of the target positioning device.

8. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: In the case where the number of candidate anchor node devices does not meet the number of positioning anchor node devices, based on the reconfigurable intelligent supersurface RIS, adjusting the signal transmission direction between the anchor node device and the target positioning device, the number of positioning anchor node devices is the number of anchor node devices involved in positioning the target positioning device; The adjusted anchor node devices are screened to obtain at least one candidate anchor node device that meets the number of anchor node devices.

9. The method according to claim 8, characterized in that The adjusting the signal transmission direction between the anchor node device and the target positioning device based on RIS includes: The signal transmission direction between the anchor node device and the target positioning device is adjusted by changing the reflection amplitude and reflection phase of the RIS.

10. A positioning device, characterized in that: The device includes: An acquisition module, used to acquire anchor node device information corresponding to an anchor node device, wherein the anchor node device refers to a device with a known location, and the anchor node device information is used to determine the credibility of the anchor node device; A processing module, configured to screen the anchor node devices based on the anchor node device information to obtain at least one candidate anchor node device that meets the positioning condition; The positioning module is used to locate the target positioning device based on the relative position relationship between the target positioning device and the candidate anchor node device and the known position information of the candidate anchor node device to obtain the position information of the target positioning device.

11. A computer device, characterized in that: The computer comprises: a processor and a memory, wherein at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor to implement the positioning method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor to implement the positioning method according to any one of claims 1 to 9.

13. A computer program product, characterized in that The computer program product comprises a computer program or instructions, and when the computer program or instructions are executed by a processor, the positioning method according to any one of claims 1 to 9 is implemented.

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