Target positioning method and device capable of reducing errors, equipment and product

Abstract

The invention discloses a target positioning method, device, equipment and product capable of reducing errors, and the method comprises the steps: carrying out the compensation of a receiving signal of corresponding signal receiving equipment through the relative time delay and the relative frequency difference, and obtaining an alignment signal; presetting a compensation value for representing an error, and compensating the alignment signal by using the compensation value to obtain a compensated alignment signal; calculating a correlation metric value of the compensated alignment signals of the two signal receiving devices by using a preset metric function; and judging whether the positioning candidate position is the target positioning position or not according to the correlation metric value. According to the method, the received signals of the two signal receiving devices needing correlation measurement can be preprocessed and then compensated, so that the influence caused by factors such as the position speed error and the clock synchronization error of the signal receiving devices is reduced, the error of signal correlation measurement is reduced, and the accuracy of final target positioning is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of passive positioning, and in particular relates to a target positioning method, device, equipment and product capable of reducing errors. Background Art

[0002] Passive positioning technology has a wide range of applications. For example, in mobile communication systems, passive positioning technology can adjust the resource allocation of a region by estimating the number of communication base stations and users in the region; in the event of a disaster or when it is impossible to effectively call for help in the wild, passive positioning technology can achieve positioning through the signal emitted by the signal source on the rescue target, greatly shortening the search and rescue time; in addition, passive positioning technology can also provide high-quality positioning and navigation services for ships, aircraft, etc.

[0003] Under existing technical conditions, passive positioning technology can use blind coherent accumulation (BCI) technology to measure the correlation of radio signals received by multiple receiving devices to achieve target positioning. However, in actual applications, due to factors such as the position speed error and clock synchronization error of the signal receiving device, directly measuring the signal correlation based on the radio signals received by multiple receiving devices will result in performance loss and directly increase the target positioning error. Summary of the invention

[0004] In view of this, the present invention aims to overcome the defects in the prior art and propose a target positioning method, device, equipment and product that can reduce errors.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows: In a first aspect, the present invention discloses a target positioning method capable of reducing errors, comprising: Preset a reference position, and calculate and obtain first time delay information and first Doppler information between the reference position and the candidate positioning position; Calculating second time delay information and second Doppler information between two signal receiving devices and the candidate positioning positions respectively; Relative delays and relative frequency differences of two signal receiving devices are calculated respectively, wherein the relative delay is used to characterize the difference between the second delay information and the first delay information of the corresponding signal receiving device, and the relative frequency difference is used to characterize the difference between the second Doppler information and the first Doppler information of the corresponding signal receiving device; Using the relative time delay and relative frequency difference, the received signal of the corresponding signal receiving device is compensated to obtain an aligned signal; Preset a compensation value for characterizing the error, and use the compensation value to compensate the alignment signal to obtain a compensated alignment signal; The preset metric function is used to calculate the correlation metric value of the compensated alignment signals of the two signal receiving devices.

[0006] According to the correlation metric value, it is determined whether the candidate location is the target location.

[0007] In one embodiment of the present invention, the preset reference position is the position of any signal receiving device or a fixed geographical location.

[0008] In one embodiment of the present invention, the compensation value includes: a delay compensation value and a Doppler compensation value.

[0009] In one embodiment of the present invention, a compensation value for characterizing an error is preset, and the alignment signal is compensated by using the compensation value to obtain a compensated alignment signal, including: Establish a delay compensation value sequence including several delay compensation values, traverse any delay compensation value in the delay compensation value sequence, respectively compensate the alignment signals calculated by traversing all the candidate positioning positions, and obtain the correlation measurement value calculated by using the measurement function, wherein the delay compensation value corresponding to the correlation measurement value with the best correlation is the optimal delay compensation value; Establish a Doppler compensation value sequence including several Doppler compensation values, traverse any Doppler compensation value in the Doppler compensation value sequence, cooperate with the optimal delay compensation value, respectively compensate the alignment signals calculated by traversing all the candidate positioning positions, and obtain the correlation measurement value calculated by using the measurement function, wherein the Doppler compensation value corresponding to the correlation measurement value with the best correlation is the optimal Doppler compensation value; The obtained optimal delay compensation value and optimal Doppler compensation value are used to compensate the alignment signal to obtain a compensated alignment signal.

