Indoor positioning method, device, system and equipment for movable devices

Abstract

The present invention provides an indoor positioning method, device, system and equipment for a movable device, which can be applied to the technical field of signal processing. The method includes: obtaining channel state information from a wireless signal, where the wireless signal is transmitted by the movable device and received by a wireless access point using an array antenna, and the channel state information characterizes the state information of the channel between the movable device and the wireless access point; obtaining the elevation angle, frequency and the number of transmission paths of the wireless signal according to the channel state information, and each transmission path includes at least one channel; determining the steering vector of the wireless signal according to the elevation angle, frequency and the number of transmission paths, where 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 position information of the movable device according to the power of the wireless signal corresponding to different elevation angles.

Description

Technical Field

[0001] The present invention relates to the technical field of signal processing, and particularly to an indoor positioning method, device, system and equipment for a mobile device. Background Art

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

[0003] In the process of implementing the present invention, the inventors found that in the related art, indoor positioning is mainly based on GPS or camera. However, due to the complexity of the indoor environment, the accuracy of indoor positioning based on GPS is relatively low. And due to privacy issues and susceptibility to light of cameras, the applicable places of indoor positioning based on cameras are limited or the positioning accuracy is relatively low. Summary of the Invention

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

[0005] According to a first aspect of the present invention, there is provided an indoor positioning method for a mobile device, including: obtaining channel state information from a wireless signal, where the wireless signal is transmitted by the mobile device and received by an array antenna of a wireless access point, the array antenna is arranged at the wireless access point, and the channel state information characterizes the state information of the channel between the mobile device and the wireless access point; obtaining the elevation angle, frequency and the number of transmission paths of the wireless signal according to the channel state information, where each transmission path includes at least one channel; determining the steering vector of the wireless signal according to the elevation angle, frequency and the number of transmission paths, where 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 position information of the mobile device according to the power of the wireless signal corresponding to different elevation angles.

[0006] According to the indoor positioning method of a mobile device provided by the present invention, by obtaining channel state information from a wireless signal, the elevation angle, frequency of the wireless signal, and the 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, in combination with the wireless signal, the power of the wireless signal corresponding to different elevation angles can be calculated, and then the position information of the mobile device can be determined. Since the magnitude of the elevation 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 mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Through the following description of the embodiments of the present invention with reference to the drawings, the above content and other objects, features, and advantages of the present invention will become clearer. In the drawings:

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

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

[0010] Figure 2A Shows a schematic diagram of a wireless access point ceiling-mounted on a ceiling in the related art.

[0011] Figure 2B Shows an angle schematic diagram of a wireless access point ceiling-mounted on a ceiling in the related art.

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

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

[0014] Figure 4 Shows an actual scene diagram of a wireless access point vertically installed on a wall according to an embodiment of the present invention.

[0015] Figure 5 Shows a flowchart of the indoor positioning method of a mobile device according to an embodiment of the present invention.

[0016] Figure 6 Shows an example diagram of a wireless access point vertically installed on a wall according to an embodiment of the present invention.

[0017] Figure 7 Shows a flowchart of indoor positioning according to an embodiment of the present invention.

[0018] Figure 8 Shows a comparison chart of the angle estimation errors between the positioning algorithm according to an embodiment of the present invention and the positioning algorithms in the prior art.

[0019] Figure 9 Shows a comparison chart of the positioning errors between the positioning algorithm according to an embodiment of the present invention and the positioning algorithms in the prior art.

[0020] Figure 10 Shows a structural block diagram of an indoor positioning device for a mobile device according to an embodiment of the present invention.

[0021] Figure 11 Shows a block diagram of an electronic device suitable for implementing an indoor positioning method for a mobile device according to an embodiment of the present invention. Detailed implementation manners

[0022] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In the following detailed description, for the sake of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present invention. However, obviously, one or more embodiments can also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

