Indoor positioning method, device, system and equipment for mobile equipment

Abstract

The invention provides an indoor positioning method, an indoor positioning device, an indoor positioning system and indoor positioning equipment for mobile equipment, which can be applied to the technical field of signal processing. The method comprises: obtaining channel state information from a wireless signal, the wireless signal being transmitted by a mobile device, a wireless access point being received by using an array antenna, the channel state information representing state information of a channel between the mobile device and the wireless access point; according to the channel state information, the pitch angle and frequency of the wireless signal and the number of transmission paths of the wireless signal are obtained, and each transmission path comprises at least one channel; according to the pitch angle, the frequency and the number of the transmission paths, the steering vector of the wireless signal is determined, and the steering vector of the wireless signal represents the phase and amplitude distribution of the wireless signal in the array antenna; according to the steering vector and the wireless signals, power of the wireless signals corresponding to the different pitch angles is obtained through calculation; and determining the position information of the mobile equipment according to the power of the wireless signals corresponding to the different pitch angles.

Description

Technical Field

[0001] The present invention relates to the field of signal processing technology, and in particular to an indoor positioning method, device, system and equipment for a movable device. Background Art

[0002] With the rapid increase of data services and multimedia services, the demand for positioning and navigation is also increasing. In outdoor environments, the Global Positioning System (GPS) can provide relatively accurate positioning and navigation services with the help of satellites. However, in indoor environments, due to the obstruction of buildings and the different environments in different buildings, the performance of the GPS system has seriously declined.

[0003] In the process of realizing the present invention, the inventors found that in the related technologies, indoor positioning is mainly carried out based on GPS or based on camera. However, due to the complex indoor environment, the accuracy of indoor positioning based on GPS is relatively low. Since the camera has privacy issues and is easily affected by light, the application places of indoor positioning based on camera are limited or the positioning accuracy is low. Summary of the invention

[0004] In view of the above problems, the present invention provides a method, device, system and equipment for indoor positioning of a movable device.

[0005] According to a first aspect of the present invention, there is provided an indoor positioning method for a movable device, comprising: obtaining channel state information from a wireless signal, wherein the wireless signal is transmitted by the movable device and received by a wireless access point using an array antenna, the array antenna being arranged at the wireless access point, and the channel state information characterizing the state information of a channel between the movable device and the wireless access point; obtaining an elevation angle, a frequency and a number of transmission paths of the wireless signal according to the channel state information, wherein each transmission path includes at least one channel; determining a steering vector of the wireless signal according to the elevation angle, the frequency and the number of transmission paths, wherein the steering vector of the wireless signal characterizes the phase and amplitude distribution of the wireless signal in the array antenna; calculating the power of the wireless signal corresponding to different elevation angles according to the steering vector and the wireless signal; and determining the location information of the movable device according to the power of the wireless signal corresponding to different elevation angles.

[0006] According to the indoor positioning method of a movable device provided by the present invention, by acquiring channel state information from the wireless signal, the pitch angle, frequency and number of transmission paths of the wireless signal can be obtained, so that the steering vector of the wireless signal can be determined. When the steering vector is determined, the wireless signal can be combined to calculate the power of the wireless signal corresponding to different pitch angles, and then the location information of the movable device can be determined. Since the pitch angle of the wireless signal is relatively moderate and not close to plus or minus 90°, the phase error is small, thereby improving the accuracy of indoor positioning of the movable device. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The above contents and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0008] Figure 1A A schematic diagram showing a wireless access point installed horizontally on a wall in the related art is shown.

[0009] Figure 1B The figure shows an angle diagram of a wireless access point installed horizontally on a wall in the related art.

[0010] Figure 2A A schematic diagram showing a wireless access point installed on a ceiling in the related art is shown.

[0011] Figure 2B The diagram shows an angle diagram of a wireless access point installed on a ceiling in the related art.

[0012] Figure 3A A schematic diagram showing a wireless access point installed vertically on a wall according to an embodiment of the present invention is shown.

[0013] Figure 3B A schematic diagram showing the elevation angle of a wireless access point installed vertically on a wall according to an embodiment of the present invention is shown.

[0014] Figure 4 The diagram shows an actual scenario in which a wireless access point according to an embodiment of the present invention is installed vertically on a wall.

[0015] Figure 5 A flow chart of an indoor positioning method for a movable device according to an embodiment of the present invention is shown.

[0016] Figure 6 An exemplary diagram showing a wireless access point installed vertically on a wall according to an embodiment of the present invention is shown.

[0017] Figure 7 A flow chart of indoor positioning according to an embodiment of the present invention is shown.

[0018] Figure 8 A comparison diagram of angle estimation errors between a positioning algorithm according to an embodiment of the present invention and a positioning algorithm in the prior art is shown.

[0019] Fig. 9 A comparison diagram of positioning errors between a positioning algorithm according to an embodiment of the present invention and a positioning algorithm in the prior art is shown.

[0020] Fig.10 A structural block diagram of an indoor positioning device for a movable device according to an embodiment of the present invention is shown.

[0021] Fig.11 A block diagram of an electronic device suitable for implementing an indoor positioning method for a movable device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0022] Below, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of concepts of the present invention.

