Positioning method and system, signal distribution method, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a positioning method and system, a signal distribution method, electronic equipment and a storage medium, the system comprises main control equipment deployed in an outdoor area of a target building and indoor distribution antennas deployed in different indoor areas of the target building, and the main control equipment is connected with the indoor distribution antennas through connecting wires. The position of the indoor distribution antenna is fixed; the main control equipment delays the positioning satellite signal according to a preset delay duration corresponding to the indoor distribution antenna and then distributes the positioning satellite signal to the indoor distribution antenna through the connecting line; the indoor distribution antenna broadcasts the received positioning satellite signal; the positioned equipment receives the positioning satellite signal from the target indoor distribution antenna, performs positioning calculation on the positioning satellite signal to obtain the signal receiving time of the positioning satellite signal received by the main control equipment, and obtains the difference value between the signal receiving time and the system time of the positioned equipment as the signal delay time difference; and determining the positioning position of the positioned device based on the signal delay time difference and the corresponding relationship between the preset delay time length and the indoor distribution antenna.

Description

Technical Field

[0001] The present disclosure relates to the field of positioning technology, and in particular to a positioning method and system, a signal distribution method, an electronic device and a storage medium. Background Art

[0002] In outdoor areas, mobile devices can be positioned through GNSS (Global Navigation Satellite System) signals. In indoor areas, since GNSS positioning satellite signals are blocked, mobile devices located in indoor areas cannot be positioned through GNSS signals. Therefore, existing technologies have proposed technologies such as WIFI positioning, Bluetooth positioning, RFID positioning, and visual positioning to position mobile devices located indoors.

[0003] The inventors of the present disclosure have found that WIFI positioning and Bluetooth positioning require fingerprint matching based on the strength of the WIFI signal or Bluetooth signal received by the mobile device, but the strength of these signals will be affected by the aging of WIFI and Bluetooth devices, the hardware performance differences of the mobile device, etc.; RFID positioning requires the deployment of special equipment indoors and the positioning distance is limited; visual positioning is affected by the brightness of the indoor light. Therefore, it is necessary to provide a positioning technology solution that can provide stable positioning services for different areas indoors. Summary of the invention

[0004] Embodiments of the present disclosure provide a positioning method and system, a signal distribution method, an electronic device, and a storage medium.

[0005] In a first aspect, an embodiment of the present disclosure provides a positioning system, comprising: a main control device deployed in an outdoor area of ​​a target building and more than one indoor antenna deployed in different indoor areas of the target building, the main control device is connected to each indoor antenna through a connecting line, and the position of each indoor antenna in the indoor area is fixed; The main control device is used to receive positioning satellite signals, and delay the same positioning satellite signal according to the preset delay time corresponding to the indoor antenna and then distribute it to the indoor antenna through the connecting line; The indoor antenna is used to broadcast the received positioning satellite signal; The located device is used to receive a positioning satellite signal from a target indoor antenna, perform positioning calculation on the positioning satellite signal, obtain a signal reception time when the main control device receives the positioning satellite signal, and obtain a difference between the signal reception time and the system time of the located device as a signal delay time difference of the positioning satellite signal distributed from the main control device to the target indoor antenna, and the target indoor antenna is one of the indoor antennas; The located device determines the target indoor antenna that broadcasts the received positioning satellite signal based on the signal delay time difference and the correspondence between the preset delay time and the indoor antenna, and determines the positioning position of the target indoor antenna as the positioning position of the located device.

[0006] In a second aspect, an embodiment of the present invention provides a positioning method for positioning a positioned device located in an indoor area of ​​a target building, comprising: Receive a positioning satellite signal from a target indoor antenna; wherein the target indoor antenna is one of the indoor antennas deployed in different indoor areas of the target building, each indoor antenna is fixed in position in the indoor area, and the satellite positioning signal is a master control device deployed in the outdoor area of ​​the target building that delays the same positioning satellite signal received by the master control device according to a preset delay time corresponding to the indoor antenna and then distributes it to the indoor antenna through a connecting line; Performing positioning calculation on the positioning satellite signal to obtain a signal receiving time when the main control device receives the positioning satellite signal; Obtaining the difference between the signal reception time and the system time as the signal delay time difference of the positioning satellite signal distributed from the main control device to the target indoor antenna; Based on the correspondence between the signal delay time difference and the preset delay time length and the indoor antenna, the target indoor antenna that broadcasts the received positioning satellite signal is determined, and the positioning position of the target indoor antenna is determined as the positioning position.

[0007] In a third aspect, an embodiment of the present invention provides a signal distribution method, which is executed by a master control device deployed in an outdoor area of ​​a target building, and includes: Receive positioning satellite signals; The same positioning satellite signal is delayed according to the preset delay time corresponding to the indoor antenna and then distributed to the indoor antenna through a connecting line, so that the positioning satellite signal is broadcast to the located device located in the indoor area of ​​the target building through the indoor antenna; wherein the indoor antenna is deployed in different indoor areas of the target building, and the position of each indoor antenna in the indoor area is fixed.

[0008] In a fourth aspect, an embodiment of the present disclosure provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method described in any one of the above aspects.

[0009] In a fifth aspect, an embodiment of the present disclosure provides a computer-readable storage medium for storing computer instructions used by any of the above-mentioned devices, and when the computer instructions are executed by a processor, they are used to implement the method described in any of the above-mentioned aspects.

[0010] In a sixth aspect, an embodiment of the present disclosure provides a computer program product, which includes computer instructions, and when the computer instructions are executed by a processor, they are used to implement the method described in any of the above aspects.