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

[0024] All terms used herein (including technical and scientific terms) 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] In the case of using expressions such as "at least one of A, B, and C", generally, it should be interpreted according to the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include, but not be limited to, a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0026] In the technical solution of the present invention, the user information involved (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 for analysis, stored data, displayed data, etc.) are all information and data authorized by the user or fully authorized by all parties. Moreover, the processing of relevant data, such as collection, storage, use, processing, transmission, provision, disclosure, and application, all comply with relevant laws, regulations, and standards, adopt necessary confidentiality measures, do not violate public order and good customs, 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 technology, in the outdoor environment, the Global Positioning System (GPS) is mainly used to provide very accurate positioning and navigation services with the help of satellites. However, in the indoor environment, due to the occlusion of buildings and the different internal environments of different buildings, the performance of the GPS system drops severely. In the related technology, cameras are used to collect natural images and videos to achieve intelligent perception of the indoor environment. However, the widely deployed cameras are easily affected by lighting conditions in practical applications, and there are relatively serious privacy problems, which are restricted in places such as bedrooms and bathrooms. Compared with cameras, the indoor positioning service based on WiFi signals is not affected by various conditions, and the degree of obtaining human privacy is also relatively slight. Therefore, the indoor positioning system based on WiFi signals has attracted the attention of a large number of researchers. The indoor positioning system based on WiFi signals can be roughly divided into three categories, namely Fingerprint, Time of Flight (ToF), and Angle of Arrival (AoA). The Fingerprint-based method requires a large amount of data to be collected in advance, and the collected data is compared with the data in the database during the positioning stage to achieve positioning, which is very time-consuming and laborious in practice and is not very general. Due to the narrow bandwidth of existing commercial WiFi devices, only dozens of MHz, the ToF resolution is low, resulting in low accuracy of the ToF-based positioning method. Although the hopping operation can increase the bandwidth to a certain extent, the hopping operation is time-consuming and will affect normal communication, which is not practical in practice.

[0028] Since WiFi devices are all equipped with multiple antennas, in the related technology, array signal processing algorithms are also applied to extract AoA information for positioning. The indoor positioning method based on AoA can achieve a positioning effect at the decimeter level in the outdoor environment, but no targeted system design has been carried out for narrow and long scenarios such as corridors and tunnels. When migrated to narrow and long scenarios, the positioning performance will drop severely or even fail.

[0029] In view of this, an embodiment of the present invention provides an indoor positioning method for a mobile device, including: obtaining channel state information from a wireless signal, where 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 characterizes the state information of the channel between the mobile device and the wireless access point; obtaining the elevation angle, frequency, and the number of transmission paths of the wireless signal according to the channel state information, where each transmission path includes at least one channel; determining the steering vector of the wireless signal according to the elevation angle, frequency, and the number of transmission paths, where 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 position information of the mobile device according to the power of the wireless signal corresponding to different elevation angles.

[0030] Figure 1A FIG. shows a schematic diagram of a wireless access point horizontally installed on a wall in the related art. Figure 1B FIG. shows an angular schematic diagram of a wireless access point horizontally installed on a wall in the related art. Figure 2A FIG. shows a schematic diagram of a wireless access point ceiling-mounted on a ceiling in the related art. Figure 2B FIG. shows an angular schematic diagram of a wireless access point ceiling-mounted on a ceiling in the related art.

[0031] In real life or work, a wireless access point (Wireless Access Point, abbreviated as AP) is either horizontally installed on a wall, as Figure 1A shown, or ceiling-mounted on a ceiling, as Figure 2A shown. As Figure 1A shown, the width of the indoor corridor is 2 meters and the length is 20 meters. When the wireless access point is horizontally installed on the wall, a large-angle effect exists in more than 95% of the area of the indoor corridor, that is, the angle between the mobile device and the wireless access point is close to plus or minus 90°, as Figure 1B shown. In the case where the angle is close to plus or minus 90°, it is more susceptible to the phase offset inherently existing in the hardware system of the wireless access point, thereby affecting the positioning accuracy. When the wireless access point is ceiling-mounted on the ceiling, when the user moves the 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, as Figure 2B shown.

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

[0033] AsFigure 3A As shown, the wireless access point is installed vertically on the wall. The target object carries a mobile device and moves to different positions. The wireless signals sent by the mobile device will generate different pitch angles, as Figure 3B shown. Therefore, the positioning problem of the mobile device can be transformed into a pitch angle estimation problem. 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] Wherein, represents the pitch angle, represents the height of the i-th wireless access point, represents the height of the mobile device, represents the horizontal distance between the i-th wireless access point and the mobile device.

[0036] According to an embodiment of the present invention, during the process of the target object carrying the mobile device moving in the target area, the target object can hold the mobile device by hand or place the mobile device in a pocket. The heights of different target objects holding the mobile device may also be different. Therefore, there is a height difference between the wireless access point and the target object.

