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

Abstract

The application 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 a three-dimensional beamformer of a main base station and an auxiliary base station; based on a deterministic relationship between a spatial beam focusing direction of the main base station and a subcarrier frequency, estimating spatial elevation angles of K non-cooperative targets relative to the main base station and the auxiliary base station; reconfiguring the three-dimensional beamformer of the main base station and the auxiliary base station; based on a deterministic relationship between a spatial beam focusing direction of the auxiliary base station and a subcarrier frequency, estimating spatial azimuth angles of the K non-cooperative targets relative to the main base station and the auxiliary base station at expected spatial elevation angles; based on an angle matching algorithm, pairing the elevation angles and the azimuth angles of the K non-cooperative targets relative to the main base station and the auxiliary base station, and positioning the K non-cooperative targets. The application solves the problems of high computational complexity of beam training and inaccurate far-field multi-user positioning.

Description

TECHNICAL FIELD

[0001] The application relates to 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. BACKGROUND

[0002] The 6th Generation Mobile Communications (6G) is the latest development direction in the field of mobile communication, aiming to build a new era of intelligent connection 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, 6G system needs to have unprecedented communication capabilities and technical characteristics. Especially in the far field scene, 6G system has a high precision requirement for the position and angle information of the user. At present, the angle estimation technology in the far field scene mainly relies on advanced array signal processing theory, including but not limited to multiple signal classification algorithm (MUSIC), minimum variance distortionless response (MVDR) and signal parameter estimation method based on rotation invariant technology (ESPRIT) and the like. These algorithms can realize high-precision estimation of the user angle by accurately analyzing the characteristics of the received signal, providing the necessary detection and positioning capability for the 6G system, and are the key technical basis for realizing the intelligent connection of all things.

[0003] Although the existing angle estimation technology has achieved certain results in the far field scene, in the 6G large-scale multiple-input multiple-output (MIMO) system, these technologies face severe challenges. With the sharp increase in the number of 6G system antennas, the traditional angle estimation algorithm shows an exponential growth in computational complexity. The signal parameter estimation methods based on MUSIC, MVDR and ESPRIT often consume a large amount of computing resources when processing large-scale MIMO systems, resulting in a decline in the overall performance of the system. In addition, high computational complexity also limits the feasibility of these algorithms in real-time applications, making it difficult for the 6G system to bear during beam training. More critically, due to the limitation of computing resources, the existing technology faces great difficulties in positioning multiple users in the far field, and cannot meet the demand of 6G system for high-precision and real-time positioning. Therefore, the existing technology has the problems of high computational complexity of beam training and inaccurate positioning of multiple users in the far field. SUMMARY

[0004] The purpose of the present application is to provide a 3D multi-target positioning method based on a large-scale MIMO double-base station system and a medium, which solves the problems of high computational complexity of beam training and inaccurate positioning of multiple users in the far field by positioning multiple users in the far field based on controllable beam squint effect.

[0005] To solve the above technical problems, the present application is realized by adopting the following technical scheme:

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

[0007] configuring a three-dimensional beamformer of a main base station and an auxiliary base station, based on the deterministic relationship between the spatial beam focusing direction of the main base station and the subcarrier frequency, estimating the spatial elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station, and obtaining the physical elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station through a trigonometric function relationship;

[0008] based on the estimated value of the spatial elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station, reconfiguring the three-dimensional beamformer of the main base station and the auxiliary base station, based on the deterministic relationship between the spatial beam focusing direction of the auxiliary base station and the subcarrier frequency, estimating the spatial azimuth angle of the non-cooperative target relative to the main base station and the auxiliary base station at the expected spatial elevation angle, and obtaining the physical azimuth angle of the non-cooperative target relative to the main base station and the auxiliary base station through a trigonometric function relationship;

[0009] based on the physical elevation angle and the physical azimuth angle of the non-cooperative target relative to the main base station, reconfiguring the three-dimensional beamformer of the main base station, based on the angle matching algorithm, pairing the physical elevation angle and the physical azimuth angle of the non-cooperative target relative to the main base station and the auxiliary base station, and positioning the non-cooperative target.