[0010] In one embodiment of the present invention, establishing a delay compensation value sequence including a plurality of delay compensation values ​​includes: establishing a threshold range of the delay compensation value, obtaining a plurality of equally spaced delay compensation values ​​to form the delay compensation value sequence.

[0011] In one embodiment of the present invention, establishing a Doppler compensation value sequence including a plurality of Doppler compensation values ​​includes: establishing a threshold range of the Doppler compensation value to obtain a plurality of Doppler compensation values ​​with equal spacing to form the Doppler compensation value sequence.

[0012] In a second aspect, the present invention discloses a target positioning device capable of reducing errors, the device comprising: A first calculation module, used for presetting a reference position, and calculating and obtaining first delay information and first Doppler information between the reference position and the candidate positioning position; A second calculation module, used to respectively calculate second time delay information and second Doppler information between two signal receiving devices and the candidate positioning positions; A third calculation module is used to calculate the relative delay and relative frequency difference of two signal receiving devices respectively, wherein the relative delay is used to characterize the difference between the second delay information and the first delay information of the corresponding signal receiving device, and the relative frequency difference is used to characterize the difference between the second Doppler information and the first Doppler information of the corresponding signal receiving device; A first compensation module, used to compensate the received signal of the corresponding signal receiving device by using the relative time delay and the relative frequency difference to obtain an alignment signal; A second compensation module, used for presetting a compensation value for characterizing an error, and using the compensation value to compensate the alignment signal to obtain a compensated alignment signal; A measurement module, used to calculate the correlation measurement value of the alignment signals after compensation of the two signal receiving devices using a preset measurement function; The positioning judgment module is used to judge whether the positioning candidate position is the target positioning position according to the correlation measurement value.

[0013] 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.

[0014] 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.

[0015] In a fifth aspect, a computer program product comprises a computer program, and the computer program implements the above method when executed by a processor.

[0016] Compared with the prior art, the present invention has the following advantages: The present invention discloses a method, device, equipment and product for target positioning that can reduce errors, including a preset reference position, and calculating the first time delay information and the first Doppler information between the reference position and the candidate positioning position; respectively calculating the second time delay information and the second Doppler information between two signal receiving devices and the candidate positioning position; respectively calculating the relative time delay and the relative frequency difference of the two signal receiving devices; using the relative time delay and the relative frequency difference, compensating the received signal of the corresponding signal receiving device to obtain an alignment signal; presetting a compensation value for characterizing the error, using the compensation value to compensate the alignment signal, and obtaining the compensated alignment signal; using a preset metric function, calculating the correlation metric value of the compensated alignment signal of the two signal receiving devices; judging whether the candidate positioning position is the target positioning position according to the correlation metric value. The method, device, equipment and product for target positioning that can reduce errors disclosed by the present invention can preprocess the received signals of the two signal receiving devices that need to be correlated, and then compensate them, thereby reducing the influence of factors such as the position speed error and the clock synchronization error of the signal receiving device, reducing the error of the signal correlation metric, and thus improving the accuracy of the final target positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] In the attached picture: Figure 1 A schematic diagram of an application scenario of a target positioning method capable of reducing errors according to an embodiment of the present invention; Figure 2 A schematic diagram of a target positioning method capable of reducing errors according to an embodiment of the present invention; Figure 3 A schematic diagram of determining an optimal delay compensation value for a target positioning method capable of reducing errors according to an embodiment of the present invention; Figure 4 A schematic diagram of determining an optimal Doppler compensation value for a target positioning method capable of reducing errors according to an embodiment of the present invention; Figure 5 A schematic diagram of a target positioning device capable of reducing errors according to an embodiment of the present invention; Figure 6 A schematic diagram of a target positioning electronic device capable of reducing errors according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] 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.

[0020] In the description of the present invention, it should be further explained that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined 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.