[0037] Figure 4 Shows an actual scene diagram of the wireless access point installed vertically on the wall according to an embodiment of the present invention.

[0038] As Figure 4 shown, the target area is a 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 mobile device is a mobile phone. The target object holds the mobile phone and moves within the target area, and the positioning of the mobile phone can be realized.

[0039] Figure 5 Shows a flowchart of the indoor positioning method of the mobile device according to an embodiment of the present invention.

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

[0041] In operation S510, obtain channel state information from the 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 a wireless signal can characterize the phase and amplitude distribution of the wireless signal in an array antenna. When the elevation angle, frequency, and number of transmission paths are determined, a first set of phase differences and a second set of phase differences of multiple antennas corresponding to each transmission path relative to the first antenna can be determined, and then the steering vector of the wireless signal can be determined.

[0050] According to an embodiment of the present invention, a target object can carry a mobile device and move within a target area. During the movement, multiple elevation angles of the wireless signal can be formed. The range of the elevation angle can be 0 to 60°, and the power of the wireless signal corresponding to different elevation angles can be calculated based on the steering vector and the elevation angle of the wireless signal.

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

[0052] According to an embodiment of the present invention, by obtaining the channel state information from the wireless signal, the elevation angle, frequency, and the 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 power of the wireless signal corresponding to different elevation angles can be calculated in combination with the wireless signal, and then the position information of the mobile device can be determined. Since the magnitude of the elevation angle of the wireless signal is relatively moderate and not close to ±90°, the phase error is small, and thus the indoor positioning accuracy of the mobile device is improved.

[0053] According to an embodiment of the present invention, calculating the power of the wireless signal corresponding to different elevation angles based on the steering vector and the wireless signal includes: determining the covariance matrix of the wireless signal according to the wireless signal; obtaining the first steering vector of the wireless signal corresponding to different elevation angles according to the steering vector; and calculating the power of the wireless signal corresponding to different elevation angles according to 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 by its transpose through data fitting. When the elevation angle is determined, the first steering vector of the wireless signal corresponding to different elevation angles can be obtained according to the steering vector.

[0055] In one embodiment, a 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 m-th antenna at the k-th frequency point at the t-th moment , as shown in the following formula (2).

[0056] (2)

[0057] Among them, represents the number of transmission paths, represents the number of the transmission path, represents at the t-th moment, the -th path's attenuation coefficient of the wireless signal propagation, represents the frequency of the wireless signal at the k-th frequency point, represents the -th transmission path's propagation time of the wireless signal, represents the number of the antenna, represents the preset antenna spacing, represents the propagation speed of the wireless signal, represents the imaginary unit, represents the -th transmission path's elevation angle.

[0058] According to an embodiment of the present invention, the wireless signal of M antennas and K stepped frequency points at the t-th moment , as shown in formula (3) below.

[0059] (3)

[0060] Among them, represents the wireless signal of the first antenna at the first stepped frequency point at the t-th moment, represents the wireless signal of the second antenna at the first stepped frequency point at the t-th moment, represents the wireless signal of the M-th antenna at the first stepped frequency point at the t-th moment, represents the wireless signal of the M-th antenna at the K-th stepped frequency point at the t-th moment, and T represents transpose.

[0061] According to an embodiment of the present invention, within the time length of the wireless signal, multiple moments can be included. For example, N moments are included. The wireless signal of M antennas and K stepped frequency points within the time length of the wireless signal , as shown in formula (4) below.

[0062] (4)

[0063] Among them, represents the wireless signal of M antennas and K stepped frequency points at the first moment, represents the wireless signal of M antennas and K stepped frequency points at the second moment, the wireless signal of M antennas and K stepped frequency points at the N-th moment.

[0064] According to an embodiment of the present invention, due to the inherent time-varying phase offset in the hardware system of the wireless access point, 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 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 elevation angles can be determined according to the steering vector, and then combined with the covariance matrix, the power of the wireless signal corresponding to different elevation angles can be calculated using the following formula (6), so that the amplitude matrix Q can be obtained.

[0068] (6)

[0069] where represents the power of the wireless signal corresponding to the elevation angle , represents the covariance matrix, represents the first steering vector corresponding to the elevation angle , represents the wireless signal.

[0070] According to an embodiment of the present invention, the calculation of the covariance matrix is as follows formula (7).