[0010] Further, the main base station and the auxiliary base station each deploy a three-dimensional beamformer, the three-dimensional beamformer of the main base station includes a first phase shifter and a first time delay unit of a two-layer time delay unit architecture, and the three-dimensional beamformer of the auxiliary base station includes a second phase shifter and a second time delay unit of a two-layer time delay unit architecture, wherein the first layer time delay unit of the three-dimensional beamformer deploys time delay units for controlling the time delay in the spatial azimuth angle direction; the second layer time delay unit of the three-dimensional beamformer deploys time delay units for controlling the time delay in the spatial elevation angle direction; the first layer time delay unit and the second layer time delay unit are cascaded to the antenna array through the phase shifter layer to complete the beamforming process.

[0011] Further, the time delay units in the first layer time delay unit and the second layer time delay unit each adopt a serial configuration, that is, the output time delay of each time delay unit in the time delay unit layer accumulates the time delay of the previous time delay unit.

[0012] Further, when configuring the three-dimensional beamformer of the main base station and the auxiliary base station,

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

[0014] ;

[0015] ;

[0016] wherein, 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 perceived spatial azimuth angle of the main base station, is the maximum perceived spatial elevation angle of the main base station;

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

[0018] ;

[0019] wherein, is the first layer standard time delay of the first time delay device, is the second layer standard time delay of the first time delay device, is the bandwidth of the OFDM signal, is the maximum subcarrier frequency, is the minimum perceived spatial elevation angle of the main base station;

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

[0021] ;

[0022] ;

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

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

[0025] ;

[0026] wherein, a first layer standard delay of the second delay device, a second layer standard delay of the second delay device, a minimum perceived spatial azimuth angle of the secondary base station.

[0027] Further, when reconfiguring the three-dimensional beamformers of the primary base station and the secondary base station,

[0028] a standard phase shift of the first phase shifter is denoted as:

[0029] ;

[0030] ;

[0031] wherein, a standard phase shift of the first phase shifter is denoted as: a first intermediate term is denoted as: a second intermediate term is denoted as: a lowest subcarrier frequency is denoted as: an antenna spacing is denoted as: a speed of light is denoted as: a maximum perceived spatial azimuth angle of the primary base station is denoted as: an estimate of a spatial elevation angle of the non-cooperative target with respect to the primary base station and the secondary base station;

[0032] a standard delay of the first delay device is denoted as:

[0033] ;

[0034] wherein, a first layer standard delay of the first delay device is denoted as: a second layer standard delay of the first delay device is denoted as: a bandwidth of the OFDM signal is denoted as: a maximum subcarrier frequency is denoted as: a minimum perceived spatial azimuth angle of the primary base station is denoted as:

[0035] a standard phase shift of the second phase shifter is denoted as:

[0036] ;

[0037] ;

[0038] wherein, a standard phase shift of the second phase shifter is denoted as: a third intermediate term is denoted as: a fourth intermediate term is denoted as: a maximum perceived spatial azimuth angle of the secondary base station is denoted as: an estimate of a spatial elevation angle of the an estimated value of a spatial elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station;

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

[0040] ;

[0041] wherein, is the first layer standard delay of the second delay device, is the second layer standard delay of the second delay device, is the maximum perceived spatial azimuth angle of the auxiliary base station, is the minimum perceived spatial azimuth angle of the auxiliary base station.

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

[0043] ;

[0044] ;

[0045] wherein, is the spatial beam focusing azimuth angle of the main base station, is the spatial beam focusing elevation angle of the main base station, is the lowest subcarrier frequency, is the maximum subcarrier frequency, is the bandwidth of the OFDM signal, is the subcarrier frequency corresponding to the th subcarrier, is the baseband frequency corresponding to the th subcarrier, is the maximum perceived spatial azimuth angle of the main base station, is the minimum perceived spatial azimuth angle of the main base station, is the maximum perceived spatial elevation angle of the main base station, is the minimum perceived spatial elevation angle of the main base station.