[0011] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: The technical solution provided by the embodiment of the present disclosure includes: a main control device deployed in the outdoor area of ​​the target building, and multiple indoor antennas deployed at different locations in the indoor area of ​​the target building, and the indoor antennas are connected to the main control device through connecting lines. The main control device receives the positioning satellite signal, delays the same positioning satellite signal by different preset delay times, and distributes it to different indoor antennas, and different indoor antennas correspond to the preset delay times one by one. The located device located in the indoor area of ​​the target building receives the positioning satellite signal from the target indoor antenna, obtains the signal reception time of the positioning satellite signal by solving, and calculates the difference between the signal reception time and the system time when the located device actually receives the positioning satellite signal, and based on the correspondence between the difference and the indoor antenna and the preset delay time, determines the target indoor antenna that broadcasts the received positioning satellite signal, and finally determines the positioning position of the target indoor antenna as the positioning position of the located device. Since the signal transmission time when the main control device distributes the positioning satellite signal to different indoor antennas through the connecting line can be ignored, the difference obtained by subtracting the signal reception time when the main control device receives the positioning satellite signal from the system time when the located device actually receives the positioning satellite signal is generally equal to the preset delay time corresponding to the target indoor antenna. Therefore, by matching the difference with the preset delay time, it is possible to know which target indoor antenna is. Since the position of the indoor antenna is fixed and known, the distance between the located device and the target indoor antenna is usually short. Therefore, the positioning position of the target indoor antenna is determined as the positioning position of the located device, which can ensure the positioning quality of the located device. In addition, the indoor antenna and the main control device are connected by the connecting line so that the positioning satellite signal can be stably broadcast in the indoor area, thereby providing stable positioning services for the located device.

[0012] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Other features, objectives and advantages of the present disclosure will become more apparent through the following detailed description of non-limiting embodiments in conjunction with the accompanying drawings. In the accompanying drawings:

[0014] Figure 1 A structural block diagram of a positioning system according to an embodiment of the present disclosure is shown.

[0015] Figure 2A flowchart of a positioning method according to an embodiment of the present disclosure is shown.

[0016] Figure 3 A flow chart of a signal distribution method according to an embodiment of the present disclosure is shown.

[0017] Figure 4 A structural block diagram of a positioning device according to an embodiment of the present disclosure is shown.

[0018] Figure 5 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0019] Figure 6 It is a structural diagram of a computer system suitable for implementing a positioning method and / or a signal distribution method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, parts not related to the description of the exemplary embodiments are omitted in the accompanying drawings.

[0021] In the present disclosure, it should be understood that terms such as "include" or "have" are intended to indicate the presence of features, numbers, steps, behaviors, components, parts, or a combination thereof disclosed in the specification, and do not exclude the possibility that one or more other features, numbers, steps, behaviors, components, parts, or a combination thereof exist or are added.

[0022] It should also be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] The user information (including but not limited to user device information such as location information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0024] The details of the embodiments of the present disclosure are described in detail below through specific examples.

[0025] Figure 1 FIG. 2 shows a structural block diagram of a positioning system according to an embodiment of the present disclosure. Figure 1As shown, the positioning system includes: a main control device deployed in the outdoor area of ​​the target building and more than one indoor antenna deployed in different indoor areas of the target building, the main control device is connected to each indoor antenna through a connecting line, and the position of each indoor antenna in the indoor area is fixed (and known);

[0026] The main control device is used to receive positioning satellite signals, and delay the same positioning satellite signal according to the preset delay time corresponding to the indoor antenna and then distribute it to the indoor antenna through the connecting line; The positioning satellite signal refers to the GNSS signal received by the main control device from the satellite, and the GNSS signal can be a GPS signal, other satellite signals, etc. Different indoor antennas in the same indoor area have different preset delay times, and the corresponding relationship between the indoor antenna and the delay time is pre-established.

[0027] The indoor antenna is used to broadcast the received positioning satellite signal; The located device is used to receive a positioning satellite signal from a target indoor antenna, perform positioning calculation on the positioning satellite signal, obtain a signal reception time when the main control device receives the positioning satellite signal, and obtain a difference between the signal reception time and the system time of the located device as a signal delay time difference of the positioning satellite signal distributed from the main control device to the target indoor antenna, and the target indoor antenna is one of the indoor antennas; The located device determines the target indoor antenna that broadcasts the received positioning satellite signal based on the signal delay time difference and the correspondence between the preset delay time and the indoor antenna, and determines the positioning position of the target indoor antenna as the positioning position of the located device.

[0028] In this embodiment, the main control device at least integrates a GNSS receiving module and has the ability to control the broadcasting of positioning satellite signals. The main control device can be a hardware device designed and implemented by the technical implementer of the solution, or it can be an existing hardware device that has been modified to enable it to have the ability to receive GNSS signals and control the broadcasting of signals.

[0029] The main control device can be deployed in a usually open outdoor area such as the roof of the target building, an outdoor platform, etc. to ensure the quality of the positioning satellite signal received by the main control device; the indoor antennas are deployed in different indoor areas of the target building. After the positioned device enters the indoor area of ​​the target building, it can receive the positioning satellite signal broadcast by a certain indoor antenna at any position in the indoor area. Therefore, the number of indoor antennas can be calculated based on the area of ​​the indoor area and the installation principle that the positioned device only receives the GNSS signal broadcast by one indoor antenna at any position in the indoor area. The present disclosure does not impose any restriction on the number of indoor antennas.

[0030] The present invention uses a main control device to actively delay the positioning satellite signal before distributing it to the indoor antenna, so that there is a time difference between the time when the indoor antenna receives the positioning satellite signal and the time when the main control device receives the positioning satellite signal. Since the main control device and the indoor antenna are connected by wire, the transmission time of the positioning satellite signal from the main control device to the indoor antenna can be ignored. Therefore, the time difference is basically equal to the delay duration of the main control device actively delaying the signal when distributing the positioning satellite signal to the indoor antenna.

