3D multi-target positioning method based on large-scale MIMO double-base-station system and medium

Abstract

The invention discloses a 3D multi-target positioning method based on a large-scale MIMO double-base-station system and a medium, and belongs to the technical field of wireless communication, and the method comprises the following steps: configuring three-dimensional beam formers of a main base station and an auxiliary base station, and positioning the three-dimensional beam formers of the main base station and the auxiliary base station based on the deterministic relation between the space beam focusing direction of the main base station and the subcarrier frequency; estimating space pitch angles of the K non-cooperative targets relative to the main base station and the auxiliary base station; reconfiguring three-dimensional beam formers of the main base station and the auxiliary base station, and estimating space azimuth angles of K non-cooperative targets relative to the main base station and the auxiliary base station on an expected space pitch angle based on a deterministic relationship between a space beam focusing direction of the auxiliary base station and a subcarrier frequency; based on an angle matching algorithm, the pitch angles and azimuth angles of the K non-cooperative targets relative to the main base station and the auxiliary base station are paired, and the K non-cooperative targets are positioned. According to the invention, the problems of high calculation complexity of beam training and inaccurate far-field multi-user positioning are solved.

Description

Technical Field

[0001] The present invention relates to a 3D multi-target positioning method and a medium based on a large-scale MIMO dual-base station system, and belongs to the technical field of wireless communications. Background Art

[0002] The 6th Generation Mobile Communications (6G), as the latest development direction in the field of mobile communications, aims to build a new era of intelligent interconnection of all things. In order to support a series of emerging businesses and applications such as smart home, Internet of Vehicles, and low-altitude economy, the 6G system needs to have unprecedented communication capabilities and technical characteristics. Especially in far-field scenarios, the 6G system has extremely high accuracy requirements for the user's position and angle information. At present, the angle estimation technology in far-field scenarios mainly relies on advanced array signal processing theory, which includes but is not limited to the multiple signal classification algorithm (MUSIC), the minimum variance distortion-free response (MVDR), and the signal parameter estimation method based on rotation invariant technology (ESPRIT). These algorithms can achieve high-precision estimation of the user's angle by accurately analyzing the characteristics of the received signal, providing the 6G system with the necessary detection and positioning capabilities, and are the key technical foundation for realizing the intelligent interconnection of all things.

[0003] Although existing angle estimation techniques have achieved certain results in far-field scenarios, they face severe challenges in 6G massive multiple-input multiple-output (MIMO) systems. With the sharp increase in the number of antennas in 6G systems, traditional angle estimation algorithms have shown an exponential growth in computational complexity. Signal parameter estimation methods based on MUSIC, MVDR, and ESPRIT often consume a lot of computing resources when processing massive MIMO systems, resulting in a decrease in the overall performance of the system. In addition, the high computational complexity also limits the feasibility of these algorithms in real-time applications, making it difficult for 6G systems to bear when performing beam training. More importantly, due to the limitation of computing resources, existing technologies face huge difficulties in far-field multi-user positioning and cannot meet the needs of 6G systems for high-precision and real-time positioning. Therefore, the existing technologies have the problems of high computational complexity of beam training and inaccurate far-field multi-user positioning. Summary of the invention

[0004] The purpose of the present invention is to provide a 3D multi-target positioning method and medium based on a large-scale MIMO dual-base station system, which performs far-field multi-user positioning based on a controllable beam squint effect to solve the problems of high computational complexity of beam training and inaccurate far-field multi-user positioning.

[0005] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions:

[0006] In a first aspect, the present invention provides a 3D multi-target positioning method based on a large-scale MIMO dual-base station system, comprising:

[0007] Configure the 3D beam formers of the master and auxiliary base stations, and estimate the spatial beam focusing direction of the master base station based on the deterministic relationship between the subcarrier frequency. The spatial elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station are obtained through the trigonometric function relationship. The physical elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station;

[0008] Reconfigure the 3D beamformers of the master and auxiliary base stations, and estimate the desired spatial elevation angle based on the deterministic relationship between the auxiliary base station's spatial beam focusing direction and the subcarrier frequency. The spatial azimuth of the non-cooperative target relative to the primary base station and the auxiliary base station is obtained through the trigonometric function relationship. The physical elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station;

[0009] Reconfigure the 3D beamformer of the master base station and use the angle matching algorithm to The physical elevation angle and physical azimuth angle of each non-cooperative target relative to the primary base station and the auxiliary base station are matched. A non-cooperative target is located.