[0071] (7)

[0072] According to an embodiment of the present invention, the array antenna may include 4 antennas. Based on the wireless signal, through the method of data fitting, the covariance matrices R SLA corresponding to the spacings between the 4 antennas being 0.5λ, 1.5λ, and λ respectively can be obtained. As follows formula (8), using the matrix completion technique, the covariance matrix R ULA corresponding to the half-wavelength uniform linear array of 7 antennas can be obtained. As follows formula (9), it can be seen that the covariance matrix R ULA of the half-wavelength uniform antenna array composed of 7 antennas is a Toeplitz matrix, with many redundant components. The covariance matrix R SLA corresponding to the spacings between the 4 antennas being 0.5λ, 1.5λ, and λ has no redundancy except for the diagonal components. Therefore, the spatial resolution of the positioning system can be further improved by a reasonable arrangement method of the array antenna.

[0073] (8)

[0074] (9)

[0075] Among them, the 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. According to the steering vector, the first steering vector of the wireless signal corresponding to different elevation angles can be obtained. Furthermore, through the covariance matrix and the first steering vector, the frequency of the wireless signal corresponding to different elevation angles can be calculated, improving the accuracy of the frequency of the wireless signal corresponding to different elevation angles, and further improving the accuracy of indoor positioning of the mobile device.

[0077] According to an embodiment of the present invention, determining the steering vector of the wireless signal according to the elevation angle, frequency, and number of transmission paths includes: for the target transmission path among the multiple transmission paths, successively determining the phase differences of the M antennas relative to the first antenna according to the elevation angle, frequency, preset antenna spacing, and propagation speed of the wireless signal to obtain the first set of phase differences; determining the steering vector of the wireless signal according to the first set of phase differences 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 the target transmission path among the multiple transmission paths, the target transmission path may be any one of the multiple transmission paths.

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

[0081] (10)

[0082] (11)

[0083] Among them, Indicates the phase difference of the th antenna of the th transmission path relative to the first antenna, represents the first set of phase differences of the th transmission path, represents the phase difference of the first antenna of the th transmission path relative to the first antenna, represents the phase difference of the Mth antenna of the

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

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

[0086] According to an embodiment of the present invention, when the first set of phase differences 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, using the above formula (10), according to the elevation angle, frequency, preset antenna spacing, and propagation speed of the wireless signal, sequentially determining the phase differences of the M antennas relative to the first antenna, and further obtaining a second set of phase differences corresponding to each of the other transmission paths, and each transmission path corresponds to a second set of phase differences.

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

[0088] (12)

[0089] Wherein, represents the steering vector of the wireless signal, represents the second set of phase differences corresponding to the first transmission path, Indicates a set of second phase differences corresponding to the L-th transmission path.

[0090] According to an embodiment of the present invention, only the set of second phase differences corresponding to the first transmission path and the set of second phase differences corresponding to the L-th transmission path are shown in the above formula (12), and the set of first phase differences corresponding to the target transmission path and the sets of second phase differences corresponding to other transmission paths are represented by ellipses.

[0091] According to an embodiment of the present invention, for the 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, so as to obtain a set of first phase differences. For other transmission paths except the target transmission path, sets of second phase differences corresponding to the respective other transmission paths can be obtained. The set of first phase differences and the sets of second phase differences corresponding to the respective other transmission paths can form a steering vector of the wireless signal, improving the accuracy of the steering vector of the wireless signal.

[0092] According to an embodiment of the present invention, determining the position information of the mobile device according to the power of the wireless signal corresponding to different pitch angles includes: determining the maximum power among the multiple powers of the wireless signal corresponding to different pitch angles; determining the pitch angle corresponding to the maximum power as the target pitch angle; and determining the position information of the mobile device according to the target pitch angle.

[0093] According to an embodiment of the present invention, the wireless signal can include multiple different pitch angles. Using the above formula (6), the multiple powers of the wireless signal corresponding to different pitch angles can be calculated, and then the maximum power among the multiple powers of the wireless signal corresponding to different pitch angles can be determined, and the pitch angle corresponding to the maximum power is determined as the target pitch angle.

[0094] According to an embodiment of the present invention, when the target pitch angle is determined, the angle of the wireless signal emitted by the mobile device can be determined, that is, the position information of the mobile device can be determined.