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

[0047] ;

[0048] ;

[0049] wherein, is the spatial beam focusing azimuth angle of the auxiliary base station, is the spatial beam focusing elevation angle of the auxiliary base station, 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 sensing space pitch angle of the auxiliary base station, is the minimum perception space pitch angle of the auxiliary base station.

[0050] Furthermore, the 3D beamformer of the master base station is reconfigured to 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:

[0051] Will The physical elevation angle and physical azimuth angle of a 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 the 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 set of physical azimuth and elevation angles of non-cooperative targets relative to the auxiliary base station Search in and get The physical azimuth and elevation angles of the non-cooperative targets relative to the primary base station Matching physical azimuth and physical elevation angles;

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

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

[0056] ;

[0057] ;

[0058] wherein, 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 physical azimuth angle of the kth non-cooperative target relative to the main base station, is the physical elevation angle of the kth non-cooperative target relative to the main base station, is the cosine function, is the sine function; The standard time delay of the first time delay device is represented as

[0059]

[0060]

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

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

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

[0064] 1. The present application is based on a large-scale MIMO double base station system, and a controllable three-dimensional beam oblique viewing strategy is used to configure the three-dimensional beamformers of the main base station and the auxiliary base station to estimate the spatial azimuth angle, and based on an angle matching algorithm, the spatial elevation angle and the spatial azimuth angle of the kth non-cooperative target relative to the main base station and the auxiliary base station are paired, and the spatial azimuth angle of the kth non-cooperative target relative to the main base station and the auxiliary base station is calculated. 2. The present application is based on a large-scale MIMO double base station system, and a controllable three-dimensional beam oblique viewing strategy is used to configure the three-dimensional beamformers of the main base station and the auxiliary base station to estimate the spatial azimuth angle, and based on an angle matching algorithm, the spatial elevation angle and the spatial azimuth angle of the kth non-cooperative target relative to the main base station and the auxiliary base station are paired, and the spatial azimuth angle of the kth non-cooperative target relative to the main base station and the auxiliary base station is calculated. ​​The application realizes multi-target positioning in three-dimensional space, and has the advantages of significantly reducing the calculation complexity of beam training in the positioning process, being able to obtain a smaller estimation error, and being advanced and effective.

[0065] 2. The application provides a first layer of the three-dimensional beamformer A plurality of delayer units are arranged in the second layer of the three-dimensional beamformer, and are used for controlling the time delay in the spatial azimuth direction. A plurality of delayer units are arranged in the second layer of the three-dimensional beamformer, and are used for controlling the time delay in the spatial elevation direction. Compared with the traditional non-layered and parallel delayer architecture, the three-dimensional beamformer effectively expands the achievable time delay range, significantly reduces the maximum time delay requirement of each delayer, and reduces the system cost. BRIEF DESCRIPTION OF DRAWINGS

[0066] Figure 1 is a flowchart of a 3D multi-target positioning method based on a large-scale MIMO double-base station system provided by the embodiment of the application;

[0067] Figure 2 is a structural diagram of a three-dimensional beamformer provided by the embodiment of the application;

[0068] Figure 3 is a model architecture diagram based on a large-scale MIMO double-base station system provided by the embodiment of the application;

[0069] Figure 4 is a simulation result diagram of a spatial azimuth angle provided by the embodiment of the application;

[0070] Figure 5 is a simulation result diagram of a spatial elevation angle provided by the embodiment of the application. DETAILED DESCRIPTION

[0071] The technical scheme of the application will be described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific features in the embodiments and the specific features in the embodiments are detailed descriptions of the technical scheme of the application, and are not limitations of the technical scheme of the application. In the case of no conflict, the technical features in the embodiments and the embodiments can be combined with each other.

