Method, device, equipment and product for determining candidate positions for target positioning

Abstract

The present invention discloses a candidate position determination method, apparatus, device and product for target positioning, comprising: determining the time delay spread width and the Doppler spread width according to the type of positioning signal sent by a known target; determining the first step length according to the time delay spread width, and determining the second step length according to the Doppler spread width; determining the equal time delay difference direction angle; taking the first candidate position as the starting point, determining the second candidate position according to the equal time delay difference direction angle, the first step length and the second step length. The present invention can determine the spread characteristics of the positioning signal according to the type of positioning signal sent by a known target, further obtain the sampling direction and search step length of the candidate position, and determine a new candidate position. This method can effectively reduce the number of candidate positions while ensuring the accuracy of target positioning, significantly reduce the amount of calculation for later target positioning, improve the positioning speed of the target, and reduce the computing performance requirements for the target positioning device.

Description

Technical Field

[0001] The present invention belongs to the field of target positioning, and in particular relates to a candidate position determination method, apparatus, device and product for target positioning. Background Art

[0002] Passive positioning technology does not emit electromagnetic signals itself. It uses multiple receiving devices to passively receive electromagnetic signals emitted by the target to be located to achieve target positioning. It has the advantages of good concealment, strong anti-interference ability, long reconnaissance distance and wide coverage.

[0003] Under existing technical conditions, the direct positioning method in passive positioning technology performs correlation calculations based on all possible candidate positions of the target to be positioned, and further determines whether the candidate position is the target's true position. Although it achieves relatively good target positioning accuracy, it has a very large amount of calculation, and there are problems such as slow target positioning speed and high computing performance requirements of the positioning equipment. Summary of the Invention

[0004] In view of this, the present invention aims to overcome the defects in the prior art and proposes a candidate position determination method, device, equipment and product for target positioning.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] In a first aspect, a method for determining candidate positions for target positioning includes:

[0007] Determining a delay spread width and a Doppler spread width based on a known type of positioning signal sent by a target, wherein the delay spread width is the delay difference width when a correlation peak of the positioning signal falls below a preset first threshold, and the Doppler spread width is the Doppler difference width when a correlation peak of the positioning signal falls below a preset second threshold;

[0008] The first step length is determined according to the time delay broadening width, and the second step length is determined according to the Doppler broadening width;

[0009] Based on the first candidate position, calculating the time delay difference between two positioning signal receiving devices;

[0010] Based on all other positions within a first preset distance centered on the first candidate position, the time delay difference between the two positioning signal receiving devices is traversed and calculated, and the angle between the first candidate position and the other position closest to the time delay difference is used as the equal delay difference direction angle;

[0011] Taking the first candidate position as the starting point, the first step length is taken in the indicated direction of the equal delay difference angle, and the second step length is taken in the direction perpendicular to the indicated direction. The two are combined with position sampling to determine the second candidate position.

[0012] In one embodiment of the present invention, the first step length is determined according to the delay stretch width, and the second step length is determined according to the Doppler stretch width, including: the first step length is one third of the delay stretch width, and the second step length is one third of the Doppler stretch width.

[0013] In one embodiment of the present invention, the first candidate position is used as the starting point, the first step length is used in the indicated direction of the equal delay difference angle, and the second step length is used in the vertical direction of the indicated direction, and the two are coordinated with position sampling to determine the second candidate position, including: establishing a square candidate position determination area with the first candidate position as the center and twice the second preset distance as the width, and the second candidate position is determined by position sampling within the square candidate position determination area.

[0014] In one embodiment of the present invention, the method further includes, after completing position sampling within the square candidate position determination area, moving the first candidate position by a second preset distance that is a preset multiple, and then re-determining the corresponding second candidate position.

[0015] In one embodiment of the present invention, the preset multiple is two.

[0016] In one embodiment of the present invention, based on all other positions within a first preset distance centered on the first candidate position, the time delay difference between two positioning signal receiving devices is traversed and calculated, including: taking the first candidate position as the center and the first preset distance as the radius, sampling all other positions according to a preset angle step.