[0023] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0024] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0025] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0026] In the technical solution of the present invention, the user information (including but not limited to user personal information, user image information, user device information, such as location information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with relevant laws, regulations and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0027] In the process of implementing the present invention, it is found that in the related art, in outdoor environments, the global positioning system (GPS) is mainly used to provide very accurate positioning and navigation services with the help of satellites. However, in indoor environments, due to the obstruction of houses and buildings, and the different environments in different buildings, the performance of the GPS system has seriously declined. In the related art, cameras are used to collect natural images and videos to realize intelligent perception of indoor environments. However, the widely deployed cameras are easily affected by lighting conditions in practical applications, and there are serious privacy issues, and their use is limited in places such as bedrooms and bathrooms. Compared with cameras, indoor positioning services based on WiFi signals are not affected by various conditions, and the degree of acquisition of human privacy is also relatively slight. Therefore, indoor positioning systems based on WiFi signals have attracted the attention of a large number of researchers. Indoor positioning systems based on WiFi signals can be roughly divided into three categories, namely Fingerprint, Time of Flight (ToF) and Angel of Arrival (AoA). The Fingerprint-based method requires the collection of a large amount of data in advance, and the collected data is compared with the data in the database during the positioning stage to achieve positioning. In practice, it is very time-consuming and labor-intensive, and not universal enough. Since the bandwidth of existing commercial WiFi devices is relatively narrow, only tens of MHz, and the ToF resolution is low, the accuracy of ToF-based positioning methods is low. Although the bandwidth can be increased to a certain extent through frequency hopping, the frequency hopping operation is time-consuming and affects normal communication, which is not practical in practice.

[0028] Since WiFi devices are equipped with multiple antennas, related technologies also use array signal processing algorithms to extract AoA information for positioning. The AoA-based indoor positioning method can achieve decimeter-level positioning effects in outdoor environments. However, there is no targeted system design for narrow and long scenes such as corridors and tunnels. When migrating to narrow and long scenes, the positioning performance will seriously decline or even fail.

[0029] In view of this, an embodiment of the present invention provides an indoor positioning method for a movable device, comprising: obtaining channel state information from a wireless signal, wherein the wireless signal is transmitted by a wireless access point using an array antenna, the array antenna is arranged at the wireless access point, and the channel state information represents the state information of the channel between the movable device and the wireless access point; according to the channel state information, obtaining the pitch angle, frequency and number of transmission paths of the wireless signal, wherein each transmission path includes at least one channel; according to the pitch angle, frequency and number of transmission paths, determining a steering vector of the wireless signal, wherein the steering vector of the wireless signal represents the phase and amplitude distribution of the wireless signal in the array antenna; according to the steering vector and the wireless signal, calculating the power of the wireless signal corresponding to different pitch angles; and determining the location information of the movable device according to the power of the wireless signal corresponding to different pitch angles.

[0030] Figure 1A A schematic diagram showing a wireless access point installed horizontally on a wall in the related art is shown. Figure 1B The figure shows an angle diagram of a wireless access point installed horizontally on a wall in the related art. Figure 2A A schematic diagram showing a wireless access point installed on a ceiling in the related art is shown. Figure 2B The diagram shows an angle diagram of a wireless access point installed on a ceiling in the related art.

[0031] In real life or work, wireless access points (APs) are either installed horizontally on the wall, such as Figure 1A As shown, it can be installed on the ceiling, such as Figure 2A As shown. Figure 1A As shown in Figure 1, the width of the indoor corridor is 2 meters and the length is 20 meters. When the wireless access point is installed horizontally on the wall, more than 95% of the area in the indoor corridor has a large angle effect, that is, the angle between the mobile device and the wireless access point is close to plus or minus 90°. Figure 1B As shown in the figure, when the angle is close to plus or minus 90°, it is more susceptible to the phase offset inherent in the wireless access point hardware system, thus affecting the positioning accuracy. When the wireless access point is mounted on the ceiling, when the user carries a mobile device from one end of the indoor corridor to the other end, the angle between the mobile device and the wireless access point basically does not change, such as Figure 2B shown.

[0032] Figure 3A A schematic diagram showing a wireless access point installed vertically on a wall according to an embodiment of the present invention is shown. Figure 3B A schematic diagram showing the elevation angle of a wireless access point installed vertically on a wall according to an embodiment of the present invention is shown.

[0033] like Figure 3A As shown, the wireless access point is installed vertically on the wall, and the target object moves the mobile device to different positions. The wireless signal sent by the mobile device will produce different pitch angles, such as Figure 3B Therefore, the positioning problem of the mobile device can be transformed into the problem of estimating the pitch angle. The pitch angle generated by the phase difference between different antennas of the array antenna can be determined by the height difference between the wireless access point and the target object and the distance between the wireless access point and the mobile device, as shown in the following formula (1).

[0034] (1)

[0035] in, represents the pitch angle, represents the height of the ith wireless access point, Indicates the height of the movable device. represents the horizontal distance between the ith wireless access point and the mobile device.

[0036] According to an embodiment of the present invention, when the target object carries a movable device and moves in the target area, the target object may hold the movable device in hand or place the movable device in a pocket. Different target objects may hold the movable device at different heights. Therefore, there is a height difference between the wireless access point and the target object.

[0037] Figure 4 The diagram shows an actual scenario in which a wireless access point according to an embodiment of the present invention is installed vertically on a wall.

[0038] like Figure 4 As shown, the target area is a long and narrow corridor with a length of 20 meters and a width of 2 meters. Two wireless access points are arranged on the wall of the target area, namely the first wireless access point AP1 and the second wireless access point AP2. The horizontal distance between the first wireless access point AP1 and the second wireless access point AP2 is 8.3 meters. The array antennas on the first wireless access point AP1 and the second wireless access point AP2 include 4 antennas. The movable device is a mobile phone. The target object holds the mobile phone and moves in the target area, so the mobile phone can be positioned.

[0039] Figure 5 A flow chart of an indoor positioning method for a movable device according to an embodiment of the present invention is shown.

[0040] like Figure 5 As shown, the indoor positioning method 500 of a movable device in this embodiment includes operations S510 to S550.

[0041] In operation S510, channel state information is acquired from a wireless signal.

[0042] In operation S520, the elevation angle and frequency of the wireless signal and the number of transmission paths of the wireless signal are obtained according to the channel state information.

[0043] In operation S530, a steering vector of the wireless signal is determined according to the elevation angle, the frequency, and the number of transmission paths.

[0044] In operation S540, the powers of the wireless signals corresponding to different elevation angles are calculated based on the steering vector and the wireless signal.