[0021] The present invention discloses a target positioning method, device, equipment and product capable of reducing errors. Figure 1 As shown, under the existing technical conditions, due to factors such as the position speed error and clock synchronization error of the signal receiving device, directly performing signal correlation measurement based on the radio signals received by multiple receiving devices will cause performance loss and directly increase the target positioning error. The present invention discloses a target positioning method, device, equipment and product capable of reducing errors, which can pre-process the received signals of two signal receiving devices that need to perform correlation measurement and then compensate, thereby reducing the influence of factors such as the position speed error and clock synchronization error of the signal receiving device, reducing the error of the signal correlation measurement, and thus improving the accuracy of the final target positioning.

[0022] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0023] In one embodiment of the present invention, Figure 2 As shown, a target positioning method capable of reducing errors includes: Step S201, presetting a reference position, and calculating and obtaining first delay information and first Doppler information between the reference position and the candidate positioning position; In this embodiment, the calculation process of the delay information and the Doppler information is as follows: The delay information is expressed as , the Doppler information is expressed as ,in, i Representative i A receiving device, t Represents time, with the following relationship: ; ; in, represents the speed of light, Indicates i The receiving device The coordinate position vector at the moment, Represents the coordinate position vector of the candidate location, Indicated in Time receiving device iand the distance between the candidate locations, Indicates i The receiving device The velocity vector at time, is the carrier frequency of the transmitted signal.

[0024] In this embodiment, the preset reference position is the position of any signal receiving device or a fixed geographical position.

[0025] In this embodiment, the geographic coordinates of the preset reference position, the geographic coordinates of all receiving devices, and the velocity vectors are all known.

[0026] Step S202, respectively calculating the second time delay information and the second Doppler information between the two signal receiving devices and the candidate positioning positions; In this embodiment, because the geographic coordinate information, velocity vector information and geographic coordinate information of the two signal receiving devices and the positioning candidate position are all known, the second delay information and the second Doppler information can be calculated; Step S203, respectively calculating the relative delay and relative frequency difference of the two signal receiving devices, wherein the relative delay is used to characterize the difference between the second delay information and the first delay information of the corresponding signal receiving device, and the relative frequency difference is used to characterize the difference between the second Doppler information and the first Doppler information of the corresponding signal receiving device; In this embodiment, the first delay information is expressed as , the first Doppler information is expressed as , the second delay information is expressed as , the second Doppler information is expressed as , the relative delay is expressed as , the relative frequency difference is expressed as , i Representative i A receiving device has the following relationship: ; ; Step S204, using the relative time delay and the relative frequency difference, compensating the received signal of the corresponding signal receiving device to obtain an alignment signal; Preferably, if the reference position is set on either of the two signal receiving devices performing correlation measurement, the receiving signal of the signal receiving device set as the reference position is directly used as the alignment signal of this signal receiving device without the need for compensation, thereby effectively reducing the amount of calculation.

[0027] In this embodiment, the process of obtaining the alignment signal is illustrated as follows: No. i The received signal of a receiving device is expressed as , the total duration is The sampling start time is , the total number of sampling points after sampling is , the sampling rate is , sampling time interval , then there is the following relationship ; ; ; The alignment signal is represented as , there are the following relations: ; in, Indicates sampling point The corresponding relative delay is Indicates sampling point The corresponding relative frequency difference can be calculated. Is an imaginary unit.

[0028] Furthermore, The calculation process is as follows: calculate , you need to first Processing, that is, processing the sampling point offset sequence: if Round off, that is ,at this time It can be directly approximated as ; if No rounding, Need to be interpolated, such as linear interpolation: ; ; in, Integer index of the sampling point.

[0029] Furthermore, calculation The process is as follows: ; ; in, , All have been obtained through calculation. Further, there are the following relations: ; Step S205, presetting a compensation value for characterizing the error, and using the compensation value to compensate the alignment signal to obtain a compensated alignment signal; Step S206: using a preset metric function, calculating a correlation metric value of the compensated alignment signals of the two signal receiving devices.

[0030] Step S207: judging whether the candidate location is the target location according to the correlation metric value.

[0031] Exemplarily, in one embodiment, the larger the correlation metric value is, the more likely the candidate location is to be the actual location where the signal is sent.