[0031] For example, there are N indoor antennas, and the preset delay time corresponding to each indoor antenna is 0 seconds, 2 seconds, ..., 2 (N-1) seconds. After receiving the positioning satellite signal, the main control device waits for 0 seconds / directly distributes the positioning satellite signal to indoor antenna 1, waits for 2 seconds to distribute the positioning satellite signal to indoor antenna 2, ..., waits for 2 (N-1) seconds to distribute the positioning satellite signal to indoor antenna N. When the position of the indoor antenna does not change, the preset delay time corresponding to the indoor antenna is also fixed, that is, for the same indoor antenna, the main control device waits for the delay time of distributing the positioning satellite signal to the indoor antenna each time. The above-mentioned example of the preset delay time is only to more clearly illustrate the process of the main control device distributing the positioning satellite signal, and should not be regarded as a limitation of the present disclosure. Those skilled in the art can set the delay time of the indoor antenna according to the actual situation. The delay time of the indoor antenna can be set according to a regular relationship, such as a geometric relationship or an arithmetic difference relationship, or it can be an irregular random number, which does not affect the implementation of the present disclosure. This description is applicable to all embodiments of the present disclosure.

[0032] The indoor antenna located in the indoor area of ​​the target building is used to broadcast the received positioning satellite signal. At the same time, the located device located in the indoor area can receive the positioning satellite signal from a target indoor antenna. In order to ensure the accuracy of positioning, the target indoor antenna is the indoor antenna with the shortest / closest distance to the located device. Therefore, the transmission time of the positioning satellite signal from the indoor antenna to the located device can also be ignored.

[0033] The located device performs positioning solution on the received positioning satellite signal, and based on the pseudo-range observation in the positioning satellite signal, it can solve the signal reception time when the main control device receives the positioning satellite signal, which is usually UTC time. The located device calculates the difference between the signal reception time and the system time when the located device receives the positioning satellite signal, and can obtain the signal delay time from the main control device receiving the positioning satellite signal to the distribution of the signal to the target room antenna. Among them, the system time of the located device can be the network calibration time of the located device.

[0034] It should be noted that the positioning satellite signal is distributed by the main control device to the target indoor antenna through the connecting line, and then the time taken to broadcast from the target indoor antenna to the located device is relatively short, and may not be in the same order of magnitude as the preset delay time. For example, the time taken is usually in the microsecond level, and the preset delay time is set to the second level, so the above time taken can be ignored. Therefore, the signal delay time difference obtained by subtracting the signal reception time when the main control device receives the positioning satellite signal from the system time when the located device receives the positioning satellite signal is almost equal to the preset delay time corresponding to the target indoor antenna, so the signal delay time difference is matched with the preset delay time of each indoor antenna, and the matched preset delay time corresponds to the target indoor antenna, and the located device receives the positioning satellite signal from the indoor antenna closest to itself, so the positioning position of the target indoor antenna can be used as the positioning position of the located device. Those skilled in the art can adjust the position and number of indoor antennas deployed in indoor areas according to the allowable accuracy deviation between the positioning position of the target indoor antenna and the actual position of the device to be located, so that the positioning accuracy of using the positioning position of the target indoor antenna as the positioning position of the device to be located meets the requirements.

[0035] In some embodiments, during actual application, the signal reception time calculated by the positioned device through the positioning solution method based on the positioning satellite signal is UTC time, and the UTC time format is: "YYYY-MM-DDTHH:MM:SS.SSSZ", for example, 2024-09-11T06:00:00.000Z. Therefore, based on the signal reception time and the system time of the positioned device, the calculated signal delay time difference also includes seconds-level time difference and time difference lower than seconds. When the preset delay duration is set to seconds, the positioned device can match the seconds-level time difference in the signal delay time difference with the preset delay duration corresponding to each indoor antenna, and determine the indoor antenna whose seconds-level time difference is the same as the delay duration or the difference is within a preset threshold as the target indoor antenna for broadcasting the positioning satellite signal received by the positioned device.

[0036] The technical solution provided by the embodiment of the present disclosure includes: a main control device deployed in the outdoor area of ​​the target building, and multiple indoor antennas deployed at different locations in the indoor area of ​​the target building, and the indoor antennas are connected to the main control device through connecting lines. The main control device receives the positioning satellite signal, delays the same positioning satellite signal by different preset delay times, and distributes it to different indoor antennas, and different indoor antennas correspond to the preset delay times one by one. The located device located in the indoor area of ​​the target building receives the positioning satellite signal from the target indoor antenna, obtains the signal reception time of the positioning satellite signal by solving, and calculates the difference between the signal reception time and the system time when the located device actually receives the positioning satellite signal, and based on the correspondence between the difference and the indoor antenna and the preset delay time, determines the target indoor antenna that broadcasts the received positioning satellite signal, and finally determines the positioning position of the target indoor antenna as the positioning position of the located device. Since the signal transmission time when the main control device distributes the positioning satellite signal to different indoor antennas through the connecting line can be ignored, the difference obtained by subtracting the signal reception time when the main control device receives the positioning satellite signal from the system time when the located device actually receives the positioning satellite signal is generally equal to the preset delay time corresponding to the target indoor antenna. Therefore, by matching the difference with the preset delay time, it is possible to know which target indoor antenna is. Since the position of the indoor antenna is fixed and known, the distance between the located device and the target indoor antenna is usually short. Therefore, the positioning position of the target indoor antenna is determined as the positioning position of the located device, which can ensure the positioning quality of the located device. In addition, the indoor antenna and the main control device are connected by the connecting line so that the positioning satellite signal can be stably broadcast in the indoor area, thereby providing stable positioning services for the located device.

[0037] Figure 2 FIG. 1 is a flow chart of a positioning method according to an embodiment of the present disclosure. Figure 2 As shown, the positioning method includes the following steps:

[0038] In step S201, a positioning satellite signal is received from a target indoor antenna; wherein the target indoor antenna is one of the indoor antennas deployed in different indoor areas of the target building, each indoor antenna is fixed in position in the indoor area, and the satellite positioning signal is a same positioning satellite signal received by a master control device deployed in the outdoor area of ​​the target building, which is delayed according to a preset delay time corresponding to the indoor antenna and then distributed to the indoor antenna through a connecting line; In step S202, positioning and solving the positioning satellite signal are performed to obtain the signal receiving time when the main control device receives the positioning satellite signal; In step S203, the difference between the signal reception time and the system time is obtained as the signal delay time difference of the positioning satellite signal distributed from the main control device to the target indoor antenna; In step S204, based on the correspondence between the signal delay time difference and the preset delay time and the indoor antenna, the target indoor antenna that broadcasts the received positioning satellite signal is determined, and the positioning position of the target indoor antenna is determined as the positioning position.