[0017] In a second aspect, the present invention discloses a candidate position determination device for target positioning, the device comprising:

[0018] A first determination module is configured to determine a delay spread width and a Doppler spread width based on a known type of positioning signal sent by a target, wherein the delay spread width is a delay difference width when a correlation peak of the positioning signal falls below a preset first threshold, and the Doppler spread width is a Doppler difference width when a correlation peak of the positioning signal falls below a preset second threshold;

[0019] A second determining module is used to determine the first step length according to the delay broadening width, and determine the second step length according to the Doppler broadening width;

[0020] A first calculation module is used to calculate the time delay difference between two positioning signal receiving devices based on the first candidate position;

[0021] A second calculation module is configured to traverse and calculate the time delay difference between two positioning signal receiving devices based on all other positions within a first preset distance centered on the first candidate position, and use the angle between the first candidate position and the other position closest to the time delay difference as the equal time delay difference direction angle;

[0022] The position sampling module is used to take the first candidate position as the starting point, take the first step length in the indicated direction of the equal delay difference angle, and take the second step length in the vertical direction of the indicated direction, and the two are combined with position sampling to determine the second candidate position.

[0023] In a third aspect, the present invention discloses an electronic device comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the above method.

[0024] In a fourth aspect, the present invention discloses a computer-readable storage medium having a computer program stored thereon, which implements the above method when executed by a processor.

[0025] In a fifth aspect, the present invention discloses a computer program product, comprising a computer program, which implements the above method when executed by a processor.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] The present invention discloses a candidate position determination method, apparatus, equipment and product for target positioning, comprising: determining the time delay spread width and the Doppler spread width according to the type of positioning signal sent by a known target; determining the first step length according to the time delay spread width, and determining the second step length according to the Doppler spread width; determining the equal time delay difference direction angle; taking the first candidate position as the starting point, determining the second candidate position according to the equal time delay difference direction angle, the first step length and the second step length. The present invention discloses a candidate position determination method, apparatus, equipment and product for target positioning, which can determine the spread characteristics of the positioning signal according to the type of positioning signal sent by a known target, further obtain the sampling direction and search step length of the candidate position to determine a new candidate position. This method can effectively reduce the number of candidate positions while ensuring the target positioning accuracy, significantly reduce the amount of calculation for the later target positioning, improve the positioning speed of the target, and reduce the computing performance requirements for the target positioning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0029] In the attached figure:

[0030] Figure 1 A schematic diagram of an application scenario of a method for determining candidate positions for target positioning according to an embodiment of the present invention;

[0031] Figure 2A schematic diagram of a method for determining candidate positions for target positioning according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of determining a second candidate position in a candidate position determination method for target positioning according to an embodiment of the present invention;

[0033] Figure 4 A schematic diagram of the time delay width of a candidate position determination method for target positioning according to an embodiment of the present invention;

[0034] Figure 5 A schematic diagram of Doppler broadening width of a candidate position determination method for target positioning according to an embodiment of the present invention;

[0035] Figure 6 A schematic diagram of a candidate position determination device for target positioning according to an embodiment of the present invention;

[0036] Figure 7 A schematic diagram of an electronic device for determining candidate positions for target positioning according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0038] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0039] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0040] In the description of the present invention, it should be further clarified that the terms "first," "second," etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first," "second," etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0041] The present invention discloses a method, device, equipment and product for determining candidate positions for target positioning. Figure 1 As shown, under existing technical conditions, the existing passive direct positioning method performs correlation calculation based on all possible candidate positions of the target to be positioned. Although it achieves relatively good target positioning accuracy, it has a very large amount of calculation, is slow in target positioning speed, and requires high computing performance of the positioning device. The present invention discloses a candidate position determination method, device, equipment and product for target positioning, which can determine the broadening characteristics of the positioning signal based on the type of positioning signal sent by the known target, and further obtain the sampling direction and search step size of the candidate position to determine a new candidate position. This method can effectively reduce the number of candidate positions while ensuring the target positioning accuracy, greatly reduce the computational complexity of the later target positioning, improve the positioning speed of the target, and reduce the computing performance requirements of the target positioning device.

[0042] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0043] In one embodiment of the present invention, Figure 2 As shown, a candidate position determination method for target positioning includes:

[0044] Step S201: Determine the delay spread and Doppler spread based on the type of positioning signal sent by the known target. The delay spread is the delay difference width when the correlation peak of the positioning signal falls below a preset first threshold, and the Doppler spread is the Doppler difference width when the correlation peak of the positioning signal falls below a preset second threshold.

[0045] In this embodiment, for example, the positioning signal sent by the target is a pseudo-random sequence signal, and the signal duration is , signal carrier frequency , sampling rate .