[0010] Furthermore, the main base station and the auxiliary base station are each deployed with a three-dimensional beamformer, the three-dimensional beamformer of the main base station includes a first phase shifter and a first delayer of a two-layer delay structure, and the three-dimensional beamformer of the auxiliary base station includes a second phase shifter and a second delayer of a two-layer delay structure, wherein the first layer of delay of the three-dimensional beamformer is deployed A time delay unit is used to control the time delay in the spatial azimuth direction; the second layer of the three-dimensional beamformer is deployed A delay unit is used to control the delay in the spatial pitch angle direction; the first layer of delay units and the second layer of delay units are cascaded to the antenna array through a phase shifter layer to complete the beamforming process.

[0011] Furthermore, the delay units in the first layer of delay devices and the second layer of delay devices are configured in series, that is, the output delay of each delay unit in each delay layer accumulates the delay of the previous delay unit.

[0012] Furthermore, when configuring the three-dimensional beam formers of the primary base station and the auxiliary base station,

[0013] The standard phase shift of the first phase shifter is expressed as:

[0014] ;

[0015] ;

[0016] In the formula, is the standard phase shift of the first phase shifter, is the first intermediate term, is the second intermediate term, is the lowest subcarrier frequency, is the antenna spacing, is the speed of light, is the maximum sensing spatial azimuth of the main base station, The maximum spatial pitch angle sensed by the main base station;

[0017] The standard delay of the first delay device is expressed as:

[0018] ;

[0019] In the formula, is the first layer standard delay of the first delay device, is the second layer standard delay of the first delay device, is the bandwidth of the OFDM signal, is the maximum subcarrier frequency, The minimum spatial pitch angle of the main base station;

[0020] The standard phase shift of the second phase shifter is expressed as:

[0021] ;

[0022] ;

[0023] In the formula, is the standard phase shift of the first phase shifter, is the third intermediate term, is the fourth intermediate term, is the maximum sensing spatial azimuth of the auxiliary base station, is the maximum perceived spatial pitch angle of the auxiliary base station;

[0024] The standard delay of the second delay device is expressed as:

[0025] ;

[0026] In the formula, is the first layer standard delay of the second delay unit, is the second layer standard delay of the second delay device, is the minimum spatial pitch angle perceived by the auxiliary base station.

[0027] Furthermore, when reconfiguring the three-dimensional beam formers of the primary base station and the secondary base station,

[0028] The standard phase shift of the first phase shifter is expressed as:

[0029] ;

[0030] ;

[0031] In the formula, is the standard phase shift of the first phase shifter, is the first intermediate term, is the second intermediate term, is the lowest subcarrier frequency, is the antenna spacing, is the speed of light, is the maximum sensing spatial azimuth of the main base station, For the The estimated values ​​of the spatial elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station;

[0032] The standard delay of the first delay device is expressed as:

[0033] ;

[0034] In the formula, is the first layer standard delay of the first delay device, is the second layer standard delay of the first delay device, is the bandwidth of the OFDM signal, is the maximum subcarrier frequency, The minimum sensing spatial azimuth of the main base station;

[0035] The standard phase shift of the second phase shifter is expressed as:

[0036] ;

[0037] ;

[0038] In the formula, is the standard phase shift of the second phase shifter, is the third intermediate term, is the fourth intermediate term, is the maximum sensing spatial azimuth of the auxiliary base station, For the The estimated values ​​of the spatial elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station;

[0039] The standard delay of the second delay device is expressed as:

[0040] ;

[0041] In the formula, is the first layer standard delay of the second delay unit, is the second layer standard delay of the second delay device, is the maximum sensing spatial azimuth of the auxiliary base station, is the minimum sensing spatial azimuth of the auxiliary base station.

[0042] Furthermore, the deterministic relationship between the spatial beam focusing direction of the master base station and the subcarrier frequency is expressed as:

[0043] ;

[0044] ;

[0045] In the formula, is the spatial beam focusing azimuth of the main base station, The main base station spatial beam focusing elevation angle, is the lowest subcarrier frequency, is the maximum subcarrier frequency, is the bandwidth of the OFDM signal, For the The subcarrier frequency corresponding to the subcarrier, For the The baseband frequency corresponding to the subcarrier, is the maximum sensing spatial azimuth of the main base station, is the minimum sensing spatial azimuth of the main base station, is the maximum spatial pitch angle of the main base station, Minimum pitch angle of the main base station's perception space.

[0046] Furthermore, the deterministic relationship between the auxiliary base station spatial beam focusing direction and the subcarrier frequency is expressed as:

[0047] ;

[0048] ;

[0049] In the formula, is the spatial beam focusing azimuth of the auxiliary base station, To assist the base station in spatial beam focusing elevation angle, is the lowest subcarrier frequency, is the maximum subcarrier frequency, is the bandwidth of the OFDM signal, For the The subcarrier frequency corresponding to the subcarrier, For the The baseband frequency corresponding to the subcarrier, is the maximum sensing spatial azimuth of the auxiliary base station, is the minimum sensing spatial azimuth of the auxiliary base station, is the maximum perceived spatial pitch angle of the auxiliary base station, is the minimum spatial pitch angle perceived by the auxiliary base station.