[0072] The term "and / or", only describes the association relationship of the associated objects, and represents that there can be three relationships, for example, A and / or B, which can represent three cases of A alone, A and B together, and B alone. In addition, the character " / ", generally represents that the front and rear associated objects are in an "or" relationship.

[0073] Embodiment 1

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

[0075] Step one: configure the three-dimensional beamformer of the main base station and the auxiliary base station, based on the deterministic relationship between the spatial beam focusing direction of the main base station and the subcarrier frequency, estimate The spatial elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station.

[0076] The application utilizes the antenna array of the large-scale MIMO system, adjusts the phase and amplitude of the transmitted or received signal of each antenna, forms a beam pointing to a specific direction, significantly improves the gain of the signal in the expected direction, and reduces the interference in other directions.

[0077] The spatial elevation angle describes the angle relationship between the non-cooperative target and the base station in the vertical direction, and the application estimates the spatial elevation angle of the non-cooperative target relative to the base station by using specific algorithms such as MUSIC or ESPRIT based on the received signal characteristics such as angle of arrival or signal strength.

[0078] Step two: based on The estimated value of the spatial elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station, reconfigure the three-dimensional beamformer of the main base station and the auxiliary base station, based on the deterministic relationship between the spatial beam focusing direction of the auxiliary base station and the subcarrier frequency, estimate The spatial azimuth angle of the non-cooperative target relative to the main base station and the auxiliary base station at the expected spatial elevation angle, and obtain The physical azimuth angle of the non-cooperative target relative to the main base station and the auxiliary base station through the trigonometric relationship.

[0079] According to the elevation angle information obtained in step one, the application adjusts the pointing direction of the beamformer, can more accurately estimate the spatial azimuth angle of the target, in the case where the spatial elevation angle is known, through further analysis of the received signal characteristics, estimates the angle relationship between the target and the base station in the horizontal direction, that is, the spatial azimuth angle, the application realizes more detailed detection of the position of the non-cooperative target by dynamically adjusting the beamformer.

[0080] Step three: based on The physical elevation angle and the physical azimuth angle of the non-cooperative target relative to the main base station, reconfigure the three-dimensional beamformer of the main base station, based on the angle matching algorithm, pair The physical elevation angle and the physical azimuth angle of the non-cooperative target relative to the main base station and the auxiliary base station, and Position the non-cooperative target.

[0081] The application is based on an angle matching algorithm, and the three-dimensional positions of the most matched non-cooperative targets are calculated by using a multi-station positioning algorithm, so as to realize the three-dimensional accurate positioning of the non-cooperative targets. Meanwhile, the reliability and accuracy of the positioning are improved by combining the angle information of the two base stations.

[0082] Embodiment 2

[0083] Based on the same inventive concept as embodiment 1, this embodiment introduces an implementation step of a 3D multi-target positioning method based on a large-scale MIMO double base station system, which includes:

[0084] Step 1: configure the three-dimensional beamformers of the main base station and the auxiliary base station, estimate the spatial elevation angles of the non-cooperative targets relative to the main base station and the auxiliary base station based on the deterministic relationship between the spatial beam focusing direction of the main base station and the subcarrier frequency, and obtain the physical elevation angles of the non-cooperative targets relative to the main base station and the auxiliary base station through the trigonometric function relationship.

[0085] Based on a large-scale MIMO double base station system as shown in Figure 2 In some embodiments, 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 time delay unit of a two-layer time delay unit architecture, and the three-dimensional beamformer of the auxiliary base station includes a second phase shifter and a second time delay unit of a two-layer time delay unit architecture, wherein, as shown in Figure 3 The first layer of time delay units of the three-dimensional beamformer is deployed with time delay units for controlling the time delay in the spatial azimuth angle direction; the second layer of time delay units of the three-dimensional beamformer is deployed with time delay units for controlling the time delay in the spatial elevation angle direction; the first layer of time delay units and the second layer of time delay units are cascaded to the antenna array through the phase shifter layer to complete the beamforming process.