[0045] In operation S550, location information of the movable device is determined according to the power of the wireless signal corresponding to the different elevation angles.

[0046] According to an embodiment of the present invention, a wireless access point may represent a network device used to convert a wired network signal into a wireless signal, thereby allowing a wireless device to connect to a wired network. For example, a wireless network device may be a mobile phone, a laptop computer, a tablet computer, etc. The wireless signal is transmitted by a mobile device, and the wireless access point receives it using an array antenna, which is arranged at the wireless access point. Channel State Information (CSI) may represent the state information of the channel between the mobile device and the wireless access point, and the channel state information may reflect various characteristics of the wireless signal during transmission. For example, amplitude attenuation, phase offset, multipath effect, etc.

[0047] According to an embodiment of the present invention, the elevation angle (Elevation Angle) of the wireless signal can represent the elevation angle of the wireless signal reaching the wireless access point. When the channel state information is obtained, the elevation angle, frequency and number of transmission paths of the wireless signal can be obtained from the channel state information. In addition, the propagation time (Time of Flight, ToF) of the wireless signal can also be obtained.

[0048] According to an embodiment of the present invention, the target area may be a movable area of ​​a movable device. For example, the target area may be an indoor area, such as a slender building such as a corridor or a tunnel. The indoor area may be relatively narrow or have many obstacles. Therefore, the transmission paths of the wireless signal in the target area may include multiple ones, and each transmission path may include at least one channel. For example, the transmission path may include 2 channels. The more channels in the transmission path, the wider the bandwidth of the transmission path.

[0049] According to an embodiment of the present invention, the steering vector of the wireless signal can characterize the phase and amplitude distribution of the wireless signal in the array antenna. When the pitch angle, frequency and number of transmission paths are determined, a first phase difference set and a second phase difference set of multiple antennas corresponding to each transmission path relative to the first antenna can be determined, thereby determining the steering vector of the wireless signal.

[0050] According to an embodiment of the present invention, the target object may carry a movable device and move in the target area. During the movement, multiple pitch angles of the wireless signal may be formed. The pitch angle may range from 0 to 60 degrees. The power of the wireless signal corresponding to different pitch angles may be calculated based on the pitch vector and the pitch angle of the wireless signal.

[0051] According to the embodiment of the present invention, the target elevation angle can be determined according to the power of the wireless signal corresponding to different elevation angles, and then the position information of the movable device can be determined.

[0052] According to an embodiment of the present invention, by acquiring channel state information from a wireless signal, the pitch angle, frequency and number of transmission paths of the wireless signal can be obtained, thereby determining the steering vector of the wireless signal. When the steering vector is determined, the wireless signal can be combined to calculate the power of the wireless signal corresponding to different pitch angles, thereby determining the location information of the movable device. Since the pitch angle of the wireless signal is moderate and not close to plus or minus 90°, the phase error is small, thereby improving the accuracy of indoor positioning of the movable device.

[0053] According to an embodiment of the present invention, the power of the wireless signal corresponding to different pitch angles is calculated based on the steering vector and the wireless signal, including: determining the covariance matrix of the wireless signal based on the wireless signal; obtaining the first steering vector of the wireless signal corresponding to different pitch angles based on the steering vector; and calculating the power of the wireless signal corresponding to different pitch angles based on the covariance matrix and the first steering vector.

[0054] According to an embodiment of the present invention, the covariance matrix of the wireless signal is obtained by multiplying the wireless signal and the transposed product of the wireless signal by data fitting. When the pitch angle is determined, the first steering vector of the wireless signal corresponding to different pitch angles can be obtained according to the steering vector.

[0055] In one embodiment, the stepped frequency signal is used as the channel state information. When the array antenna includes M antennas and K stepped frequency points, the wireless signal of the mth antenna at the kth frequency point at the tth time is , as shown in formula (2).

[0056] (2)

[0057] in, Indicates the number of transmission paths, Indicates the number of the transmission path, Indicates the time t The attenuation coefficient of wireless signal propagation along a path, represents the frequency of the wireless signal at the kth frequency point, Indicates The propagation time of the wireless signal along the transmission path, Indicates the antenna number. Indicates the preset antenna spacing. Indicates the propagation speed of wireless signals. represents the imaginary unit, Indicates The pitch angle of the transmission path.

[0058] According to an embodiment of the present invention, at time t, the wireless signals of M antennas and K step frequencies are , as shown in formula (3).

[0059] (3)

[0060] in, It represents the wireless signal of the first antenna at the first step frequency at the tth time. It represents the wireless signal of the second antenna at the first step frequency at the tth moment. It represents the wireless signal of the Mth antenna at the first step frequency at the tth time. It represents the wireless signal of the Mth antenna at the Kth step frequency at the tth time, and T represents transpose.

[0061] According to an embodiment of the present invention, the time length of the wireless signal may include multiple moments, for example, N moments. The time length of the wireless signal includes M antennas and K stepped frequency points of the wireless signal. , as shown in formula (4).

[0062] (4)

[0063] in, represents the wireless signal of M antennas and K stepped frequencies at the first moment, represents the wireless signal of M antennas and K stepped frequencies at the second moment, Wireless signals with M antennas and K stepped frequencies at the Nth moment.

[0064] According to the embodiment of the present invention, since the hardware system of the wireless access point has an inherent time-varying phase offset, it is difficult to obtain an accurate absolute propagation time. Therefore, the propagation time can be omitted and the matrix form of the wireless signal It is expressed as the following formula (5).

[0065] (5)

[0066] Where A represents the steering vector, Q represents the amplitude matrix, and H represents the conjugate transpose.

[0067] According to an embodiment of the present invention, the first steering vector corresponding to different pitch angles can be determined based on the steering vector, and then combined with the covariance matrix, the power of the wireless signal corresponding to the different pitch angles can be calculated using the following formula (6), so that the amplitude matrix Q can be obtained.