[0050] Furthermore, the 3D beamformer of the master base station is reconfigured to transform The physical elevation angle and physical azimuth angle of each non-cooperative target relative to the primary base station and the auxiliary base station are matched. Non-cooperative targets are located, including:

[0051] Will The spatial pitch angle and spatial azimuth angle of the non-cooperative target relative to the primary base station and the auxiliary base station are represented as the set and ,in, and Respectively The physical azimuth and elevation angles of the non-cooperative targets relative to the main base station, and Respectively The physical azimuth and elevation angles of the non-cooperative targets relative to the auxiliary base station;

[0052] After reconfiguring the 3D beamformer of the master base station, we get The complex channel gain from a non-cooperative target to the main base station and the complex channel gain calculated based on the estimated angle;

[0053] The absolute value of the difference between the complex channel gain obtained by minimization and the complex channel gain calculated based on the estimated angle is The physical azimuth and elevation angles of the non-cooperative targets relative to the auxiliary base station Search in and get the The physical azimuth and elevation angles of the non-cooperative targets relative to the main base station Matching physical azimuth and physical elevation angles;

[0054] based on The physical elevation angle, physical azimuth angle and distance of the non-cooperative target from the primary base station and the auxiliary base station are obtained. The position of a non-cooperative target relative to the primary base station and the auxiliary base station.

[0055] Further, when reconfiguring the three-dimensional beamformer of the primary base station, the standard phase shift of the first phase shifter is expressed as:

[0056] ;

[0057] ;

[0058] In the formula, is the standard phase shift of the first phase shifter, is the first intermediate term, is the second intermediate term, is the lowest subcarrier frequency, is the antenna spacing, is the speed of light, For the The physical azimuth of a non-cooperative target relative to the primary base station, For the The physical elevation angle of a non-cooperative target relative to the main base station, is the cosine function, is a sine function;

[0059] The standard delay of the first delay device is expressed as:

[0060]

[0061] In the formula, is the first layer standard delay of the first delay device, is the second layer standard delay of the first delay device, is the bandwidth of the OFDM signal, is the maximum subcarrier frequency.

[0062] In a second aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the 3D multi-target positioning method based on a large-scale MIMO dual base station system described in the first aspect.

[0063] Compared with the prior art, the present invention has the following beneficial effects:

[0064] 1. Based on a large-scale MIMO dual-base station system, the present invention configures the three-dimensional beam formers of the primary base station and the auxiliary base station through a controllable three-dimensional beam squint strategy to estimate the spatial azimuth, and based on an angle matching algorithm, The spatial pitch angle and spatial azimuth angle of non-cooperative targets relative to the main base station and the auxiliary base station are matched. The present invention can locate multiple non-cooperative targets and realize multi-target positioning in three-dimensional space. Compared with the traditional far-field positioning technology, the present invention greatly reduces the computational complexity of beam training in the positioning process and can obtain a smaller estimation error, which has significant advancement and effectiveness.

[0065] 2. Deployment of the first layer of delay devices of the three-dimensional beamformer provided by the present invention Delay units are used to control the delay in the spatial azimuth direction. The second layer of delay units of the three-dimensional beamformer is deployed The delay units are used to control the delay in the spatial pitch angle direction, and each layer of delay units is configured in series. Compared with the traditional non-layered, parallel delay unit architecture, it effectively expands the achievable delay range, significantly reduces the maximum delay requirement of each delay unit, and reduces the system cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a flow chart of a 3D multi-target positioning method based on a large-scale MIMO dual-base station system provided by an embodiment of the present invention;

[0067] Figure 2 is a schematic diagram of the structure of a three-dimensional beamformer provided by an embodiment of the present invention;

[0068] Figure 3 It is a schematic diagram of a model architecture based on a large-scale MIMO dual-base station system provided by an embodiment of the present invention;

[0069] Figure 4 is a schematic diagram of simulation results of the spatial azimuth provided by an embodiment of the present invention;

[0070] Figure 5 It is a schematic diagram of simulation results of the spatial pitch angle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0071] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0072] The term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship.

[0073] Example 1

[0074] like Figure 1 As shown, this embodiment introduces a 3D multi-target positioning method based on a large-scale MIMO dual-base station system, including:

[0075] Step 1: Configure the 3D beamformers of the master and auxiliary base stations, and estimate the spatial beam focusing direction of the master base station based on the deterministic relationship between the subcarrier frequency. The spatial elevation angle of a non-cooperative target relative to the primary base station and the auxiliary base station.