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

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

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

[0089] ;

[0090] ;​​

[0091] wherein, is a standard phase shift of the first phase shifter, is a first intermediate term, is a second intermediate term, is a lowest subcarrier frequency, is an antenna spacing, is a light speed, is a maximum perceived spatial azimuth angle of the primary base station, is a maximum perceived spatial elevation angle of the primary base station;

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

[0093] ;

[0094] wherein, is a first layer standard delay of the first delay device, is a second layer standard delay of the first delay device, is a bandwidth of the OFDM signal, is a maximum subcarrier frequency, is a minimum perceived spatial elevation angle of the primary base station;

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

[0096] ;

[0097] ;

[0098] wherein, is a standard phase shift of the first phase shifter, is a third intermediate term, is a fourth intermediate term, is a maximum perceived spatial azimuth angle of the secondary base station, is a maximum perceived spatial elevation angle of the secondary base station;

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

[0100] ;

[0101] wherein, is a first layer standard delay of the second delay device, is a second layer standard delay of the second delay device, is a minimum perceived spatial elevation angle of the secondary base station.

[0102] With the above configuration, the received signal power of the primary base station will have peaks in the frequency spectrum, wherein, .

[0103] According to the spatial elevation angle of the non-cooperative target relative to the main base station, based on the deterministic relationship between the spatial beam focusing direction of the main base station and the subcarrier frequency, the spatial elevation angle of the non-cooperative target relative to the main base station can be obtained

[0104] According to the spatial elevation angle of the non-cooperative target relative to the main base station, based on the trigonometric function relationship, the spatial elevation angle of the non-cooperative target relative to the main base station can be obtained

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

[0106] ;

[0107] ;

[0108] In the formula, is the spatial beam focusing azimuth angle of the main base station, is the spatial beam focusing elevation angle of the main base station, is the lowest subcarrier frequency, is the maximum subcarrier frequency, is the bandwidth of the orthogonal frequency division multiplexing signal, is the subcarrier frequency corresponding to the th subcarrier, is the baseband frequency corresponding to the th subcarrier, is the maximum perceived spatial azimuth angle of the main base station, is the minimum perceived spatial azimuth angle of the main base station, is the maximum perceived spatial elevation angle of the main base station, is the minimum perceived spatial elevation angle of the main base station.

[0109] Step 2: Based on the estimated value of the spatial elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station, reconfigure the three-dimensional beamformer of the main base station and the auxiliary base station, based on the deterministic relationship between the spatial beam focusing direction of the auxiliary base station and the subcarrier frequency, estimate the spatial azimuth angle of the non-cooperative target relative to the main base station and the auxiliary base station at the expected spatial elevation angle Step 3: Based on the estimated value of the spatial elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station, reconfigure the three-dimensional beamformer of the main base station and the auxiliary base station, based on the deterministic relationship between the spatial beam focusing direction of the auxiliary base station and the subcarrier frequency, estimate the spatial azimuth angle of the non-cooperative target relative to the main base station and the auxiliary base station at the expected spatial elevation angle

[0110] In this embodiment, when reconfiguring the three-dimensional beamformer of the main base station and the auxiliary base station:

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

[0112] ;

[0113] ;

[0114] Where, 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 pitch 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] Where, 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] Where, 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 pitch 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] Where, is the first layer standard delay of the second delay unit, is the second layer standard delay of the second delay unit, is the maximum sensing spatial azimuth of the auxiliary base station, is the minimum sensing spatial orientation 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 pitch 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 auxiliary base station spatial beam focusing direction and the subcarrier frequency is expressed as:

[0129] ;

[0130] ;

[0131] Where, 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 sensing space pitch angle of the auxiliary base station, is the minimum perception space pitch angle of the auxiliary base station.

[0132] Step 3: Based on The physical elevation angle and physical azimuth angle of the non-cooperative target relative to the main base station are reconfigured to the main base station's 3D beamformer. 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. A non-cooperative target is located.