[0032] In this embodiment, illustratively, a correlation metric value threshold is set, and if the correlation metric value of a candidate positioning position is greater than the correlation metric value threshold, the candidate positioning position is determined to be a target positioning position.

[0033] Exemplarily, the method disclosed in this embodiment is used to calculate the correlation metric values ​​corresponding to the candidate positioning positions one by one. When the correlation metric value is greater than the set correlation metric value threshold, the corresponding candidate positioning position is determined to be the target positioning position.

[0034] In the embodiment, the compensation value includes: a delay compensation value and a Doppler compensation value.

[0035] The delay compensation value is expressed as , the Doppler compensation value is expressed as ; On the basis of the previous embodiment, in another embodiment of the present invention, a compensation value for characterizing an error is preset, and the alignment signal is compensated by using the compensation value to obtain a compensated alignment signal, including: like Figure 3 As shown, a delay compensation value sequence including several delay compensation values ​​is established, and any delay compensation value in the delay compensation value sequence is traversed to compensate the alignment signals calculated by traversing all the candidate positioning positions, and the correlation measurement value calculated by using the measurement function is obtained, wherein the delay compensation value corresponding to the correlation measurement value with the best correlation is the optimal delay compensation value; like Figure 4 As shown, a Doppler compensation value sequence including several Doppler compensation values ​​is established, and any Doppler compensation value in the Doppler compensation value sequence is traversed, and the alignment signals calculated by traversing all the candidate positioning positions are compensated respectively in combination with the optimal delay compensation value, and the correlation measurement value calculated by using the measurement function is obtained, wherein the Doppler compensation value corresponding to the correlation measurement value with the best correlation is the optimal Doppler compensation value; The obtained optimal delay compensation value and optimal Doppler compensation value are used to compensate the alignment signal to obtain a compensated alignment signal.

[0036] In this embodiment, the calculation of the optimal delay compensation value and the optimal Doppler compensation value can effectively reduce the signal error and improve the subsequent positioning accuracy.

[0037] In another embodiment of the present invention, it includes: establishing a threshold range of a delay compensation value, obtaining a plurality of equally spaced delay compensation values, and forming a delay compensation value sequence.

[0038] In another embodiment of the present invention, establishing a Doppler compensation value sequence including a plurality of Doppler compensation values ​​includes: establishing a threshold range of the Doppler compensation value to obtain a plurality of Doppler compensation values ​​with equal spacing to form the Doppler compensation value sequence.

[0039] In this embodiment, the setting of the delay compensation value sequence and the Doppler compensation value sequence enables manual adjustment of the compensation amplitude at any time according to needs.

[0040] Exemplarily, in this embodiment, the delay compensation value sequence is expressed as The Doppler compensation value sequence is expressed as : ; ; in, , Indicates the fixed threshold value set. , Indicates shared indivual, A delay compensation value and a Doppler compensation value; In this embodiment, because the two alignment signals are finally and The correlation between the two is measured, so it can be equivalent to compensating only one of the alignment signals to achieve the purpose of reducing the error.

[0041] Establish the following relationship: ; in, represents the alignment signal of the i-th receiving device, represents the alignment signal of the jth receiving device; Represents a metric function used to measure the alignment signal and alignment signals ; Furthermore, the optimal delay compensation value is expressed as , there is the following relationship:

[0042] in, It means calculating the output value that maximizes the function. Represents the modulo operation and locates the candidate position coordinates at the same time Take all the candidate locations for positioning, The value of is taken from the delay compensation sequence All values ​​in .

[0043] Furthermore, the optimal Doppler compensation value is expressed as , determine the optimal Doppler compensation value , there is the following relationship: ;

[0044] in, It means calculating the output value that maximizes the function. Represents the modulo operation and locates the candidate position coordinates at the same time Take all the candidate locations for positioning, The value of is taken from the Doppler compensation sequence All values ​​in .

[0045] The compensated alignment signal is expressed as , there is the following relationship: ; like Figure 2 As shown, step S206, using a preset metric function, calculates the correlation metric value of the alignment signals after compensation of the two signal receiving devices, including: In this embodiment, the metric function is used to measure the correlation metric value between the two corresponding alignment signals of the two signal receiving devices, and further judge whether the corresponding positioning candidate position is the actual signal transmission position based on the comparison relationship between the correlation metric value and the set threshold.