[0076] The present invention utilizes the antenna array of a large-scale MIMO system to form a beam pointing in a specific direction by adjusting the phase and amplitude of the transmitted or received signal of each antenna, thereby significantly improving the gain of the signal in the desired direction while reducing interference in other directions.

[0077] The spatial pitch angle describes the angular relationship between the non-cooperative target and the base station in the vertical direction. The present invention estimates the spatial pitch angle of the non-cooperative target relative to the base station through the received signal characteristics, such as arrival angle or signal strength, using a specific algorithm, such as MUSIC or ESPRIT.

[0078] Step 2: Reconfigure the 3D beamformers of the master and auxiliary base stations, and estimate the desired spatial elevation angle based on the deterministic relationship between the auxiliary base station's spatial beam focusing direction and the subcarrier frequency. The spatial orientation angle of a non-cooperative target relative to the primary base station and the auxiliary base station.

[0079] The present invention adjusts the direction of the beamformer according to the pitch angle information obtained in step one, so as to more accurately estimate the spatial azimuth of the target. When the spatial pitch angle is known, the angle relationship between the target and the base station in the horizontal direction, that is, the spatial azimuth, is estimated by further analyzing the received signal characteristics. The present invention realizes more detailed detection of the position of non-cooperative targets by dynamically adjusting the beamformer.

[0080] Step 3: Reconfigure the 3D beamformer of the master base station and use the angle matching algorithm to The spatial pitch angle and spatial azimuth angle of non-cooperative targets relative to the main base station and the auxiliary base station are matched. A non-cooperative target is located.

[0081] The present invention is based on an angle matching algorithm. By comparing the spatial pitch angles and spatial azimuth angles of non-cooperative targets measured by the main base station and the auxiliary base station, the three-dimensional position of the most matching non-cooperative target is calculated using a multi-station positioning algorithm, thereby achieving three-dimensional precise positioning of the non-cooperative target. At the same time, by combining the angle information of the two base stations, the reliability and accuracy of positioning are also improved.

[0082] Example 2

[0083] Based on the same inventive concept as Example 1, this embodiment introduces the implementation steps of a 3D multi-target positioning method based on a large-scale MIMO dual-base station system, including:

[0084] Step 1: Configure the 3D beamformers of the master and auxiliary base stations to estimate the spatial beam focusing direction of the master base station and the subcarrier frequency based on the deterministic relationship between the subcarrier frequency and the spatial beam focusing direction of the master base station. The spatial elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station are obtained through the trigonometric function relationship. The physical elevation angle of a non-cooperative target relative to the primary base station and the auxiliary base station.

[0085] Based on the massive MIMO dual-base station system Figure 2 As shown, in some embodiments, the primary base station and the auxiliary base station are each deployed with a three-dimensional beamformer, the primary base station three-dimensional beamformer includes a first phase shifter and a first delayer of a two-layer delay structure, and the auxiliary base station three-dimensional beamformer includes a second phase shifter and a second delayer of a two-layer delay structure, wherein, Figure 3 As shown, the first layer of delay devices of the three-dimensional beamformer is deployed A time delay unit is used to control the time delay in the spatial azimuth direction; the second layer of the three-dimensional beamformer is deployed A delay unit is used to control the delay in the spatial pitch angle direction; the first layer of delay units and the second layer of delay units are cascaded to the antenna array through a phase shifter layer to complete the beamforming process.

[0086] In some embodiments, the delay units in the first layer of delay units and the second layer of delay units are configured in series, that is, the output delay of each delay unit in each delay layer accumulates the delay of the previous delay unit.

[0087] In this embodiment, when configuring the three-dimensional beamformers of the primary base station and the secondary base station:

[0088] The standard phase shift of the first phase shifter is expressed as:

[0089] ;

[0090] ;

[0091] In the formula, is the standard phase shift of the first phase shifter, is the first intermediate term, is the second intermediate term, is the lowest subcarrier frequency, is the antenna spacing, is the speed of light, is the maximum sensing spatial azimuth of the main base station, The maximum spatial pitch angle of the main base station;

[0092] The standard delay of the first delay device is expressed as:

[0093] ;

[0094] In the formula, is the first layer standard delay of the first delay device, is the second layer standard delay of the first delay device, is the bandwidth of the OFDM signal, is the maximum subcarrier frequency, The minimum spatial pitch angle of the main base station;

[0095] The standard phase shift of the second phase shifter is expressed as:

[0096] ;

[0097] ;

[0098] In the formula, is the standard phase shift of the first phase shifter, is the third intermediate term, is the fourth intermediate term, is the maximum sensing spatial azimuth of the auxiliary base station, is the maximum perceived spatial pitch angle of the auxiliary base station;

[0099] The standard delay of the second delay device is expressed as:

[0100] ;

[0101] In the formula, is the first layer standard delay of the second delay unit, is the second layer standard delay of the second delay device, is the minimum spatial pitch angle perceived by the auxiliary base station.