[0133] In some embodiments, based on the angle matching algorithm, The spatial pitch angle and spatial azimuth angle of non-cooperative targets relative to the main base station and 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 physical elevation angle and physical azimuth angle of a 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 the 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 set of physical azimuth and elevation angles of non-cooperative targets relative to the auxiliary base station Search in and get The physical azimuth and elevation angles of the non-cooperative targets relative to the primary base station Matching physical azimuth and physical elevation angles;

[0138] based on The physical elevation angle, physical azimuth angle and distance of each non-cooperative target from the primary base station and the auxiliary base station are obtained. The position of each 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] Where, 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] Where, 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 primary base station is expressed as:

[0147] ;

[0148] in, Indicates the The complex channel gain from non-cooperative targets to the main base station, Indicates the 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 , non-cooperative targets are 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 At different spatial orientations The RMSE obtained below changes with the received signal-to-noise ratio. Figure 5 For different physical pitch angles The curve of mean square error (RMSE) obtained below changes with the received signal-to-noise ratio. Figure 4 and Figure 5 It can be seen from the figure 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 the 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 when the computer instructions are executed by a processor, the steps of the method of the above-mentioned embodiment 1 or 2 are implemented.

[0158] In summary, based on the massive MIMO double base station system, the three-dimensional beamformer of the main base station and the auxiliary base station is configured by a controllable three-dimensional beam oblique viewing strategy to estimate the spatial azimuth angle, and based on an angle matching algorithm, the spatial elevation angle and the spatial azimuth angle of each non-cooperative target relative to the main base station and the auxiliary base station are paired to locate the non-cooperative target, and the multi-target positioning in the three-dimensional space is realized. Compared with the traditional far-field positioning technology, the computational complexity of beam training in the positioning process is greatly reduced, and a smaller estimation error can be obtained, which has obvious advancement and effectiveness.

[0159] The first layer of the three-dimensional beamformer is provided with a delay unit for controlling the delay in the spatial azimuth angle direction, and the second layer of the three-dimensional beamformer is provided with a delay unit for controlling the delay in the spatial elevation angle direction, and the first layer of the delay and the second layer of the delay are in series. Compared with the traditional non-layered and parallel delay architecture, the delay range that can be achieved is effectively expanded, the maximum delay requirement of each delay is significantly reduced, and the system cost is reduced.

[0160] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer usable storage media containing computer usable program code (including but not limited to disk memory, CD-ROM, optical memory, etc.).

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

[0162] These computer program instructions can also be stored in a computer readable memory capable of guiding the computer or other programmable data processing devices to work in a specific way, so that the instructions stored in the computer readable memory produce a product including instruction devices, which implement the functions specified in the flowcharts and / or block diagrams. Figure 1one or more processes and / or blocks Figure 1 the function specified in the one or more blocks.

[0163] These computer program instructions can also be loaded into computer or other programmable data processing devices, so that a series of operation steps are performed on the computer or other programmable data processing devices to generate a computer implemented process, so that the instructions executed on the computer or other programmable data processing devices provide a process for implementing the flow Figure 1 one or more processes and / or blocks Figure 1 the function specified in the one or more blocks.

[0164] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative, but not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, which are all within the protection of the present application.