[0039] The positioning method in this embodiment is executed on the positioned device to locate the positioned device in the indoor area of ​​the target building. The positioned device can be a device with positioning function such as a mobile phone, a vehicle-mounted device, etc. In this method, the positioned device can use the positioning system described above to determine its own positioning position.

[0040] In the above positioning system, the main control device at least integrates a GNSS receiving module and has the ability to control the broadcasting of positioning satellite signals. The main control device can be a hardware device designed and implemented by the technical implementer of the solution, or it can be a modified existing hardware device to enable it to have the ability to receive GNSS signals and control the signal broadcasting.

[0041] The main control device can be deployed in a usually open outdoor area such as the roof of the target building, an outdoor platform, etc. to ensure the quality of the positioning satellite signal received by the main control device; the indoor antennas are deployed in different indoor areas of the target building. After the positioned device enters the indoor area of ​​the target building, it can receive the positioning satellite signal broadcast by a certain indoor antenna at any position in the indoor area. Therefore, the number of indoor antennas can be calculated based on the area of ​​the indoor area and the installation principle that the positioned device only receives the GNSS signal broadcast by one indoor antenna at any position in the indoor area. The present disclosure does not impose any restriction on the number of indoor antennas.

[0042] The present invention uses a main control device to actively delay the positioning satellite signal before distributing it to the indoor antenna, so that there is a time difference between the time when the indoor antenna receives the positioning satellite signal and the time when the main control device receives the positioning satellite signal. Since the main control device and the indoor antenna are connected by wire, the transmission time of the positioning satellite signal from the main control device to the indoor antenna can be ignored. Therefore, the time difference is basically equal to the delay duration of the main control device actively delaying the signal when distributing the positioning satellite signal to the indoor antenna.

[0043] For example, there are N indoor antennas, and the preset delay time corresponding to each indoor antenna is 0 seconds, 2 seconds, ..., 2 (N-1) seconds. After receiving the positioning satellite signal, the main control device waits for 0 seconds / directly distributes the positioning satellite signal to indoor antenna 1, waits for 2 seconds to distribute the positioning satellite signal to indoor antenna 2, ..., waits for 2 (N-1) seconds to distribute the positioning satellite signal to indoor antenna N. When the position of the indoor antenna does not change, the preset delay time corresponding to the indoor antenna is also fixed, that is, for the same indoor antenna, the main control device waits for the delay time of distributing the positioning satellite signal to the indoor antenna each time. The above-mentioned example of the preset delay time is only to more clearly illustrate the process of the main control device distributing the positioning satellite signal, and should not be regarded as a limitation of the present disclosure. Those skilled in the art can set the delay time of the indoor antenna according to the actual situation. The delay time of the indoor antenna can be set according to a regular relationship, such as a geometric relationship or an arithmetic difference relationship, or it can be an irregular random number, which does not affect the implementation of the present disclosure. This description is applicable to all embodiments of the present disclosure.

[0044] The indoor antenna located in the indoor area of ​​the target building is used to broadcast the received positioning satellite signal. At the same time, the located device located in the indoor area can receive the positioning satellite signal from a target indoor antenna. In order to ensure the accuracy of positioning, the target indoor antenna is the indoor antenna with the shortest / closest distance to the located device. Therefore, the transmission time of the positioning satellite signal from the indoor antenna to the located device can also be ignored.

[0045] The located device performs positioning solution on the received positioning satellite signal, and based on the pseudo-range observation in the positioning satellite signal, it can solve the signal reception time when the main control device receives the positioning satellite signal, which is usually UTC time. The located device calculates the difference between the signal reception time and the system time when the located device receives the positioning satellite signal, and can obtain the signal delay time from the main control device receiving the positioning satellite signal to the distribution of the signal to the target room antenna. Among them, the system time of the located device can be the network calibration time of the located device.

[0046] It should be noted that the positioning satellite signal is distributed by the main control device to the target indoor antenna through the connecting line, and then the time taken to broadcast from the target indoor antenna to the located device is relatively short, and may not be in the same order of magnitude as the preset delay time. For example, the time taken is usually in the microsecond level, and the preset delay time is set to the second level, so the above time taken can be ignored. Therefore, the signal delay time difference obtained by subtracting the signal reception time when the main control device receives the positioning satellite signal from the system time when the located device receives the positioning satellite signal is almost equal to the preset delay time corresponding to the target indoor antenna, so the signal delay time difference is matched with the preset delay time of each indoor antenna, and the matched preset delay time corresponds to the target indoor antenna, and the located device receives the positioning satellite signal from the indoor antenna closest to itself, so the positioning position of the target indoor antenna can be used as the positioning position of the located device. Those skilled in the art can adjust the position and number of indoor antennas deployed in indoor areas according to the allowable accuracy deviation between the positioning position of the target indoor antenna and the actual position of the device to be located, so that the positioning accuracy of using the positioning position of the target indoor antenna as the positioning position of the device to be located meets the requirements.

[0047] In some embodiments, during the actual application process, the signal reception time calculated by the positioned device through the positioning solution method based on the positioning satellite signal is UTC time, and the UTC time format is: "YYYY-MM-DDTHH:MM:SS.SSSZ", for example, 2024-09-11T06:00:00.000Z. Therefore, based on the signal reception time and the system time of the positioned device, the calculated signal delay time difference also includes a second-level time difference and a time difference at a level lower than the second level. When the preset delay duration is set to a second-level duration, in step S204, based on the signal delay time difference and the corresponding relationship between the preset delay duration and the indoor antenna, determining the target indoor antenna that broadcasts the received positioning satellite signal can be implemented as follows: The second-level time difference in the signal delay time difference is matched with the preset delay time corresponding to each indoor antenna, and the indoor antenna whose second-level time difference is the same as the delay time or the difference is within a preset threshold is determined as the target indoor antenna for broadcasting the positioning satellite signal received by the positioned device.