[0046] The differences in delay spread width and Doppler spread width of different types of positioning signals are due to the different sensitivities of the positioning signals relative to the delay difference and Doppler difference, based on the correlation information calculated according to the selected metric function. For example, if the positioning signal is insensitive to the delay difference, it will be significantly broadened along the direction of the delay difference gradient. If the target signal is insensitive to the Doppler difference, it will be significantly broadened along the direction of the Doppler difference gradient. Therefore, by using the known type of positioning signal sent by the target and the corresponding metric function, the delay spread width and Doppler spread width corresponding to the positioning signal sent by the target can be determined. The metric function is the same as the metric function selected for calculating the signal correlation based on the candidate position in the later stage, so the metric function is known.

[0047] For example, the measurement function can be based on the received signals of two receiving devices, or other correlated signals, as long as the delay spread and Doppler spread of the positioning signal can be determined.

[0048] In this embodiment, the first threshold and the second threshold are both set to 3dB;

[0049] like Figure 4 As shown, in this embodiment, the delay spread width is the delay difference width corresponding to the correlation peak of the positioning signal dropping by 3dB. The delay spread width is expressed as ;

[0050] like Figure 4 As shown,

[0051] like Figure 5 As shown, in this embodiment, the Doppler broadening width is the Doppler difference width corresponding to the correlation peak drop of the positioning signal by 3dB. The Doppler broadening width is expressed as ;

[0052] like Figure 5 As shown,

[0053] Step S202: determining the first step length according to the delay stretch width, and determining the second step length according to the Doppler stretch width;

[0054] In this embodiment, the first step length is one third of the delay stretch width, and the second step length is one third of the Doppler stretch width.

[0055] For example, the first step length is expressed as / 3, the second step length is expressed as / 3.

[0056] Step S203: Calculate the time delay difference between two positioning signal receiving devices based on the first candidate position;

[0057] For example, the first candidate position is represented as P, and the corresponding delay difference is represented as ;

[0058] Since the first candidate position and the position coordinates of the two positioning signal receiving devices are known, the delay difference can be calculated to express .

[0059] Step S204: Based on all other positions within a first preset distance from the first candidate position, the time delay difference between the two positioning signal receiving devices is calculated, and the angle between the first candidate position and the other position with the closest time delay difference is used as the equal time delay difference direction angle;

[0060] In this embodiment, the first candidate position is taken as the center and the first preset distance is taken as the radius, and all other positions are obtained by sampling according to the preset angle step.

[0061] For example, the first candidate position P corresponds to a delay difference of , the first preset distance is expressed as , the equal delay direction angle is expressed as , the preset angle step is 0.1°, and the sequences at other positions are sampled , and the corresponding delay difference sequence ,choose and The direction with the smallest difference The corresponding angle is used as the equal delay direction angle , get the first preset distance The equal time delay direction angle ,in, .

[0062] Further, illustratively, in another embodiment of the present invention, the preset first distance is gradually increased , indicating the second preset distance , and calculate the second preset distance at the same time Corresponding equal delay direction angle , until Greater than When setting a threshold (for example: , determine that the distance value at this time is the second preset distance The final value of .

[0063] In this embodiment, the second preset distance The determination of can reduce the number of candidate positions and improve the positioning speed while ensuring the accuracy of later positioning.

[0064] Step S205: Figure 3As shown, taking the first candidate position as the starting point, taking the first step length in the indicated direction of the equal delay difference angle and taking the second step length in the direction perpendicular to the indicated direction, the two are combined with position sampling to determine the second candidate position.

[0065] For example, all second candidate positions near the first candidate position P are obtained to obtain the sequence .

[0066] On the basis of the above embodiment, in another embodiment of the present invention, as Figure 3 As shown, starting from the first candidate position P, the angle of the equal delay difference direction The first step length is used in the indicated direction, and the second step length is used in the vertical direction of the indicated direction. The two are combined with position sampling to determine the second candidate position, including: establishing a second preset distance twice the first candidate position as the center A square candidate position determination area with a width of is is used, and the second candidate position is determined by position sampling within the square candidate position determination area.

[0067] In another embodiment of the present invention, the method further includes, after completing the position sampling within the square candidate position determination area, moving the first candidate position P by a second preset distance of a preset multiple. Then, the corresponding second candidate position is determined again.

[0068] In this embodiment, the preset multiple is two times, and the moving distance is 2 .

[0069] In this embodiment, the first candidate position after the move is taken as the center, and the second preset distance is twice the corresponding Within the square candidate position determination area with a width of 1, position sampling is performed again to obtain all second candidate positions, and the sequence After completing the position sampling, again with 2 Move the first candidate position by the distance until all candidate position search areas are covered to obtain the entire candidate position sequence .