[0102] With the above configuration, the received signal power of the main base station will exist in the spectrum peak values, among which .

[0103] according to The spatial pitch angle of a non-cooperative target relative to the main base station can be obtained based on the deterministic relationship between the main base station's spatial beam focusing direction and the subcarrier frequency: The spatial pitch angle of a non-cooperative target relative to the main base station;

[0104] according to The spatial elevation angle of a non-cooperative target relative to the main base station can be obtained based on the trigonometric function relationship: The spatial elevation angle of a non-cooperative target relative to the main base station.

[0105] In this embodiment, the deterministic relationship between the spatial beam focusing direction of the primary base station and the subcarrier frequency is expressed as:

[0106] ;

[0107] ;

[0108] In the formula, is the spatial beam focusing azimuth of the main base station, The main base station spatial beam focusing elevation angle, is the lowest subcarrier frequency, is the maximum subcarrier frequency, is the bandwidth of the OFDM signal, For the The subcarrier frequency corresponding to the subcarrier, For the The baseband frequency corresponding to the subcarrier, is the maximum sensing spatial azimuth of the main base station, is the minimum sensing spatial azimuth of the main base station, is the maximum spatial pitch angle of the main base station, Minimum pitch angle of the main base station's perception space.

[0109] Step 2: Reconfigure the 3D beamformers of the master base station and the auxiliary base station, and estimate the desired spatial elevation angle based on the deterministic relationship between the spatial beam focusing direction of the auxiliary base station and the subcarrier frequency. The spatial orientation angle of a non-cooperative target relative to the primary base station and the auxiliary base station.

[0110] In this embodiment, when reconfiguring the 3D beamformers of the master base station and the auxiliary base station:

[0111] The standard phase shift of the first phase shifter is expressed as:

[0112] ;

[0113] ;

[0114] In the formula, is the standard phase shift of the first phase shifter, is the first intermediate term, is the second intermediate term, is the lowest subcarrier frequency, is the antenna spacing, is the speed of light, is the maximum sensing spatial azimuth of the main base station, For the The estimated values ​​of the spatial elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station;

[0115] The standard delay of the first delay device is expressed as:

[0116] ;

[0117] In the formula, is the first layer standard delay of the first delay device, is the second layer standard delay of the first delay device, is the bandwidth of the OFDM signal, is the maximum subcarrier frequency, The minimum sensing spatial azimuth of the main base station;

[0118] The standard phase shift of the second phase shifter is expressed as:

[0119] ;

[0120] ;

[0121] In the formula, is the standard phase shift of the second phase shifter, is the third intermediate term, is the fourth intermediate term, is the maximum sensing spatial azimuth of the auxiliary base station, For the The estimated values ​​of the spatial elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station;

[0122] The standard delay of the second delay device is expressed as:

[0123] ;

[0124] In the formula, is the first layer standard delay of the second delay unit, is the second layer standard delay of the second delay device, is the maximum sensing spatial azimuth of the auxiliary base station, is the minimum sensing spatial azimuth of the auxiliary base station.

[0125] Similarly, the received signal power of the auxiliary base station will exist in the spectrum peak values, among which .

[0126] according to The spatial pitch angle of a non-cooperative target relative to the auxiliary base station can be obtained based on the deterministic relationship between the spatial beam focusing direction of the auxiliary base station and the subcarrier frequency: The spatial elevation angle of a non-cooperative target relative to the auxiliary base station;

[0127] according to The spatial elevation angle of a non-cooperative target relative to the auxiliary base station can be obtained based on the trigonometric function relationship: The spatial elevation angle of a non-cooperative target relative to the auxiliary base station.

[0128] In this embodiment, the deterministic relationship between the spatial beam focusing direction of the auxiliary base station and the subcarrier frequency is expressed as:

[0129] ;

[0130] ;

[0131] In the formula, is the spatial beam focusing azimuth of the auxiliary base station, To assist the base station in spatial beam focusing elevation angle, is the lowest subcarrier frequency, is the maximum subcarrier frequency, is the bandwidth of the OFDM signal, For the The subcarrier frequency corresponding to the subcarrier, For the The baseband frequency corresponding to the subcarrier, is the maximum sensing spatial azimuth of the auxiliary base station, is the minimum sensing spatial azimuth of the auxiliary base station, is the maximum perceived spatial pitch angle of the auxiliary base station, is the minimum spatial pitch angle perceived by the auxiliary base station.