[0068] (6)

[0069] in, The pitch angle is The corresponding wireless signal power, represents the covariance matrix, The pitch angle is The corresponding first steering vector, Indicates wireless signal.

[0070] According to an embodiment of the present invention, the covariance matrix The calculation of is as follows:

[0071] (7)

[0072] According to an embodiment of the present invention, the array antenna may include four antennas. Based on the wireless signal, by means of data fitting, the covariance matrix R corresponding to the spacings between the four antennas being 0.5λ, 1.5λ, and λ can be obtained. SLA , as shown in formula (8), using the matrix filling technique, the covariance matrix R corresponding to the 7-antenna half-wavelength uniform linear array can be obtained: ULA , as shown in formula (9), we can see that the covariance matrix R of the half-wavelength uniform antenna array composed of 7 antennas ULA It is a Toeplitz matrix with many redundant components. The spacing between the four antennas is 0.5λ and 1.5λ respectively. The covariance matrix R corresponding to λ is SLA Except for the diagonal components, there is no redundancy. Therefore, the spatial resolution of the positioning system can be further improved by a reasonable arrangement of the array antennas.

[0073] (8)

[0074] (9)

[0075] Among them, wireless signal , represents the first component of the wireless signal, represents the second component of the wireless signal, represents the third component of the wireless signal, Represents the fourth component of the wireless signal.

[0076] According to an embodiment of the present invention, the covariance matrix of the wireless signal can be determined through the wireless signal, and the first steering vector of the wireless signal corresponding to different pitch angles can be obtained based on the steering vector. Then, the frequency of the wireless signal corresponding to different pitch angles can be calculated through the covariance matrix and the first steering vector, thereby improving the accuracy of the frequency of the wireless signal corresponding to different pitch angles, and then improving the accuracy of indoor positioning of the movable device.

[0077] According to an embodiment of the present invention, a steering vector of a wireless signal is determined based on the pitch angle, frequency and the number of transmission paths, including: for a target transmission path among multiple transmission paths, the phase difference of M antennas relative to the first antenna is determined in sequence based on the pitch angle, frequency, preset antenna spacing and propagation speed of the wireless signal to obtain a first phase difference set; and the steering vector of the wireless signal is determined based on the first phase difference set and the number of transmission paths.

[0078] According to an embodiment of the present invention, the array antenna includes M antennas, where M is an integer greater than 1. For example, the array antenna may include 4 antennas.

[0079] According to an embodiment of the present invention, the wireless signal may include multiple transmission paths, for example, the wireless signal may include L transmission paths. For a target transmission path among the multiple transmission paths, the target transmission path may be any one of the multiple transmission paths.

[0080] For example, when the wireless signal includes L transmission paths, the target transmission path is For a transmission path, the phase differences of the M antennas relative to the first antenna can be determined in sequence according to the pitch angle, frequency, preset antenna spacing, and propagation speed of the wireless signal, as shown in the following formula (10), and then a first phase difference set consisting of the phase differences of the M antennas relative to the first antenna is obtained, as shown in the following formula (11).

[0081] (10)

[0082] (11)

[0083] in, Indicates The transmission path The phase difference of the first antenna relative to the first antenna, Indicates The first phase difference set of the transmission paths, Indicates The phase difference of the first antenna of the transmission path relative to the first antenna, Shidi The phase difference of the Mth antenna relative to the 1st antenna in a transmission path.

[0084] According to an embodiment of the present invention, when the first phase difference set is determined, the steering vector of the wireless signal can be determined based on the first phase difference set and the number of transmission paths, including: for other transmission paths except the target transmission path among multiple transmission paths, sequentially determining the phase differences of M antennas relative to the first antenna to obtain second phase difference sets corresponding to each of the other transmission paths; and constructing the steering vector of the wireless signal based on the first phase difference set and the second phase difference sets corresponding to each of the other transmission paths.

[0085] According to an embodiment of the present invention, the above formula (11) can calculate the phase difference sets of multiple transmission paths. When the transmission path is a target transmission path, a first phase difference set corresponding to the target transmission path can be calculated. When the transmission path is a transmission path other than the target transmission path, a second phase difference set corresponding to the other transmission paths can be calculated.

[0086] According to an embodiment of the present invention, when the first phase difference set is determined, the number of transmission paths can be combined, that is, for other transmission paths except the target transmission path among the multiple transmission paths, the above formula (10) is used to determine the phase differences of the M antennas relative to the first antenna in turn according to the pitch angle, frequency, preset antenna spacing and propagation speed of the wireless signal, and then obtain the second phase difference sets corresponding to the other transmission paths, and each transmission path corresponds to a second phase difference set.

[0087] According to an embodiment of the present invention, a steering vector of a wireless signal can be formed by using a first phase difference set corresponding to a target transmission path and a second phase difference set corresponding to other transmission paths, as shown in the following formula (12).

[0088] (12)

[0089] in, represents the steering vector of the wireless signal, represents the second phase difference set corresponding to the first transmission path, represents a second phase difference set corresponding to the Lth transmission path.

[0090] According to an embodiment of the present invention, the above formula (12) only shows the second phase difference set corresponding to the 1st transmission path and the second phase difference set corresponding to the Lth transmission path, and the first phase difference set corresponding to the target transmission path and the second phase difference sets corresponding to other transmission paths are represented by ellipsis.

[0091] According to an embodiment of the present invention, for a target transmission path among multiple transmission paths, the phase differences of M antennas relative to the first antenna can be determined in sequence according to the pitch angle, frequency, preset antenna spacing and propagation speed of the wireless signal, thereby obtaining a first phase difference set; for other transmission paths except the target transmission path, a second phase difference set corresponding to each of the other transmission paths can be obtained; the first phase difference set and the second phase difference set corresponding to each of the other transmission paths can constitute a steering vector of the wireless signal, thereby improving the accuracy of the steering vector of the wireless signal.