[0048] Figure 3 FIG. 1 is a flow chart showing a signal distribution method according to an embodiment of the present disclosure. Figure 3 As shown, the signal distribution method includes the following steps:

[0049] In step S301, receiving a positioning satellite signal; In step S302, the same positioning satellite signal is delayed according to the preset delay time corresponding to the indoor antenna and then distributed to the indoor antenna through a connecting line, so that the positioning satellite signal is broadcast to the located device located in the indoor area of ​​the target building through the indoor antenna; wherein the indoor antenna is deployed in different indoor areas of the target building, and the position of each indoor antenna in the indoor area is fixed.

[0050] The signal distribution method in this embodiment is executed by a master control device deployed in the outdoor area of ​​the target building. The master control device at least integrates a GNSS receiving module and has the ability to control the broadcasting of positioning satellite signals. The master control device can be a hardware device designed and implemented by the technical implementer of the solution, or it can be a modification of an existing hardware device to enable it to receive GNSS signals and control the signal broadcasting.

[0051] The main control device can be deployed in a usually open outdoor area such as the roof of the target building, an outdoor platform, etc. to ensure the quality of the positioning satellite signal received by the main control device; the indoor antennas are deployed in different indoor areas of the target building. After the positioned device enters the indoor area of ​​the target building, it can receive the positioning satellite signal broadcast by a certain indoor antenna at any position in the indoor area. Therefore, the number of indoor antennas can be calculated based on the area of ​​the indoor area and the installation principle that the positioned device only receives the GNSS signal broadcast by one indoor antenna at any position in the indoor area. The present disclosure does not impose any restriction on the number of indoor antennas.

[0052] The present invention uses a main control device to actively delay the positioning satellite signal before distributing it to the indoor antenna, so that there is a time difference between the time when the indoor antenna receives the positioning satellite signal and the time when the main control device receives the positioning satellite signal. Since the main control device and the indoor antenna are connected by wire, the transmission time of the positioning satellite signal from the main control device to the indoor antenna can be ignored. Therefore, the time difference is basically equal to the delay duration of the main control device actively delaying the signal when distributing the positioning satellite signal to the indoor antenna.

[0053] For example, there are N indoor antennas, and the preset delay time corresponding to each indoor antenna is 0 seconds, 2 seconds, ..., 2 (N-1) seconds. After receiving the positioning satellite signal, the main control device waits for 0 seconds / directly distributes the positioning satellite signal to indoor antenna 1, waits for 2 seconds to distribute the positioning satellite signal to indoor antenna 2, ..., waits for 2 (N-1) seconds to distribute the positioning satellite signal to indoor antenna N. When the position of the indoor antenna does not change, the preset delay time corresponding to the indoor antenna is also fixed, that is, for the same indoor antenna, the main control device waits for the delay time of distributing the positioning satellite signal to the indoor antenna each time. The above-mentioned example of the preset delay time is only to more clearly illustrate the process of the main control device distributing the positioning satellite signal, and should not be regarded as a limitation of the present disclosure. Those skilled in the art can set the delay time of the indoor antenna according to the actual situation. The delay time of the indoor antenna can be set according to a regular relationship, such as a geometric relationship or an arithmetic difference relationship, or it can be an irregular random number, which does not affect the implementation of the present disclosure. This description is applicable to all embodiments of the present disclosure.

[0054] The indoor antenna located in the indoor area of ​​the target building is used to broadcast the received positioning satellite signal. At the same time, the located device located in the indoor area can receive the positioning satellite signal from a target indoor antenna. In order to ensure the accuracy of positioning, the target indoor antenna is the indoor antenna with the shortest / closest distance to the located device. Therefore, the transmission time of the positioning satellite signal from the indoor antenna to the located device can also be ignored.

[0055] The located device performs positioning solution on the received positioning satellite signal, and based on the pseudo-range observation in the positioning satellite signal, it can solve the signal reception time when the main control device receives the positioning satellite signal, which is usually UTC time. The located device calculates the difference between the signal reception time and the system time when the located device receives the positioning satellite signal, and can obtain the signal delay time from the main control device receiving the positioning satellite signal to the distribution of the signal to the target room antenna. Among them, the system time of the located device can be the network calibration time of the located device.

[0056] It should be noted that the positioning satellite signal is distributed by the main control device to the target indoor antenna through the connecting line, and then the time taken to broadcast from the target indoor antenna to the located device is relatively short, and may not be in the same order of magnitude as the preset delay time. For example, the time taken is usually in the microsecond level, and the preset delay time is set to the second level, so the above time taken can be ignored. Therefore, the signal delay time difference obtained by subtracting the signal reception time when the main control device receives the positioning satellite signal from the system time when the located device receives the positioning satellite signal is almost equal to the preset delay time corresponding to the target indoor antenna, so the signal delay time difference is matched with the preset delay time of each indoor antenna, and the matched preset delay time corresponds to the target indoor antenna, and the located device receives the positioning satellite signal from the indoor antenna closest to itself, so the positioning position of the target indoor antenna can be used as the positioning position of the located device. Those skilled in the art can adjust the position and number of indoor antennas deployed in indoor areas according to the allowable accuracy deviation between the positioning position of the target indoor antenna and the actual position of the device to be located, so that the positioning accuracy of using the positioning position of the target indoor antenna as the positioning position of the device to be located meets the requirements.

[0057] The following are embodiments of the apparatus of the present disclosure, which can be used to execute embodiments of the method of the present disclosure.