[0070] In a possible embodiment of the present invention, the first candidate position can be moved in four directions simultaneously: up, down, left, and right. Distance, get four new square candidate position determination areas, and perform position determination sampling of the second candidate position while in the area, get four , which can effectively improve the speed of determining candidate positions.

[0071] In one embodiment of the present invention, the prior art uses a 20mx20m grid point to determine candidate locations. This method can reduce the number of candidate locations to 1 / 30 of the original number, effectively reducing the subsequent calculation amount and improving the target positioning speed.

[0072] like Figure 6 As shown, the present invention also discloses a candidate position determination device for target positioning, comprising:

[0073] A first determining module 601 is configured to determine a delay spread width and a Doppler spread width based on a known type of positioning signal sent by a target, wherein the delay spread width is a delay difference width when a correlation peak of the positioning signal falls below a preset first threshold, and the Doppler spread width is a Doppler difference width when a correlation peak of the positioning signal falls below a preset second threshold;

[0074] A second determining module 602 is configured to determine a first step length according to the delay stretch width, and determine a second step length according to the Doppler stretch width;

[0075] A first calculation module 603 is configured to calculate a time delay difference between two positioning signal receiving devices based on the first candidate position;

[0076] The second calculation module 604 is configured to traverse and calculate the time delay difference between two positioning signal receiving devices based on all other positions within a first preset distance centered on the first candidate position, and use the angle between the first candidate position and the other position closest to the time delay difference as the equal time delay difference direction angle;

[0077] The position sampling module 605 is used to determine the second candidate position by taking the first candidate position as the starting point, taking the first step length in the indicated direction of the equal delay difference angle, and taking the second step length in the direction perpendicular to the indicated direction, and combining the two to perform position sampling.

[0078] The present invention also discloses an electronic device, such as Figure 7 As shown, an embodiment is disclosed, which is a block diagram of an electronic device suitable for determining candidate positions for target positioning.

[0079] The electronic device 70 of this embodiment includes a processor 701, which can perform various appropriate actions and processes according to the program stored in the ROM 702 or the program loaded from the storage part 708 into the RAM 703. The processor 701 may include, for example, a general-purpose microprocessor, an instruction set processor and / or a related chipset and / or a dedicated microprocessor, etc. The processor 701 may also include onboard memory for caching purposes. The processor 701 may include a single processing unit or multiple processing units for performing different actions of the method flow according to the embodiment of the present invention.

[0080] The RAM 703 stores various programs and data required for the operation of the electronic device 70. The processor 701, ROM 702, and RAM 703 are connected to each other via a bus 704. The processor 701 executes the programs in the ROM 702 and / or RAM 703 to perform various operations according to the method flow of the embodiment of the present invention. It should be noted that the programs may also be stored in one or more memories other than the ROM 702 and RAM 703, and the processor 701 may also execute the programs stored in one or more memories to perform various operations according to the method flow of the embodiment of the present invention.

[0081] According to an embodiment of the present invention, the electronic device 70 may further include an I / O interface 705, which is also connected to the bus 704. The electronic device 70 may further include one or more of the following components connected to the I / O interface 705: an input portion 706 including a keyboard, a mouse, etc.; an output portion 707 including a cathode ray tube, a liquid crystal display, and a speaker; a storage portion 708 including a hard disk; and a communication portion 709 including a network interface card such as a LAN card or a modem. The communication portion 709 performs communication processing via a network such as the Internet. A drive 7010 is also connected to the I / O interface 705 as needed. A removable medium 7011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed in the drive 7010 as needed, so that a computer program read therefrom can be installed into the storage portion 708 as needed.

[0082] The present invention also provides a computer-readable storage medium.

[0083] The computer-readable storage medium may be included in the electronic device / device system described in the above embodiments, or may exist independently and not be incorporated into the electronic device / device. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of the present invention.

[0084] According to embodiments of the present invention, a computer-readable storage medium may be a non-volatile computer-readable storage medium. Examples include, but are not limited to, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), 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, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0085] Embodiments of the present invention also include a computer program product.

[0086] The computer program product includes a computer program, which contains program code for executing the method provided by the embodiment of the present invention. When the computer program product runs on an electronic device, the program code is used to enable the electronic device to implement the method provided by the embodiment of the present invention.