[0092] According to an embodiment of the present invention, the location information of a movable device is determined based on the power of wireless signals corresponding to different pitch angles, including: determining the maximum power among multiple powers of wireless signals corresponding to different pitch angles; determining the pitch angle corresponding to the maximum power as the target pitch angle; and determining the location information of the movable device based on the target pitch angle.

[0093] According to an embodiment of the present invention, the wireless signal may include a plurality of different pitch angles. The above formula (6) may be used to calculate a plurality of powers of the wireless signal corresponding to different pitch angles, and then determine the maximum power among the plurality of powers of the wireless signal corresponding to different pitch angles, and determine the pitch angle corresponding to the maximum power as the target pitch angle.

[0094] According to the embodiment of the present invention, when the target elevation angle is determined, the angle of the wireless signal transmitted by the movable device can be determined, that is, the location information of the movable device can be determined.

[0095] According to an embodiment of the present invention, multiple powers of wireless signals corresponding to different pitch angles are obtained by calculation, and the angle corresponding to the maximum power is determined as the target pitch angle, so that the angle of the wireless signal transmitted by the mobile device can be determined, and then the location information of the mobile device can be determined, thereby improving the accuracy of indoor positioning of the mobile device.

[0096] According to an embodiment of the present invention, the indoor positioning method of the above-mentioned movable device also includes: determining the target height deviation and target position deviation of the target object carrying the movable device relative to the wireless access point based on the target constraint condition; determining the target position information of the movable device based on the target height deviation, target position deviation and the power of the wireless signal corresponding to different pitch angles.

[0097] According to an embodiment of the present invention, the preset position information of the wireless access point may include horizontal position information and vertical position information of the wireless access point, and the horizontal position information may represent the position of the wireless access point in the horizontal direction. For example, the horizontal position information may be the horizontal distance between the access point and the movable device. The vertical position information may represent the position of the wireless access point in the vertical direction. For example, the vertical position information may be the height of the wireless access point. The target constraint condition may be determined based on the preset position information of the wireless access point and the preset height of the target object. For example, when the target object is a person, the preset height of the target object may be the height of the target object.

[0098] According to an embodiment of the present invention, when the number of wireless access points is 2, the target constraint condition may include a first target constraint condition and a second target constraint condition, which are respectively represented by the following formulas (13) and (14).

[0099] (13)

[0100] (14)

[0101] in, Indicates the height of the first access point, Indicates the height of the second access point, Indicates the horizontal distance between the first access point and the mobile device. Indicates the horizontal distance between the second access point and the mobile device. Indicates the preset height of the target object. represents the target height deviation of the target object, represents the target position deviation of the target object, represents a known constant, Indicates the elevation angle of the wireless signal relative to the first access point. Indicates the elevation angle of the wireless signal relative to the second access point.

[0102] According to an embodiment of the present invention, a target height deviation and a target position deviation of a target object carrying a movable device relative to a wireless access point are determined based on a target constraint condition, including: determining an initial height deviation and an initial position deviation of the target object based on the target constraint condition; adjusting the initial height deviation while keeping the initial position deviation unchanged so that the height adjustment deviation is less than a preset height deviation threshold, thereby obtaining a target height deviation; and adjusting the initial position deviation while keeping the target height deviation unchanged so that the position adjustment deviation is less than a preset position deviation threshold, thereby obtaining a target position deviation.

[0103] According to an embodiment of the present invention, the initial height deviation and initial position deviation of the target object can be determined according to the target constraint conditions of formula (13) and (14) above, and then the initial height deviation and initial position deviation of the target object can be optimized by using an alternating variable optimization algorithm to determine the target height deviation and target position deviation.

[0104] According to an embodiment of the present invention, the height adjustment deviation can represent the height deviation of two adjacent adjustments during the initial height deviation adjustment process. While keeping the initial position deviation unchanged, the initial height deviation is adjusted so that the height adjustment deviation is less than a preset height deviation threshold, and a target height deviation is obtained, as shown in the following formula (15).

[0105] (15)

[0106] According to an embodiment of the present invention, by performing term shift processing on the above formula (15), the target height deviation is obtained as follows: formula (16).

[0107] (16)

[0108] According to an embodiment of the present invention, the position adjustment deviation can represent the position deviation of two adjacent adjustments during the initial position deviation adjustment process. Updated to , while keeping the target height deviation unchanged, the initial position deviation is adjusted so that the position adjustment deviation is less than the preset position deviation threshold, and the target position deviation is obtained as shown in the following formula (17).

[0109] (17)

[0110] According to the embodiment of the present invention, in the process of adjusting the initial height deviation and the initial position deviation, the target height deviation and the target position deviation can usually be obtained by the fifth adjustment.

[0111] According to an embodiment of the present invention, when the target position deviation and the target height deviation are determined, the target pitch angle of the wireless signal can be determined in combination with the power of the wireless signal corresponding to different pitch angles, thereby determining the target position information of the movable device.

[0112] According to an embodiment of the present invention, the initial height deviation and the initial position deviation are adjusted based on an alternating variable optimization algorithm to obtain the target position deviation and the target height deviation. Then, combined with the power of the wireless signal corresponding to different pitch angles, the target position information of the movable device can be determined, thereby further improving the indoor positioning accuracy of the movable device.

[0113] Figure 6 An exemplary diagram showing a wireless access point installed vertically on a wall according to an embodiment of the present invention is shown.