[0095] According to an embodiment of the present invention, by calculating the multiple powers of the wireless signal corresponding to different pitch angles, the angle corresponding to the maximum power is determined as the target pitch angle, so that the angle of the wireless signal emitted by the mobile device can be determined, and then the position information of the mobile device can be determined, 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 mobile device further includes: determining a target height deviation and a target position deviation of a target object carrying the mobile device relative to a wireless access point according to target constraint conditions; and determining target position information of the mobile device according to the target height deviation, the target position deviation, and the power of wireless signals 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. The horizontal position information may characterize 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 mobile device. The vertical position information may characterize 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 conditions may be determined according to 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 conditions may include a first target constraint condition and a second target constraint condition, as shown in the following formulas (13) and (14) respectively.

[0099] (13)

[0100] (14)

[0101] Wherein, represents the height of the first access point, represents the height of the second access point, represents the horizontal distance between the first access point and the mobile device, represents the horizontal distance between the second access point and the mobile device, represents 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, represents the pitch angle of the wireless signal relative to the first access point, represents the pitch angle of the wireless signal relative to the second access point.

[0102] According to an embodiment of the present invention, determining a target height deviation and a target position deviation of a target object carrying a movable device relative to a wireless access point according to target constraint conditions includes: determining an initial height deviation and an initial position deviation of the target object according to the target constraint conditions; 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 to obtain the 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 to obtain the target position deviation.

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

[0104] According to an embodiment of the present invention, the height adjustment deviation can represent the height deviation between two adjacent adjustments during the adjustment of the initial height deviation. 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 to obtain the target height deviation, as shown in formula (15) below.

[0105] (15)

[0106] According to an embodiment of the present invention, by transposing formula (15) above, the target height deviation is as shown in formula (16) below.

[0107] (16)

[0108] According to an embodiment of the present invention, the position adjustment deviation can represent the position deviation between two adjacent adjustments during the adjustment of the initial position deviation. After obtaining the target height deviation, the preset height of the target object can be updated to , 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 the target position deviation, as shown in formula (17) below.

[0109] (17)

[0110] According to an embodiment of the present invention, during the adjustment of the initial height deviation and the initial position deviation, generally the target height deviation and the target position deviation can be obtained at the 5th adjustment.

[0111] According to an embodiment of the present invention, in the case where the target position deviation and the target height deviation are determined, the target elevation angle of the wireless signal can be determined by combining the power of the wireless signals corresponding to different elevation angles, and then the target position information of the movable device can be determined.

[0112] According to an embodiment of the present invention, by adjusting the initial height deviation and the initial position deviation based on the alternating variable optimization algorithm, the target position deviation and the target height deviation are obtained, and then by combining the power of the wireless signals corresponding to different elevation angles, the target position information of the movable device can be determined, further improving the indoor positioning accuracy of the movable device.

[0113] Figure 6 The figure shows an example diagram of a wireless access point vertically installed on a wall according to an embodiment of the present invention.

[0114] As Figure 6 shown, it includes two wireless access points, namely the first wireless access point AP1 and the 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 the movable device is h, the horizontal distance between the target object and the first wireless access point AP1 is x1, the horizontal distance between the target object and 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. The elevation angle between the movable device and the first wireless access point AP1 is and the elevation angle between the movable 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 each antenna is d. In the case where there is a multipath effect during the transmission of the wireless signal 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 The figure shows a flowchart of indoor positioning according to an embodiment of the present invention. Figure 8 The figure shows a comparison diagram of the angle estimation errors between the positioning algorithm according to an embodiment of the present invention and the positioning algorithms in the prior art. Figure 9 The figure shows a comparison diagram of the positioning errors between the positioning algorithm according to an embodiment of the present invention and the positioning algorithms in the prior art.

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

[0117] As Figure 7 shown, multiple wireless access points (APs) receive wireless signals from the movable device, 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 signals, the covariance matrix of the sparse linear array is obtained through data fitting, and then through matrix completion technology, the covariance matrix corresponding to a 7-antenna uniform half-wavelength linear array is obtained, and the beamforming algorithm is used for angle estimation to obtain the elevation angle information. In order to achieve height compensation, the alternating variable optimization algorithm (abbreviated as the Widor algorithm) is used to gradually optimize and solve the optimal target height deviation. Combining the time-domain information and map constraints, through the collaborative positioning of two wireless access points (APs), an angular estimation median error of 5.2° and a positioning median error of 0.58 m can be achieved in a 20 m * 2 m indoor corridor environment, thus avoiding the large-angle effect and complex multipath transmission in the related technology. Through height compensation, high-precision and strong robustness of indoor positioning are achieved. The comparison charts of the angular estimation error results and positioning error results are respectively as Figure 8 and Figure 9 shown. Among them, the Co-Loc algorithm and the ArrayTrack algorithm are positioning algorithms in the related technology.