[0058] Figure 4 FIG. 1 is a block diagram of a positioning device according to an embodiment of the present disclosure. The device can be implemented as part or all of an electronic device through software, hardware, or a combination of both. Figure 4 As shown, the positioning device comprises:

[0059] The receiving module 401 is configured to receive a positioning satellite signal from a target indoor antenna; wherein the target indoor antenna is one of the indoor antennas deployed in different indoor areas of the target building, each indoor antenna is fixed in position in the indoor area, and the satellite positioning signal is a same positioning satellite signal received by a master control device deployed in the outdoor area of ​​the target building, which is delayed according to a preset delay time corresponding to the indoor antenna and then distributed to the indoor antenna through a connecting line; The calculation module 402 is configured to perform positioning calculation on the positioning satellite signal to obtain the signal receiving time when the main control device receives the positioning satellite signal; The acquisition module 403 is configured to acquire the difference between the signal reception time and the system time as the signal delay time difference of the positioning satellite signal distributed from the main control device to the target indoor antenna; The determination module 404 is configured to determine the target indoor antenna that broadcasts the received positioning satellite signal based on the signal delay time difference and the corresponding relationship between the preset delay time and the indoor antenna, and determine the positioning position of the target indoor antenna as the positioning position.

[0060] The positioning device in this embodiment is executed on the positioned device and is used to position the positioned device located in the indoor area of ​​the target building. The positioned device can be a device with positioning function such as a mobile phone or a vehicle-mounted device. In the device, the positioned device can use the positioning system described above to determine its own positioning position.

[0061] In the above positioning system, the main control device at least integrates a GNSS receiving module and has the ability to control the broadcasting of positioning satellite signals. The main control device can be a hardware device designed and implemented by the technical implementer of the solution, or it can be a modified existing hardware device to enable it to have the ability to receive GNSS signals and control the signal broadcasting.

[0062] The main control device can be deployed in a usually open outdoor area such as the roof of the target building, an outdoor platform, etc. to ensure the quality of the positioning satellite signal received by the main control device; the indoor antennas are deployed in different indoor areas of the target building. After the positioned device enters the indoor area of ​​the target building, it can receive the positioning satellite signal broadcast by a certain indoor antenna at any position in the indoor area. Therefore, the number of indoor antennas can be calculated based on the area of ​​the indoor area and the installation principle that the positioned device only receives the GNSS signal broadcast by one indoor antenna at any position in the indoor area. The present disclosure does not impose any restriction on the number of indoor antennas.

[0063] The present invention uses a main control device to actively delay the positioning satellite signal before distributing it to the indoor antenna, so that there is a time difference between the time when the indoor antenna receives the positioning satellite signal and the time when the main control device receives the positioning satellite signal. Since the main control device and the indoor antenna are connected by wire, the transmission time of the positioning satellite signal from the main control device to the indoor antenna can be ignored. Therefore, the time difference is basically equal to the delay duration of the main control device actively delaying the signal when distributing the positioning satellite signal to the indoor antenna.

[0064] For example, there are N indoor antennas, and the preset delay time corresponding to each indoor antenna is 0 seconds, 2 seconds, ..., 2 (N-1) seconds. After receiving the positioning satellite signal, the main control device waits for 0 seconds / directly distributes the positioning satellite signal to indoor antenna 1, waits for 2 seconds to distribute the positioning satellite signal to indoor antenna 2, ..., waits for 2 (N-1) seconds to distribute the positioning satellite signal to indoor antenna N. When the position of the indoor antenna does not change, the preset delay time corresponding to the indoor antenna is also fixed, that is, for the same indoor antenna, the main control device waits for the delay time of distributing the positioning satellite signal to the indoor antenna each time. The above-mentioned example of the preset delay time is only to more clearly illustrate the process of the main control device distributing the positioning satellite signal, and should not be regarded as a limitation of the present disclosure. Those skilled in the art can set the delay time of the indoor antenna according to the actual situation. The delay time of the indoor antenna can be set according to a regular relationship, such as a geometric relationship or an arithmetic difference relationship, or it can be an irregular random number, which does not affect the implementation of the present disclosure. This description is applicable to all embodiments of the present disclosure.

[0065] The indoor antenna located in the indoor area of ​​the target building is used to broadcast the received positioning satellite signal. At the same time, the located device located in the indoor area can receive the positioning satellite signal from a target indoor antenna. In order to ensure the accuracy of positioning, the target indoor antenna is the indoor antenna with the shortest / closest distance to the located device. Therefore, the transmission time of the positioning satellite signal from the indoor antenna to the located device can also be ignored.

[0066] The located device performs positioning solution on the received positioning satellite signal, and based on the pseudo-range observation in the positioning satellite signal, it can solve the signal reception time when the main control device receives the positioning satellite signal, which is usually UTC time. The located device calculates the difference between the signal reception time and the system time when the located device receives the positioning satellite signal, and can obtain the signal delay time from the main control device receiving the positioning satellite signal to the distribution of the signal to the target room antenna. Among them, the system time of the located device can be the network calibration time of the located device.

[0067] It should be noted that the positioning satellite signal is distributed by the main control device to the target indoor antenna through the connecting line, and then the time taken to broadcast from the target indoor antenna to the located device is relatively short, and may not be in the same order of magnitude as the preset delay time. For example, the time taken is usually in the microsecond level, and the preset delay time is set to the second level, so the above time taken can be ignored. Therefore, the signal delay time difference obtained by subtracting the signal reception time when the main control device receives the positioning satellite signal from the system time when the located device receives the positioning satellite signal is almost equal to the preset delay time corresponding to the target indoor antenna, so the signal delay time difference is matched with the preset delay time of each indoor antenna, and the matched preset delay time corresponds to the target indoor antenna, and the located device receives the positioning satellite signal from the indoor antenna closest to itself, so the positioning position of the target indoor antenna can be used as the positioning position of the located device. Those skilled in the art can adjust the position and number of indoor antennas deployed in indoor areas according to the allowable accuracy deviation between the positioning position of the target indoor antenna and the actual position of the device to be located, so that the positioning accuracy of using the positioning position of the target indoor antenna as the positioning position of the device to be located meets the requirements.