[0114] like Figure 6 As shown, two wireless access points are included, namely, a first wireless access point AP1 and a second wireless access point AP2. The vertical height of the first wireless access point AP1 from the ground is h1, the vertical height of the second wireless access point AP2 from the ground is h2, the height of the target object holding a movable device is h, the horizontal distance of the target object from the first wireless access point AP1 is x1, the horizontal distance of the target object from the second wireless access point AP2 is x2, the horizontal distance between the first wireless access point AP1 and the second wireless access point AP2 is a fixed value, and the pitch angle between the movable device and the first wireless access point AP1 is , the elevation angle between the mobile device and the second wireless access point AP2 is , an array antenna is arranged on the second wireless access point AP2, the array antenna includes 4 antennas, and the preset spacing between the antennas is d. In the case of multipath effect in the process of wireless signal transmission to the second wireless access point AP2, the elevation angle of the wireless signal to the second wireless access point AP2 is .

[0115] Figure 7 A flow chart of indoor positioning according to an embodiment of the present invention is shown. Figure 8 A comparison diagram of angle estimation errors between a positioning algorithm according to an embodiment of the present invention and a positioning algorithm in the prior art is shown. Fig. 9 A comparison diagram of positioning errors between a positioning algorithm according to an embodiment of the present invention and a positioning algorithm in the prior art is shown.

[0116] In one embodiment, multiple wireless access points (APs) are used to work together to locate indoor mobile devices. For example, two wireless access points (APs) are used as receiving ends, and a mobile phone is used as a mobile device. The two wireless access points (APs) are equipped with four antennas to form a sparse linear array. The spacing between the four antennas is half a wavelength, three times a half a wavelength, and two times a half a wavelength. The carrier frequency of the wireless signal is 5.3 GHz, and there are 52 subcarriers. The location information of the mobile device is manually marked, and the positioning scenario is as follows: Figure 4 As shown, it is an indoor corridor, the size of the corridor is about 20 meters by 2 meters, and the movable device is the position of the point to be located, that is, Figure 4 The location of the mobile phone held by the target object.

[0117] like Figure 7 As shown in the figure, multiple wireless access points AP receive wireless signals from mobile devices and obtain channel state information from the wireless signals. The signal state information is a 4*52 complex matrix, where 4 represents 4 antennas and 52 represents the size of the subcarrier dimension. After receiving the wireless signal, the covariance matrix of the sparse linear array is obtained by data fitting, and then the covariance matrix corresponding to the 7-antenna uniform half-wavelength linear array is obtained by matrix filling technology. The beamforming algorithm is used for angle estimation to obtain the pitch angle information. In order to achieve height compensation, the alternating variable optimization algorithm (Widor algorithm for short) is used to gradually optimize and solve the optimal target height deviation. Combined with time domain information and map constraints, after the collaborative positioning of two wireless access points AP, a median angle estimation error of 5.2° and a median positioning error of 0.58m can be achieved in a 20m*2m indoor corridor environment, thereby avoiding the large angle effect and complex multipath transmission in related technologies. Through height compensation, high precision and strong robustness of indoor positioning are achieved. The comparison diagrams of angle estimation error results and positioning error results are shown as follows. Figure 8 and Fig. 9 Among them, the Co-Loc algorithm and the ArrayTrack algorithm are positioning algorithms in the related art.

[0118] Based on the above-mentioned indoor positioning method for a movable device, the present invention also provides an indoor positioning device for a movable device. Fig.10 The device is described in detail.

[0119] Fig.10 A structural block diagram of an indoor positioning device for a movable device according to an embodiment of the present invention is shown.

[0120] like Fig.10 As shown, the indoor positioning device 1000 of a movable device of this embodiment includes an acquisition module 1010 , an obtaining module 1020 , a first determination module 1030 , a calculation module 1040 and a second determination module 1050 .

[0121] The acquisition module 1010 is used to acquire channel state information from a wireless signal, wherein the wireless signal is transmitted by a mobile device and received by a wireless access point using an array antenna, the array antenna being arranged on the wireless access point, and the channel state information represents state information of a channel between the mobile device and the wireless access point. In one embodiment, the acquisition module 1010 can be used to perform the operation S510 described above, which will not be described in detail herein.

[0122] The obtaining module 1020 is used to obtain the elevation angle and frequency of the wireless signal and the number of transmission paths of the wireless signal according to the channel state information. In one embodiment, the obtaining module 1020 can be used to perform the operation S520 described above, which will not be described in detail here.

[0123] The first determination module 1030 is used to determine the steering vector of the wireless signal according to the pitch angle, the frequency and the number of transmission paths, wherein the steering vector of the wireless signal represents the phase and amplitude distribution of the wireless signal in the array antenna. In one embodiment, the first determination module 1030 can be used to perform the operation S530 described above, which will not be repeated here.

[0124] The calculation module 1040 is used to calculate the power of the wireless signal corresponding to different pitch angles according to the steering vector and the wireless signal. In one embodiment, the calculation module 1040 can be used to perform the operation S540 described above, which will not be described in detail here.

[0125] The second determination module 1050 is used to determine the location information of the movable device according to the power of the wireless signal corresponding to different pitch angles. In one embodiment, the second determination module 1050 can be used to perform the operation S550 described above, which will not be described in detail here.

[0126] According to an embodiment of the present invention, the calculation module 1040 includes: a first calculation submodule, a second calculation submodule and a third calculation submodule.

[0127] The first calculation submodule is used to determine the covariance matrix of the wireless signal according to the wireless signal.

[0128] The second calculation submodule is used to obtain a first steering vector of the wireless signal corresponding to different pitch angles according to the steering vector.

[0129] The third calculation submodule is used to calculate the power of the wireless signal corresponding to different pitch angles according to the covariance matrix and the first steering vector.

[0130] According to an embodiment of the present invention, the array antenna includes M antennas, where M is an integer greater than 1; the first determination module 1030 includes: a first determination submodule and a second determination submodule.

[0131] The first determination submodule is used to determine the phase difference of M antennas relative to the first antenna in sequence according to the pitch angle, frequency, preset antenna spacing and propagation speed of the wireless signal for the target transmission path among the multiple transmission paths, and obtain a first phase difference set.