Claims

1. A 3D multi-target positioning method based on a massive MIMO dual-base station system, characterized in that, comprises: The three-dimensional beamformer of the main base station and the auxiliary base station is configured, the spatial elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station is estimated based on the deterministic relationship between the spatial beam focusing direction of the main base station and the subcarrier frequency, and the physical elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station is obtained through the trigonometric function relationship. The three-dimensional beamformer of the main base station and the auxiliary base station is configured, the spatial elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station is estimated based on the deterministic relationship between the spatial beam focusing direction of the main base station and the subcarrier frequency, and the physical elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station is obtained through the trigonometric function relationship. The main base station and the auxiliary base station are both deployed with a three-dimensional beamformer, the three-dimensional beamformer of the main base station comprises a first phase shifter and a first time delay of a two-layer time delay architecture, the three-dimensional beamformer of the auxiliary base station comprises a second phase shifter and a second time delay of a two-layer time delay architecture, wherein the first layer time delay of the three-dimensional beamformer is deployed with a time delay unit for controlling time delay in the spatial azimuth direction; the second layer time delay of the three-dimensional beamformer is deployed with a time delay unit for controlling time delay in the spatial elevation direction; the first layer time delay and the second layer time delay are cascaded to an antenna array through a phase shifter layer to complete the beamforming process. each of the delay units in the first and second layers of delay units is configured in series, such that the output delay of each delay unit in a layer accumulates the delay of the previous delay unit in the layer; when reconfiguring the 3D beamformer of the primary and secondary base stations, the standard phase shift of the first phase shifter is represented as: ； ； wherein is a standard phase shift of the first phase shifter, is a first intermediate term, is a second intermediate term, is a lowest subcarrier frequency, is an antenna spacing, is the speed of light, is a maximum perceived spatial azimuth of the primary base station, is a maximum perceived spatial elevation of the primary base station; the standard delay of the first delay unit is represented as: ； In the formula, a first layer standard delay of the first delay device, a second layer standard delay of the first delay device, a bandwidth of the orthogonal frequency division multiplexing signal, a maximum subcarrier frequency, a minimum perceived spatial elevation angle of the primary base station; the standard phase shift of the second phase shifter is represented as: ； ； wherein is a standard phase shift for the first phase shifter, is a third intermediate term, is a fourth intermediate term, is an auxiliary base station maximum perceived spatial azimuth angle, is an auxiliary base station maximum perceived spatial elevation angle; the standard delay of the second delay unit is represented as: ； In the formula, is a first tier standard delay for the second delayer, is a second tier standard delay for the second delayer, is an auxiliary base station minimum perceived spatial elevation angle; based on an estimated value of the spatial elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station, reconfiguring the three-dimensional beamformers of the main base station and the auxiliary base station, estimating the spatial azimuth angle of the non-cooperative target relative to the main base station and the auxiliary base station based on a deterministic relationship between the spatial beam focusing direction of the auxiliary base station and the subcarrier frequency, and obtaining the physical azimuth angle of the non-cooperative target relative to the main base station and the auxiliary base station through a trigonometric function relationship an estimated value of the spatial elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station, reconfiguring the three-dimensional beamformers of the main base station and the auxiliary base station, estimating the spatial azimuth angle of the non-cooperative target relative to the main base station and the auxiliary base station based on a deterministic relationship between the spatial beam focusing direction of the auxiliary base station and the subcarrier frequency, and obtaining the physical azimuth angle of the non-cooperative target relative to the main base station and the auxiliary base station through a trigonometric function relationship an estimated value of the spatial elevation angle of the non-cooperative target relative to the main base station and the auxiliary base station, based on The physical elevation angle and physical azimuth angle of the non-cooperative target relative to the main base station are reconfigured to the main base station's 3D beamformer. 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. A non-cooperative target is located.

2. The 3D multi-target positioning method based on massive MIMO dual-base station system according to claim 1, characterized in that, when reconfiguring the 3D beamformer of the primary and secondary base stations, the standard phase shift of the first phase shifter is represented as: ； ； wherein is a standard phase shift of the first phase shifter, is a first intermediate term, is a second intermediate term, is a lowest subcarrier frequency, is an inter-antenna spacing, is the speed of light, is a maximum perceived spatial azimuth of the primary base station, is an estimate of the spatial elevation of the non-cooperative target relative to the primary base station and the secondary base station. the standard delay of the first delay unit is represented as: ； wherein is a first layer standard delay of the first delay device, is a second layer standard delay of the first delay device, is a bandwidth of the OFDM signal, is a maximum subcarrier frequency, is a minimum perceived spatial azimuth of the primary base station; the standard phase shift of the second phase shifter is represented as: ； ； wherein is a standard phase shift of the second phase shifter, is a third intermediate term, is a fourth intermediate term, is an auxiliary base station maximum perceived spatial azimuth, is an estimate of the spatial elevation angle of the non-cooperative target with respect to the primary base station and the auxiliary base station; the standard delay of the second delay unit is represented as: ； wherein is a first tier standard delay for the second delayer, is a second tier standard delay for the second delayer, is an auxiliary base station maximum perceived spatial azimuth, is an auxiliary base station minimum perceived spatial azimuth.