[0068] In some embodiments, during actual application, the signal reception time calculated by the positioning device through the positioning solution method based on the positioning satellite signal is UTC time, and the UTC time format is: "YYYY-MM-DDTHH:MM:SS.SSSZ", for example, 2024-09-11T06:00:00.000Z. Therefore, based on the signal reception time and the system time of the positioned device, the calculated signal delay time difference also includes a second-level time difference and a time difference at a level lower than seconds. When the preset delay duration is set to a second-level duration, the determination module can be implemented as follows: The second-level time difference in the signal delay time difference is matched with the preset delay time corresponding to each indoor antenna, and the indoor antenna whose second-level time difference is the same as the delay time or the difference is within a preset threshold is determined as the target indoor antenna for broadcasting the positioning satellite signal received by the positioned device.

[0069] According to a signal distribution device in one embodiment of the present disclosure, the device can be implemented as part or all of an electronic device through software, hardware, or a combination of both. The signal distribution device includes:

[0070] A receiving module, configured to receive positioning satellite signals; The sending module is configured to delay the same positioning satellite signal according to the preset delay time corresponding to the indoor antenna and then distribute it to the indoor antenna through a connecting line, so as to broadcast the positioning satellite signal to the located device located in the indoor area of ​​the target building through the indoor antenna; wherein the indoor antenna is deployed in different indoor areas of the target building, and the position of each indoor antenna in the indoor area is fixed.

[0071] The signal distribution device in this embodiment is executed by a master control device deployed in the outdoor area of ​​the target building. The master control device at least integrates a GNSS receiving module and has the ability to control the broadcasting of positioning satellite signals. The master control device can be a hardware device designed and implemented by the technical implementer of the solution, or it can be a modification of an existing hardware device to enable it to receive GNSS signals and control the signal broadcasting.

[0072] The main control device can be deployed in a usually open outdoor area such as the roof of the target building, an outdoor platform, etc. to ensure the quality of the positioning satellite signal received by the main control device; the indoor antennas are deployed in different indoor areas of the target building. After the positioned device enters the indoor area of ​​the target building, it can receive the positioning satellite signal broadcast by a certain indoor antenna at any position in the indoor area. Therefore, the number of indoor antennas can be calculated based on the area of ​​the indoor area and the installation principle that the positioned device only receives the GNSS signal broadcast by one indoor antenna at any position in the indoor area. The present disclosure does not impose any restriction on the number of indoor antennas.

[0073] The present invention uses a main control device to actively delay the positioning satellite signal before distributing it to the indoor antenna, so that there is a time difference between the time when the indoor antenna receives the positioning satellite signal and the time when the main control device receives the positioning satellite signal. Since the main control device and the indoor antenna are connected by wire, the transmission time of the positioning satellite signal from the main control device to the indoor antenna can be ignored. Therefore, the time difference is basically equal to the delay duration of the main control device actively delaying the signal when distributing the positioning satellite signal to the indoor antenna.

[0074] For example, there are N indoor antennas, and the preset delay time corresponding to each indoor antenna is 0 seconds, 2 seconds, ..., 2 (N-1) seconds. After receiving the positioning satellite signal, the main control device waits for 0 seconds / directly distributes the positioning satellite signal to indoor antenna 1, waits for 2 seconds to distribute the positioning satellite signal to indoor antenna 2, ..., waits for 2 (N-1) seconds to distribute the positioning satellite signal to indoor antenna N. When the position of the indoor antenna does not change, the preset delay time corresponding to the indoor antenna is also fixed, that is, for the same indoor antenna, the main control device waits for the delay time of distributing the positioning satellite signal to the indoor antenna each time. The above-mentioned example of the preset delay time is only to more clearly illustrate the process of the main control device distributing the positioning satellite signal, and should not be regarded as a limitation of the present disclosure. Those skilled in the art can set the delay time of the indoor antenna according to the actual situation. The delay time of the indoor antenna can be set according to a regular relationship, such as a geometric relationship or an arithmetic difference relationship, or it can be an irregular random number, which does not affect the implementation of the present disclosure. This description is applicable to all embodiments of the present disclosure.

[0075] The indoor antenna located in the indoor area of ​​the target building is used to broadcast the received positioning satellite signal. At the same time, the located device located in the indoor area can receive the positioning satellite signal from a target indoor antenna. In order to ensure the accuracy of positioning, the target indoor antenna is the indoor antenna with the shortest / closest distance to the located device. Therefore, the transmission time of the positioning satellite signal from the indoor antenna to the located device can also be ignored.

[0076] The located device performs positioning solution on the received positioning satellite signal, and based on the pseudo-range observation in the positioning satellite signal, it can solve the signal reception time when the main control device receives the positioning satellite signal, which is usually UTC time. The located device calculates the difference between the signal reception time and the system time when the located device receives the positioning satellite signal, and can obtain the signal delay time from the main control device receiving the positioning satellite signal to the distribution of the signal to the target room antenna. Among them, the system time of the located device can be the network calibration time of the located device.

[0077] It should be noted that the positioning satellite signal is distributed by the main control device to the target indoor antenna through the connecting line, and then the time taken to broadcast from the target indoor antenna to the located device is relatively short, and may not be in the same order of magnitude as the preset delay time. For example, the time taken is usually in the microsecond level, and the preset delay time is set to the second level, so the above time taken can be ignored. Therefore, the signal delay time difference obtained by subtracting the signal reception time when the main control device receives the positioning satellite signal from the system time when the located device receives the positioning satellite signal is almost equal to the preset delay time corresponding to the target indoor antenna, so the signal delay time difference is matched with the preset delay time of each indoor antenna, and the matched preset delay time corresponds to the target indoor antenna, and the located device receives the positioning satellite signal from the indoor antenna closest to itself, so the positioning position of the target indoor antenna can be used as the positioning position of the located device. Those skilled in the art can adjust the position and number of indoor antennas deployed in indoor areas according to the allowable accuracy deviation between the positioning position of the target indoor antenna and the actual position of the device to be located, so that the positioning accuracy of using the positioning position of the target indoor antenna as the positioning position of the device to be located meets the requirements.