[0087] In one embodiment, the computer program may be stored on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may be transmitted and distributed in the form of a signal over a network medium. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0088] 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 by any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level procedural and / or object-oriented programming 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 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 computing device through any type of network, including a local area network or a wide area network, or can be connected to an external computing device.

[0089] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, program segment, or portion of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the boxes may occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession may actually be executed substantially in parallel, or they may 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 flowchart, as well as the combination of boxes in the block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or may be implemented using a combination of dedicated hardware and computer instructions. It will be understood by those skilled in the art that the features described in the various embodiments and / or claims of the present invention may be combined and / or coupled in various ways, even if such combinations or couplings are not explicitly described in the present invention. In particular, without departing from the concept of the present invention, the features described in the various embodiments and / or claims of the present invention may be combined and / or coupled in various ways, and all such combinations and / or couplings fall within the scope of the present invention.

[0090] The embodiments of the present invention have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although each embodiment has been described above separately, this does not mean that the measures in each embodiment cannot be advantageously used in combination. The scope of the present invention is defined by the appended claims and their equivalents. 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 determining candidate positions for target positioning, characterized in that: include: Determining a delay spread width and a Doppler spread width based on a known type of positioning signal sent by a target, wherein the delay spread width is a delay difference width when a correlation peak of the positioning signal falls below a preset first threshold, and the Doppler spread width is a Doppler difference width when a correlation peak of the positioning signal falls below a preset second threshold; Determine a first step length according to the delay stretch width, and determine a second step length according to the Doppler stretch width; Based on the first candidate position, calculating the time delay difference between two positioning signal receiving devices; Based on all other positions within a first preset distance centered on the first candidate position, traversing and calculating the time delay difference between the two positioning signal receiving devices, the angle between the first candidate position and the other position closest to the time delay difference is taken as the equal time delay difference direction angle; Taking the first candidate position as the starting point, the first step length is used in the indicated direction of the equal time delay difference angle, and the second step length is used in the direction perpendicular to the indicated direction, and the two are combined with position sampling to determine the second candidate position.

2. The method for determining candidate positions for target positioning according to claim 1, wherein: Determining the first step length according to the time delay stretch width and determining the second step length according to the Doppler stretch width includes: the first step length is one third of the time delay stretch width, and the second step length is one third of the Doppler stretch width.

3. The method for determining candidate positions for target positioning according to claim 1, wherein: The method takes the first candidate position as the starting point, takes the first step length in the indicated direction of the equal delay difference angle, and takes the second step length in the vertical direction of the indicated direction, and combines the two to sample positions to determine the second candidate position, including: establishing a square candidate position determination area with the first candidate position as the center and twice the second preset distance as the width, and the second candidate position is determined within the square candidate position determination area.

4. The method for determining candidate positions for target positioning according to claim 3, wherein: The method further includes, after position sampling is completed within the square candidate position determination area, moving the first candidate position by a preset multiple of the second preset distance, and then re-determining the corresponding second candidate position.

5. The method for determining candidate positions for target positioning according to claim 4, wherein: The preset multiple is two times.

6. The method for determining candidate positions for target positioning according to claim 1, wherein: The method of traversing and calculating the time delay difference between the two positioning signal receiving devices based on all other positions within the first preset distance with the first candidate position as the center includes: taking the first candidate position as the center and the first preset distance as the radius, sampling all other positions according to a preset angle step.

7. A candidate position determination device for target positioning, characterized by: The device comprises: a first determining module, configured to determine a delay spread width and a Doppler spread width based on a type of positioning signal sent by a known target, wherein the delay spread width is a delay difference width when a correlation peak of the positioning signal falls below a preset first threshold, and the Doppler spread width is a Doppler difference width when a correlation peak of the positioning signal falls below a preset second threshold; A second determining module is configured to determine a first step length according to the delay stretch width, and determine a second step length according to the Doppler stretch width; A first calculation module is used to calculate the time delay difference between two positioning signal receiving devices based on the first candidate position; A second calculation module is configured to traverse and calculate the time delay difference between the two positioning signal receiving devices based on all other positions within a first preset distance centered on the first candidate position, and use the angle between the first candidate position and the other position closest to the time delay difference as the equal delay difference direction angle; The position sampling module is used to take the first candidate position as the starting point, take the first step length in the indicated direction of the equal delay difference angle, and take the second step length in the vertical direction of the indicated direction, and determine the second candidate position by combining the two for position sampling.

8. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to perform the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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