[0132] Step 3: Reconfigure the 3D beamformer of the master base station and use the angle matching algorithm to The physical elevation angle and physical azimuth angle of each non-cooperative target relative to the primary base station and the auxiliary base station are matched. A non-cooperative target is located.

[0133] In some embodiments, based on an angle matching algorithm, The spatial pitch angle and spatial azimuth angle of non-cooperative targets relative to the main base station and the auxiliary base station are matched. Non-cooperative targets are located, including:

[0134] Based on the angle matching algorithm, The physical elevation angle and physical azimuth angle of each non-cooperative target relative to the primary base station and the auxiliary base station are matched. Non-cooperative targets are located, including:

[0135] Will The spatial pitch angle and spatial azimuth angle of the non-cooperative target relative to the primary base station and the auxiliary base station are represented as the set and ,in, and Respectively The physical azimuth and elevation angles of the non-cooperative targets relative to the main base station, and Respectively The physical azimuth and elevation angles of the non-cooperative targets relative to the auxiliary base station;

[0136] After reconfiguring the 3D beamformer of the master base station, we get The complex channel gain from a non-cooperative target to the main base station and the complex channel gain calculated based on the estimated angle;

[0137] The absolute value of the difference between the complex channel gain obtained by minimization and the complex channel gain calculated based on the estimated angle is The physical azimuth and elevation angles of the non-cooperative targets relative to the auxiliary base station Search in and get the The physical azimuth and elevation angles of the non-cooperative targets relative to the main base station Matching physical azimuth and physical elevation angles;

[0138] based on The physical elevation angle, physical azimuth angle and distance of the non-cooperative target from the primary base station and the auxiliary base station are obtained. The position of a non-cooperative target relative to the primary base station and the auxiliary base station.

[0139] When reconfiguring the 3D beamformer of the primary base station, the standard phase shift of the first phase shifter is expressed as:

[0140] ;

[0141] ;

[0142] In the formula, is the standard phase shift of the first phase shifter, is the first intermediate term, is the second intermediate term, is the lowest subcarrier frequency, is the antenna spacing, is the speed of light, For the The physical azimuth of a non-cooperative target relative to the primary base station, For the The physical elevation angle of a non-cooperative target relative to the main base station, is the cosine function, is a sine function;

[0143] The standard delay of the first delay device is expressed as:

[0144] ;

[0145] In the formula, is the first layer standard delay of the first delay device, is the second layer standard delay of the first delay device, is the bandwidth of the OFDM signal, is the maximum subcarrier frequency.

[0146] The said The complex channel gain from a non-cooperative target to the main base station is expressed as:

[0147] ;

[0148] in, Indicates The complex channel gain from non-cooperative targets to the main base station is: Indicates Subcarrier received signal power, is the transmit signal power.

[0149] The complex channel gain calculated based on the estimated angle is expressed as:

[0150]

[0151] in, is the complex channel gain calculated based on the estimated angle, For the The subcarrier frequency corresponding to the subcarrier, is the speed of light, is the antenna spacing, for The distance between the non-cooperative target and the main base station;

[0152] Among them, this embodiment is based on the trigonometric function relationship to obtain The distance between a non-cooperative target and the main base station is expressed as:

[0153] .

[0154] The present invention sets the number of antennas of the main base station and the auxiliary base station to , set the antenna spacing to half a wavelength by default, and set the center frequency of the OFDM signal to , the number of subcarriers is set to , the bandwidth of the OFDM signal is set to In addition, the number of non-cooperative targets is set to , the non-cooperative target is determined by the spatial range Randomly generated, the root mean square error (RMSE) is used to measure the performance of target positioning. is the radius of the space range.

[0155] Figure 4 For different spatial orientations The RMSE obtained below changes with the received signal-to-noise ratio. Figure 5 For different physical pitch angles The mean square error (RMSE) obtained below changes with the received signal-to-noise ratio. Figure 4 and Figure 5 It can be seen that the present invention can obtain a lower mean square error (RMSE), which verifies the effectiveness of the 3D multi-target positioning method based on a large-scale MIMO dual-base station system provided by the present invention.

[0156] Example 3

[0157] Based on the same inventive concept as other embodiments, this embodiment introduces a computer-readable storage medium on which computer instructions are stored, characterized in that the computer instructions implement the steps of the method of the above-mentioned embodiment 1 or 2 when executed by a processor.