[0132] The second determination submodule is used to determine the steering vector of the wireless signal according to the first phase difference set and the number of transmission paths.

[0133] According to an embodiment of the present invention, the second determining submodule includes: a first determining unit and a second determining unit.

[0134] The first determination unit is used to determine the phase differences of M antennas relative to the first antenna in turn for other transmission paths except the target transmission path among the multiple transmission paths, and obtain a second phase difference set corresponding to each of the other transmission paths.

[0135] The second determining unit is used to form a steering vector of the wireless signal based on the first phase difference set and the second phase differences corresponding to other transmission paths respectively.

[0136] According to an embodiment of the present invention, the second determination module 1050 includes: a third determination submodule, a fourth determination submodule and a fifth determination submodule.

[0137] The third determination submodule is used to determine the maximum power among multiple powers of the wireless signal corresponding to different pitch angles.

[0138] The fourth determining submodule is used to determine the pitch angle corresponding to the maximum power as the target pitch angle.

[0139] The fifth determination submodule is used to determine the position information of the movable device according to the target pitch angle.

[0140] According to an embodiment of the present invention, the indoor positioning device 1000 of the movable device further includes: a third determination module and a fourth determination module.

[0141] The third determination module is used to determine the target height deviation and the target position deviation of the target object carrying the movable device relative to the wireless access point according to the target constraint condition, wherein the target constraint condition is determined according to the preset position information of the wireless access point and the preset height of the target object.

[0142] The fourth determination module is used to determine the target position information of the movable device according to the target height deviation, the target position deviation and the power of the wireless signal corresponding to different pitch angles.

[0143] According to an embodiment of the present invention, the third determination module includes: a sixth determination submodule, a seventh determination submodule and an eighth determination submodule.

[0144] The sixth determination submodule is used to determine the initial height deviation and initial position deviation of the target object according to the target constraint condition.

[0145] The seventh determination submodule is used to adjust the initial height deviation while keeping the initial position deviation unchanged, so that the height adjustment deviation is less than a preset height deviation threshold, and obtain a target height deviation, wherein the height adjustment deviation represents the height deviation of two adjacent adjustments during the initial height deviation adjustment process.

[0146] The eighth determination submodule is used to adjust the initial position deviation while keeping the target height deviation unchanged, so that the position adjustment deviation is less than a preset position deviation threshold, to obtain the target position deviation, wherein the position adjustment deviation represents the position deviation of two adjacent adjustments during the initial position deviation adjustment process.

[0147] According to an embodiment of the present invention, any multiple modules among the acquisition module 1010, the acquisition module 1020, the first determination module 1030, the calculation module 1040, and the second determination module 1050 can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present invention, at least one of the acquisition module 1010, the acquisition module 1020, the first determination module 1030, the calculation module 1040, and the second determination module 1050 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware, and firmware or in a suitable combination of any of them. Alternatively, at least one of the acquisition module 1010, the obtaining module 1020, the first determination module 1030, the calculation module 1040 and the second determination module 1050 may be at least partially implemented as a computer program module, which may perform a corresponding function when executed.

[0148] Based on the above-mentioned indoor positioning device for movable device, the present invention further provides an indoor positioning system for movable device, including a movable device, a wireless access point, and an indoor positioning device for movable device.

[0149] According to an embodiment of the present invention, the target area is a movable area of ​​the movable device, for example, a narrow area such as an indoor corridor or a tunnel. The wireless access point can be arranged in the target area in a vertical direction so that the movable device transmits a wireless signal toward the wireless access point.

[0150] Fig.11 A block diagram of an electronic device suitable for implementing an indoor positioning method for a movable device according to an embodiment of the present invention is shown.

[0151] like Fig.11 As shown, the electronic device 1100 according to an embodiment of the present invention includes a processor 1101, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1102 or the program loaded from the storage part 1108 to the RAM (Random Access Memory). The processor 1101 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (for example, an application-specific integrated circuit (ASIC)), etc. The processor 1101 may also include an onboard memory for caching purposes. The processor 1101 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0152] In RAM 1103, various programs and data required for the operation of electronic device 1100 are stored. Processor 1101, ROM 1102 and RAM 1103 are connected to each other via bus 1104. Processor 1101 performs various operations of the method flow according to the embodiment of the present invention by executing the program in ROM 1102 and / or RAM 1103. It should be noted that the program can also be stored in one or more memories other than ROM 1102 and RAM 1103. Processor 1101 can also perform various operations of the method flow according to the embodiment of the present invention by executing the program stored in the one or more memories.

[0153] According to an embodiment of the present invention, the electronic device 1100 may further include an input / output (I / O) interface 1105, which is also connected to the bus 1104. The electronic device 1100 may further include one or more of the following components connected to the input / output (I / O) interface 1105: an input portion 1106 including a keyboard, a mouse, etc.; an output portion 1107 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 1108 including a hard disk, etc.; and a communication portion 1109 including a network interface card such as a LAN card, a modem, etc. The communication portion 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the input / output (I / O) interface 1105 as needed. A removable medium 1111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1110 as needed, so that a computer program read therefrom is installed into the storage portion 1108 as needed.

[0154] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiment; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0155] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: a portable computer disk, a hard disk, a RAM (Random Access Memory), a ROM (Read Only Memory), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus or a device. For example, according to an embodiment of the present invention, the computer-readable storage medium may include the ROM 1102 and / or RAM 1103 described above and / or one or more memories other than ROM 1102 and RAM 1103.

[0156] The embodiment of the present invention also includes a computer program product, which includes a computer program, and the computer program includes a program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the indoor positioning method of the mobile device provided by the embodiment of the present invention.

[0157] The computer program executes the above functions defined in the system / device of the embodiment of the present invention when it is executed by the processor 1101. According to the embodiment of the present invention, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0158] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 1109, and / or installed from a removable medium 1111. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0159] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1109, and / or installed from the removable medium 1111. When the computer program is executed by the processor 1101, the above functions defined in the system of the embodiment of the present invention are performed. According to the embodiment of the present invention, the system, device, means, module, unit, etc. described above can be implemented by a computer program module.