[0118] Based on the above indoor positioning method for movable devices, the present invention also provides an indoor positioning device for movable devices. The following will be described in detail with reference to Figure 10 .

[0119] Figure 10 shows a structural block diagram of an indoor positioning device for movable devices according to an embodiment of the present invention.

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

[0121] An acquisition module 1010 is configured to acquire channel state information from a wireless signal, where the wireless signal is transmitted by a mobile device and received by a wireless access point using an array antenna arranged on the wireless access point, and the channel state information characterizes the state of the channel between the mobile device and the wireless access point. In one embodiment, the acquisition module 1010 may be configured to perform the operation S510 described above, which will not be elaborated here.

[0122] A obtaining module 1020 is configured to obtain the elevation angle, 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 may be configured to perform the operation S520 described above, which will not be elaborated here.

[0123] A first determination module 1030 is configured to determine a steering vector of the wireless signal according to the elevation angle, frequency, and the number of transmission paths, where the steering vector of the wireless signal characterizes the phase and amplitude distribution of the wireless signal in the array antenna. In one embodiment, the first determination module 1030 may be configured to perform the operation S530 described above, which will not be elaborated here.

[0124] A calculation module 1040 is configured to calculate the power of the wireless signal corresponding to different elevation angles according to the steering vector and the wireless signal. In one embodiment, the calculation module 1040 may be configured to perform the operation S540 described above, which will not be elaborated here.

[0125] A second determination module 1050 is configured to determine the location information of the mobile device according to the power of the wireless signal corresponding to different elevation angles. In one embodiment, the second determination module 1050 may be configured to perform the operation S550 described above, which will not be elaborated here.

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

[0127] The first calculation sub-module is configured to determine a covariance matrix of the wireless signal according to the wireless signal.

[0128] The second calculation sub-module is configured to obtain a first steering vector of the wireless signal corresponding to different elevation angles according to the steering vector.

[0129] The third calculation sub-module is configured to calculate the power of the wireless signal corresponding to different elevation 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 sub-module and a second determination sub-module.

[0131] The first determination sub-module is configured to, for a target transmission path among multiple transmission paths, successively determine the phase differences of M antennas relative to the first antenna according to the pitch angle, frequency, preset antenna spacing, and propagation speed of the wireless signal, so as to obtain a first set of phase differences.

[0132] The second determination sub-module is configured to determine the steering vector of the wireless signal according to the first set of phase differences and the number of transmission paths.

[0133] According to an embodiment of the present invention, the second determination sub-module includes: a first determination unit and a second determination unit.

[0134] The first determination unit is configured to, for other transmission paths except the target transmission path among multiple transmission paths, successively determine the phase differences of M antennas relative to the first antenna, so as to obtain a second set of phase differences corresponding to each of the other transmission paths.

[0135] The second determination unit is configured to construct the steering vector of the wireless signal based on the first set of phase differences and the second phase differences corresponding to each of the other transmission paths.

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

[0137] The third determination sub-module is configured to determine the maximum power among multiple powers of the wireless signal corresponding to different pitch angles.

[0138] The fourth determination sub-module is configured to determine the pitch angle corresponding to the maximum power as the target pitch angle.

[0139] The fifth determination sub-module is configured 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 configured to determine a target height deviation and a target position deviation of a target object carrying the movable device relative to the wireless access point according to a target constraint condition, where 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 configured 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 sub-module, a seventh determination sub-module, and an eighth determination sub-module.

[0144] The sixth determination sub-module is configured to determine an initial height deviation and an initial position deviation of the target object according to the target constraint condition.

[0145] The seventh determination sub-module is configured 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 to obtain a target height deviation, where the height adjustment deviation represents the height deviation between two adjacent adjustments during the adjustment of the initial height deviation.

[0146] The eighth determination sub-module is configured 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 a target position deviation, where the position adjustment deviation represents the position deviation between two adjacent adjustments during the adjustment of the initial position deviation.