[0158] In summary, the present invention is based on a large-scale MIMO dual-base station system, and configures the three-dimensional beam formers of the main base station and the auxiliary base station through a controllable three-dimensional beam squint strategy to estimate the spatial azimuth, and based on the angle matching algorithm, pairs the spatial pitch angles and spatial azimuths of the non-cooperative targets relative to the main base station and the auxiliary base station, and locates the non-cooperative targets, thus realizing multi-target positioning in three-dimensional space. Compared with traditional far-field positioning technology, the present invention greatly reduces the computational complexity of beam training during positioning, and can obtain a smaller estimation error, with significant advancement and effectiveness.

[0159] The first layer of delay devices of the three-dimensional beamformer provided by the present invention deploys delay device units for controlling the delay in the spatial azimuth direction, and the second layer of delay devices of the three-dimensional beamformer deploys delay device units for controlling the delay in the spatial elevation direction. The first layer of delay devices and the second layer of delay devices are configured in series, which effectively expands the achievable delay range compared to the traditional non-layered, parallel delay device architecture, significantly reduces the maximum delay requirement of each delay device, and reduces the system cost.

[0160] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0161] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0162] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0163] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0164] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A 3D multi-target positioning method based on a massive MIMO dual-base station system, characterized in that: include: Configure the three-dimensional beamformer of the main base station and the auxiliary base station, and estimate the spatial beam focusing direction of the main base station based on the deterministic relationship between the subcarrier frequency. The spatial elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station are obtained through the trigonometric function relationship. The physical elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station; Reconfigure the 3D beamformers of the master and auxiliary base stations, and estimate the desired spatial elevation angle based on the deterministic relationship between the auxiliary base station's spatial beam focusing direction and the subcarrier frequency. The spatial azimuth of the non-cooperative target relative to the primary base station and the auxiliary base station is obtained through the trigonometric function relationship. The physical elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station; Reconfigure the 3D beamformer of the master base station and use the angle matching algorithm to The physical elevation angle and physical azimuth angle of each non-cooperative target relative to the primary base station and the auxiliary base station are matched. A non-cooperative target is located.

2. The 3D multi-target positioning method based on a large-scale MIMO dual-base station system according to claim 1, characterized in that: The main base station and the auxiliary base station are both deployed with a three-dimensional beam former, the three-dimensional beam former of the main base station includes a first phase shifter and a first delay of a two-layer delay structure, and the three-dimensional beam former of the auxiliary base station includes a second phase shifter and a second delay of a two-layer delay structure, wherein the first layer of delay of the three-dimensional beam former is deployed A time delay unit is used to control the time delay in the spatial azimuth direction; the second layer of the three-dimensional beamformer is deployed A delay unit is used to control the delay in the spatial pitch angle direction; the first layer of delay units and the second layer of delay units are cascaded to the antenna array through a phase shifter layer to complete the beamforming process.

3. The 3D multi-target positioning method based on a large-scale MIMO dual-base station system according to claim 2, characterized in that: The delay units in the first layer of delay devices and the second layer of delay devices are configured in series, that is, the output delay of each delay unit in each delay layer accumulates the delay of the previous delay unit.

4. The 3D multi-target positioning method based on a massive MIMO dual-base station system according to claim 3, characterized in that: When configuring the 3D beamformer of the primary and secondary base stations, The standard phase shift of the first phase shifter is expressed as: ； ； In the formula, is the standard phase shift of the first phase shifter, is the first intermediate term, is the second intermediate term, is the lowest subcarrier frequency, is the antenna spacing, is the speed of light, is the maximum sensing spatial azimuth of the main base station, The maximum spatial pitch angle of the main base station; The standard delay of the first delay device is expressed as: ； In the formula, is the first layer standard delay of the first delay device, is the second layer standard delay of the first delay device, is the bandwidth of the OFDM signal, is the maximum subcarrier frequency, The minimum spatial pitch angle of the main base station; The standard phase shift of the second phase shifter is expressed as: ； ； In the formula, is the standard phase shift of the first phase shifter, is the third intermediate term, is the fourth intermediate term, is the maximum sensing spatial azimuth of the auxiliary base station, is the maximum perceived spatial pitch angle of the auxiliary base station; The standard delay of the second delay device is expressed as: ； In the formula, is the first layer standard delay of the second delay unit, is the second layer standard delay of the second delay device, is the minimum spatial pitch angle perceived by the auxiliary base station.