[0078] For other details of this embodiment, please refer to the above description of the positioning system and positioning method, which will not be repeated here.

[0079] The present disclosure also discloses an electronic device, Figure 5 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown. Figure 5 As shown, the electronic device 500 includes a memory 501 and a processor 502; wherein, The memory 501 is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor 502 to implement the above method steps.

[0080] Figure 6 It is a structural diagram of a computer system suitable for implementing a positioning method and / or a signal distribution method according to an embodiment of the present disclosure.

[0081] like Figure 6As shown, the computer system 600 includes a processing unit 601, which can be implemented as a processing unit such as a CPU, a GPU, an FPGA, and an NPU. The processing unit 601 can perform various processes in the embodiments of any of the above methods of the present disclosure according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage part 608 to a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the computer system 600 are also stored. The processing unit 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0082] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read therefrom is installed into the storage section 608 as needed.

[0083] In particular, according to an embodiment of the present disclosure, any method in the above referenced embodiment of the present disclosure may be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program tangibly contained on a machine-readable medium, and the computer program includes a program code for executing any method in the embodiment of the present disclosure. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 609, and / or installed from a removable medium 611.

[0084] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0085] The units or modules involved in the embodiments described in the present disclosure may be implemented by software or hardware. The units or modules described may also be set in a processor, and the names of these units or modules do not constitute limitations on the units or modules themselves in some cases.

[0086] As another aspect, the present disclosure further provides a computer-readable storage medium, which may be a computer-readable storage medium included in the device described in the above embodiment; or a computer-readable storage medium that exists independently and is not assembled into the device. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the method described in the present disclosure.

[0087] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present disclosure is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other.

Claims

1. A positioning system, wherein: include: A main control device deployed in an outdoor area of ​​a target building and more than one indoor antenna deployed in different indoor areas of the target building, the main control device is connected to each indoor antenna via a connecting line, and the position of each indoor antenna in the indoor area is fixed; The main control device is used to receive positioning satellite signals, and delay the same positioning satellite signal according to the preset delay time corresponding to the indoor antenna and then distribute it to the indoor antenna through the connecting line; The indoor antenna is used to broadcast the received positioning satellite signal; The located device is used to receive a positioning satellite signal from a target indoor antenna, perform positioning calculation on the positioning satellite signal, obtain a signal reception time when the main control device receives the positioning satellite signal, and obtain a difference between the signal reception time and the system time of the located device as a signal delay time difference of the positioning satellite signal distributed from the main control device to the target indoor antenna, and the target indoor antenna is one of the indoor antennas; The located device determines the target indoor antenna that broadcasts the received positioning satellite signal based on the signal delay time difference and the corresponding relationship between the preset delay time and the indoor antenna, and determines the positioning position of the target indoor antenna as the positioning position of the located device.

2. The system according to claim 1, wherein: The target indoor antenna is the indoor antenna that is closest to the located device among the indoor antennas.

3. The system according to claim 1 or 2, wherein: The located device matches the second-level time difference in the signal delay time difference with the preset delay duration corresponding to each indoor antenna, and determines the indoor antenna whose second-level time difference is the same as the delay duration or the difference is within a preset threshold as the target indoor antenna for broadcasting the positioning satellite signal received by the located device.

4. A positioning method, wherein: Used to locate the located device in the indoor area of ​​the target building, including: Receive a positioning satellite signal from a target indoor antenna; wherein the target indoor antenna is one of the indoor antennas deployed in different indoor areas of the target building, each indoor antenna is fixed in position in the indoor area, and the satellite positioning signal is a master control device deployed in the outdoor area of ​​the target building that delays the same positioning satellite signal received by the master control device according to a preset delay time corresponding to the indoor antenna and then distributes it to the indoor antenna through a connecting line; Performing positioning calculation on the positioning satellite signal to obtain a signal receiving time when the main control device receives the positioning satellite signal; Obtaining the difference between the signal reception time and the system time as the signal delay time difference of the positioning satellite signal distributed from the main control device to the target indoor antenna; Based on the correspondence between the signal delay time difference and the preset delay time and the indoor antenna, the target indoor antenna that broadcasts the received positioning satellite signal is determined, and the positioning position of the target indoor antenna is determined as the positioning position.

5. The method according to claim 4, wherein: The target indoor antenna is the indoor antenna that is closest to the located device among the indoor antennas.

6. The method according to claim 4 or 5, wherein: Based on the correspondence between the signal delay time difference and the preset delay time length and the indoor antenna, determining a target indoor antenna that broadcasts the received positioning satellite signal includes: The second-level time difference in the signal delay time difference is matched with the preset delay time corresponding to each indoor antenna, and the indoor antenna whose second-level time difference is the same as the delay time or the difference is within a preset threshold is determined as the target indoor antenna for broadcasting the positioning satellite signal received by the positioned device.

7. A signal distribution method, wherein: The method is performed by a master control device deployed in an outdoor area of ​​a target building, and the method includes: Receive positioning satellite signals; The same positioning satellite signal is delayed according to the preset delay time corresponding to the indoor antenna and then distributed to the indoor antenna through a connecting line, so that the positioning satellite signal is broadcast to the located device located in the indoor area of ​​the target building through the indoor antenna; wherein the indoor antenna is deployed in different indoor areas of the target building, and the position of each indoor antenna in the indoor area is fixed.

8. An electronic device, wherein: The method comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the method according to any one of claims 4 to 7.

9. A computer-readable storage medium having computer instructions stored thereon, wherein: When the computer instructions are executed by a processor, the method described in any one of claims 4 to 7 is implemented.

10. A computer program product comprising computer instructions, wherein: When the computer instructions are executed by a processor, the method described in any one of claims 4 to 7 is implemented.

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