[0147] According to an embodiment of the present invention, any multiple modules among the acquisition module 1010, the obtaining module 1020, the first determination module 1030, the calculation module 1040, and the second determination module 1050 can be combined and implemented in one module, or any one of them can be split into multiple modules. Or, 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 obtaining 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 chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by any other reasonable means such as integrating or packaging circuits, etc., in hardware or firmware, or implemented in any one of the three implementation manners of software, hardware, and firmware, or in an appropriate combination of any several of them. Or, 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 can be at least partially implemented as a computer program module, and when the computer program module runs, it can execute the corresponding functions.

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

[0149] According to an embodiment of the present invention, the target area is a movable area of a movable device. For example, narrow areas such as indoor corridors and tunnels. The wireless access point can be arranged in the target area in a vertical direction so that the movable device can transmit wireless signals towards the wireless access point.

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

[0151] As Figure 11 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 a program stored in a read-only memory (ROM) 1102 or a program loaded from a storage section 1108 into a RAM (Random Access Memory). The processor 1101 can include, for example, a general microprocessor (such as a CPU), an instruction set processor, and / or a related chipset, and / or a dedicated microprocessor (such as an application-specific integrated circuit (ASIC)), etc. The processor 1101 can also include on-board memory for caching purposes. The processor 1101 can 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 the RAM 1103, various programs and data required for the operation of the electronic device 1100 are stored. The processor 1101, the ROM 1102, and the RAM 1103 are connected to each other through a bus 1104. The processor 1101 performs various operations of the method flow according to an embodiment of the present invention by executing the programs in the ROM 1102 and / or the RAM 1103. It should be noted that the program can also be stored in one or more memories other than the ROM 1102 and the RAM 1103. The processor 1101 can also perform various operations of the method flow according to an embodiment of the present invention by executing the programs 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, and the input / output (I / O) interface 1105 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. The 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 from it can be 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 embodiments; or may exist separately 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 embodiments 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 of the above. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, device, or device. For example, according to an embodiment of the present invention, the computer-readable storage medium may include the above-described ROM 1102 and / or RAM 1103 and / or one or more memories other than ROM 1102 and RAM 1103.

[0156] Embodiments of the present invention also include a computer program product, which includes a computer program containing program code for performing the method shown in the flowchart. When the computer program product runs 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 embodiments of the present invention.

[0157] When the computer program is executed by the processor 1101, the above functions defined in the system / apparatus of the embodiments of the present invention are executed. According to the embodiments of the present invention, the above-described systems, apparatuses, modules, units, etc. can be implemented by computer program modules.

[0158] In one embodiment, the computer program can rely on tangible storage media such as optical storage devices and magnetic storage devices. In another embodiment, the computer program can also be transmitted and distributed in the form of a signal on a network medium, and downloaded and installed through the communication part 1109, and / or installed from the removable medium 1111. The program code contained in the computer program can be transmitted using any suitable 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 embodiments of the present invention are executed. According to the embodiments of the present invention, the above-described systems, devices, apparatuses, modules, units, etc. can be implemented by computer program modules.

[0160] According to the embodiments of the present invention, the program code for executing the computer program provided by the embodiments 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 procedures and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages include but are not limited to, such as Java, C++, python, the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's 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., by using an Internet service provider to connect through the Internet).

[0161] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as combinations of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0162] Those skilled in the art can understand that the features described in the various embodiments of the present invention can 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 can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present invention.

[0163] The above describes the embodiments of the present invention. However, these embodiments are only for illustrative purposes and not for limiting the scope of the present invention. Although the embodiments are described separately above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, and all such substitutions and modifications should 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, wherein the array antenna includes M antennas, and M is an integer greater than 1; 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; Determining the steering vector of the wireless signal according to the pitch angle, the frequency, and the number of transmission paths, comprising: for a target transmission path among the multiple transmission paths, determining the phase difference of M antennas relative to the first antenna in sequence 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, and determining the steering vector of the wireless signal according to the first phase difference set 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; 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 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.

4. 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.

5. The method according to claim 4, 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.

6. The method according to claim 5, 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.

7. 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, wherein the array antenna is 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, wherein the array antenna includes M antennas, and M is an integer greater than 1; 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 configured to determine a steering vector of the wireless signal according to the pitch angle, the frequency, and the number of transmission paths, including: for a target transmission path among the multiple transmission paths, sequentially determining a phase difference of M antennas relative to a first antenna according to the pitch angle, the frequency, a preset antenna spacing, and a propagation speed of the wireless signal to obtain a first phase difference set, 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.

8. 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 6.

9. 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 7; 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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