5. The 3D multi-target positioning method based on a massive MIMO dual-base station system according to claim 1, characterized in that: When reconfiguring the 3D beamformers of the primary and secondary base stations, The standard phase shift of the first phase shifter is expressed as: ； ； In the formula, is the standard phase shift of the first phase shifter, is the first intermediate term, is the second intermediate term, is the lowest subcarrier frequency, is the antenna spacing, is the speed of light, is the maximum sensing spatial azimuth of the main base station, For the The estimated values ​​of the spatial elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station; The standard delay of the first delay device is expressed as: ； In the formula, is the first layer standard delay of the first delay device, is the second layer standard delay of the first delay device, is the bandwidth of the OFDM signal, is the maximum subcarrier frequency, The minimum sensing spatial azimuth of the main base station; The standard phase shift of the second phase shifter is expressed as: ； ； In the formula, is the standard phase shift of the second phase shifter, is the third intermediate term, is the fourth intermediate term, is the maximum sensing spatial azimuth of the auxiliary base station, For the The estimated values ​​of the spatial elevation angles of the non-cooperative targets relative to the primary base station and the auxiliary base station; The standard delay of the second delay device is expressed as: ； In the formula, is the first layer standard delay of the second delay unit, is the second layer standard delay of the second delay device, is the maximum sensing spatial azimuth of the auxiliary base station, is the minimum sensing spatial azimuth of the auxiliary base station.

6. The 3D multi-target positioning method based on a massive MIMO dual-base station system according to claim 1, characterized in that: The deterministic relationship between the spatial beam focusing direction of the master base station and the subcarrier frequency is expressed as: ； ； In the formula, is the spatial beam focusing azimuth of the main base station, The main base station spatial beam focusing elevation angle, is the lowest subcarrier frequency, is the maximum subcarrier frequency, is the bandwidth of the OFDM signal, For the The subcarrier frequency corresponding to the subcarrier, For the The baseband frequency corresponding to the subcarrier, is the maximum sensing spatial azimuth of the main base station, is the minimum sensing spatial azimuth of the main base station, is the maximum spatial pitch angle of the main base station, Minimum pitch angle of the main base station's perception space.

7. The 3D multi-target positioning method based on a massive MIMO dual-base station system according to claim 1, characterized in that: The deterministic relationship between the auxiliary base station spatial beam focusing direction and the subcarrier frequency is expressed as: ； ； In the formula, is the spatial beam focusing azimuth of the auxiliary base station, To assist the base station in spatial beam focusing elevation angle, is the lowest subcarrier frequency, is the maximum subcarrier frequency, is the bandwidth of the OFDM signal, For the The subcarrier frequency corresponding to the subcarrier, For the The baseband frequency corresponding to the subcarrier, is the maximum sensing spatial azimuth of the auxiliary base station, is the minimum sensing spatial azimuth of the auxiliary base station, is the maximum perceived spatial pitch angle of the auxiliary base station, is the minimum spatial pitch angle perceived by the auxiliary base station.

8. The 3D multi-target positioning method based on a massive MIMO dual-base station system according to claim 1, characterized in that: Reconfigure the 3D beamformer of the master base station and use the angle matching algorithm to The physical elevation angle and physical azimuth angle of each non-cooperative target relative to the primary base station and the auxiliary base station are matched. Non-cooperative targets are located, including: Will The spatial pitch angle and spatial azimuth angle of the non-cooperative target relative to the primary base station and the auxiliary base station are represented as the set and ,in, and Respectively The physical azimuth and elevation angles of the non-cooperative targets relative to the main base station, and Respectively The physical azimuth and elevation angles of the non-cooperative targets relative to the auxiliary base station; After reconfiguring the 3D beamformer of the master base station, we get The complex channel gain from a non-cooperative target to the main base station and the complex channel gain calculated based on the estimated angle; The absolute value of the difference between the complex channel gain obtained by minimization and the complex channel gain calculated based on the estimated angle is The physical azimuth and elevation angles of the non-cooperative targets relative to the auxiliary base station Search in and get the The physical azimuth and elevation angles of the non-cooperative targets relative to the main base station Matching physical azimuth and physical elevation angles; based on The physical elevation angle, physical azimuth angle and distance of the non-cooperative target from the primary base station and the auxiliary base station are obtained. The position of a non-cooperative target relative to the primary base station and the auxiliary base station.

9. The 3D multi-target positioning method based on a massive MIMO dual-base station system according to claim 8, characterized in that: When reconfiguring the 3D beamformer of the primary base station, the standard phase shift of the first phase shifter is expressed as: ； ； In the formula, is the standard phase shift of the first phase shifter, is the first intermediate term, is the second intermediate term, is the lowest subcarrier frequency, is the antenna spacing, is the speed of light, For the The physical azimuth of a non-cooperative target relative to the primary base station, For the The physical elevation angle of a non-cooperative target relative to the main base station, is the cosine function, is a sine function; The standard delay of the first delay device is expressed as: ； In the formula, is the first layer standard delay of the first delay device, is the second layer standard delay of the first delay device, is the bandwidth of the OFDM signal, is the maximum subcarrier frequency.

10. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by a processor, the steps of the 3D multi-target positioning method based on a large-scale MIMO dual base station system described in any one of claims 1-9 are implemented.

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