[0160] According to an embodiment of the present invention, the program code for executing the computer program provided by the embodiment of the present invention can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0161] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0162] It will be appreciated by those skilled in the art that the features described in the various embodiments of the present invention may be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features described in the various embodiments of the present invention may be combined and / or combined in various ways. All of these combinations and / or combinations fall within the scope of the present invention.

[0163] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although each embodiment is described above, it does not mean that the measures in each embodiment cannot be used in combination advantageously. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A method for indoor positioning of a mobile device, characterized in that: The method comprises: Acquire channel state information from a wireless signal, wherein the wireless signal is transmitted by a mobile device and received by a wireless access point using an array antenna, the array antenna being arranged at the wireless access point, and the channel state information represents state information of a channel between the mobile device and the wireless access point; Obtaining, according to the channel state information, an elevation angle and a frequency of the wireless signal and the number of transmission paths of the wireless signal, wherein each of the transmission paths includes at least one of the channels; Determine a steering vector of the wireless signal according to the pitch angle, the frequency, and the number of transmission paths, wherein the steering vector of the wireless signal represents a phase and amplitude distribution of the wireless signal in the array antenna; Calculating, according to the steering vector and the wireless signal, powers of the wireless signal corresponding to different pitch angles; The location information of the movable device is determined according to the power of the wireless signal corresponding to the different elevation angles.

2. The method according to claim 1, characterized in that The calculating, according to the steering vector and the wireless signal, the power of the wireless signal corresponding to different pitch angles comprises: Determine a covariance matrix of the wireless signal according to the wireless signal; Obtaining, according to the steering vector, a first steering vector of the wireless signal corresponding to different pitch angles; The power of the wireless signal corresponding to different elevation angles is calculated based on the covariance matrix and the first steering vector.

3. The method according to claim 1, characterized in that The array antenna includes M antennas, where M is an integer greater than 1; and determining the steering vector of the wireless signal according to the pitch angle, the frequency, and the number of transmission paths includes: For a target transmission path among the multiple transmission paths, determining, in sequence, the phase differences of the M antennas relative to the first antenna according to the pitch angle, the frequency, the preset antenna spacing, and the propagation speed of the wireless signal, to obtain a first phase difference set; A steering vector of the wireless signal is determined according to the first phase difference set and the number of the transmission paths.

4. The method according to claim 3, characterized in that: The determining, according to the first phase difference set and the number of the transmission paths, the steering vector of the wireless signal comprises: For other transmission paths among the multiple transmission paths except the target transmission path, sequentially determine the phase differences of the M antennas relative to the first antenna to obtain a second phase difference set corresponding to each of the other transmission paths; A steering vector of the wireless signal is constructed based on the first phase difference set and the second phase differences corresponding to each of the other transmission paths.

5. The method according to claim 1, characterized in that The determining the location information of the movable device according to the power of the wireless signal corresponding to the different pitch angles includes: Determine a maximum power among multiple powers of the wireless signal corresponding to the different elevation angles; Determining a pitch angle corresponding to the maximum power as a target pitch angle; The position information of the movable device is determined according to the target pitch angle.

6. The method according to claim 5, characterized in that The method further comprises: Determine, according to a target constraint condition, a target height deviation and a target position deviation of a target object carrying the movable device relative to the wireless access point, wherein the target constraint condition is determined according to preset position information of the wireless access point and a preset height of the target object; The target position information of the movable device is determined according to the target height deviation, the target position deviation and the power of the wireless signal corresponding to the different pitch angles.

7. The method according to claim 6, characterized in that The step of determining, according to the target constraint condition, a target height deviation and a target position deviation of the target object carrying the movable device relative to the wireless access point includes: Determining an initial height deviation and an initial position deviation of the target object according to the target constraint condition; While keeping the initial position deviation unchanged, adjusting the initial height deviation so that the height adjustment deviation is less than a preset height deviation threshold, and obtaining a target height deviation, wherein the height adjustment deviation represents the height deviation between two adjacent adjustments during the initial height deviation adjustment process; While keeping the target height deviation unchanged, the initial position deviation is adjusted so that the position adjustment deviation is less than a preset position deviation threshold to obtain a target position deviation, wherein the position adjustment deviation represents the position deviation of two adjacent adjustments during the initial position deviation adjustment process.

8. An indoor positioning device for a mobile device, characterized in that: The device comprises: an acquisition module, configured to acquire channel state information from a wireless signal, wherein the wireless signal is transmitted by a mobile device and received by a wireless access point using an array antenna, the array antenna being arranged at the wireless access point, and the channel state information represents state information of a channel between the mobile device and the wireless access point; An obtaining module, configured to obtain the elevation angle and frequency of the wireless signal and the number of transmission paths of the wireless signal according to the channel state information; A first determination module is used to determine a steering vector of the wireless signal according to the pitch angle, the frequency and the number of transmission paths, wherein the steering vector of the wireless signal represents a phase and amplitude distribution of the wireless signal in the array antenna; A calculation module, configured to calculate the power of the wireless signal corresponding to different pitch angles according to the steering vector and the wireless signal; The second determination module is used to determine the location information of the movable device according to the power of the wireless signal corresponding to the different pitch angles.

9. An electronic device, comprising: one or more processors; a memory for storing one or more computer programs, It is characterized in that the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 1 to 7.

10. An indoor positioning system for a mobile device, characterized in that: The system comprises: Removable devices; Wireless access points; and The indoor positioning device for a movable device as claimed in claim 8; wherein: The wireless access point is arranged in a target area in a vertical direction so that the movable device transmits a wireless signal toward the wireless access point, and the target area is a movable area of ​​the movable device.

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