3. The 3D multi-target positioning method based on massive MIMO dual-base station system according to claim 1, characterized in that, the deterministic relationship between the spatial beam focusing direction of the primary base station and the subcarrier frequency is represented as: ； ； In the formula, is a main base station spatial beam focusing azimuth angle, is a main base station spatial beam focusing elevation angle, is a lowest subcarrier frequency, is a maximum subcarrier frequency, is a bandwidth of an orthogonal frequency division multiplexing signal, is a first subcarrier corresponding subcarrier frequency, is a first subcarrier corresponding baseband frequency, is a main base station maximum perceived spatial azimuth angle, is a main base station minimum perceived spatial azimuth angle, is a main base station maximum perceived spatial elevation angle, is a main base station minimum perceived spatial elevation angle.

4. The 3D multi-target positioning method based on a large-scale MIMO dual-base station system according to claim 3, wherein, the deterministic relationship between the spatial beam focusing direction of the secondary base station and the subcarrier frequency is represented as: ； ； In the formula, is an auxiliary base station spatial beam focusing azimuth angle, is an auxiliary base station spatial beam focusing elevation angle, is a lowest subcarrier frequency, is a maximum subcarrier frequency, is a bandwidth of an orthogonal frequency division multiplexing signal, is a first subcarrier frequency corresponding to a subcarrier, is a first baseband frequency corresponding to a subcarrier, is an auxiliary base station maximum perceived spatial azimuth angle, is an auxiliary base station minimum perceived spatial azimuth angle, is an auxiliary base station maximum perceived spatial elevation angle, is an auxiliary base station minimum perceived spatial elevation angle.

5. The 3D multi-target positioning method based on massive MIMO dual-base station system according to claim 4, characterized in that, reconfiguring a three-dimensional beamformer of the primary base station, pairing, based on an angle matching algorithm, a physical elevation angle and a physical azimuth angle of the non-cooperative target with respect to the primary base station and the secondary base station, and locating the non-cooperative target, including: locating the non-cooperative target, including: Will The physical elevation angle and physical azimuth angle of a 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 three-dimensional beamformer of the main base station, the first non-cooperative target-to-main base station complex channel gain and the complex channel gain calculated based on the estimated angle are obtained. By minimizing the absolute value of the difference between the resulting complex channel gain and the complex channel gain calculated based on the estimated angle, in a set of physical azimuth and physical elevation angles of the non-cooperative target relative to the secondary base station searching in the set of physical azimuth and physical elevation angles of the non-cooperative target relative to the primary base station a set of physical azimuth and physical elevation angles of the non-cooperative target relative to the primary base station a set of physical azimuth and physical elevation angles of the non-cooperative target relative to the primary base station Based on The physical elevation angle, the physical azimuth angle and the distance of the non-cooperative target from the main base station and the auxiliary base station are obtained The position of the non-cooperative target relative to the main base station and the auxiliary base station is obtained.

6. The 3D multi-target positioning method based on massive MIMO dual-base station system according to claim 5, characterized in that, when reconfiguring the 3D beamformer of the primary base station, the standard phase shift of the first phase shifter is represented as: ； ； Where, 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 unit is represented as ； wherein is a first layer standard delay of the first delay device, is a second layer standard delay of the first delay device, is a bandwidth of the orthogonal frequency division multiplexed signal, is a maximum subcarrier frequency.

7. A computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions, when executed by the processor, implement the steps of the 3D multi-target positioning method based on a large-scale MIMO dual-base station system according to any one of claims 1-6.

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