[0046] In this embodiment, the metric function You can choose one according to your needs. There are three metric functions to choose from. , an example is as follows: ; ;

[0047] Where T is the signal length, are two signals to be measured, yes The conjugate of , abs() represents the modulo operation, and real() represents the real part operation.

[0048] like Figure 5As shown, the present invention also discloses a target positioning device capable of reducing errors, comprising: A first calculation module 501 is used to preset a reference position and calculate first delay information and first Doppler information between the reference position and the candidate positioning position; A second calculation module 502, used to respectively calculate second delay information and second Doppler information between two signal receiving devices and the candidate positioning positions; The third calculation module 503 is used to calculate the relative delay and relative frequency difference of the two signal receiving devices respectively, wherein the relative delay is used to characterize the difference between the second delay information and the first delay information of the corresponding signal receiving device, and the relative frequency difference is used to characterize the difference between the second Doppler information and the first Doppler information of the corresponding signal receiving device; A first compensation module 504 is used to compensate the received signal of the corresponding signal receiving device by using the relative time delay and the relative frequency difference to obtain an alignment signal; A second compensation module 505, used to preset a compensation value for characterizing an error, and use the compensation value to compensate the alignment signal to obtain a compensated alignment signal; A metric module 506, configured to calculate a correlation metric value of the compensated alignment signals of the two signal receiving devices using a preset metric function; The positioning judgment module 507 is used to judge whether the positioning candidate position is the target positioning position according to the correlation measurement value.

[0049] The present invention also discloses an electronic device, such as Figure 6 As shown, an embodiment is disclosed, which is a block diagram of an electronic device suitable for the above-mentioned target positioning capable of reducing errors.

[0050] The electronic device 60 of this embodiment includes a processor 601, which can perform various appropriate actions and processes according to the program stored in the ROM 602 or the program loaded from the storage part 608 to the RAM 603. The processor 601 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 601 may also include an onboard memory for caching purposes. The processor 601 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0051] In RAM603, various programs and data required for the operation of electronic device 60 are stored. Processor 601, ROM602 and RAM603 are connected to each other through bus 604, and processor 601 performs various operations of the method flow according to the embodiment of the present invention by executing the program in ROM602 and / or RAM603. It should be noted that the program can also be stored in one or more memories other than ROM602 and RAM603, and processor 601 can also perform various operations of the method flow according to the embodiment of the present invention by executing the program stored in one or more memories.

[0052] According to an embodiment of the present invention, the electronic device 60 may further include an I / O interface 605, which is also connected to the bus 604. The electronic device 60 may further include one or more of the following components connected to the I / O interface 605: an input portion 606 including a keyboard, a mouse, etc.; an output portion 607 including a cathode ray tube, a liquid crystal display, and a speaker; a storage portion 608 including a hard disk, etc.; and a communication portion 609 including a network interface card such as a LAN card, a modem, etc. The communication portion 609 performs communication processing via a network such as the Internet. A drive 6010 is also connected to the I / O interface 605 as needed. A removable medium 6011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 6010 as needed, so that a computer program read therefrom is installed into the storage portion 608 as needed.

[0053] The present invention also provides a computer-readable storage medium.

[0054] The computer-readable storage medium may be included in the electronic device / device system described in the above embodiment; or it may exist independently without being assembled into the electronic device / device. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0055] 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 random access memory RAM, a read-only memory ROM, an erasable programmable read-only memory EPROM or a flash memory, a portable compact disk read-only memory CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0056] Embodiments of the present invention also include a computer program product.

[0057] The computer program product includes a computer program, which contains program codes for executing the method provided by the embodiment of the present invention. When the computer program product runs on an electronic device, the program codes are used to enable the electronic device to implement the method provided by the embodiment of the present invention.

[0058] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of a signal on a network medium. The program code included in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0059] 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, and specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages. Programming languages ​​include but are not limited to programming languages ​​such as Java, C++, python, C language or similar. The program code can be executed completely on the user computing device, partially on the user device, partially on the remote computing device, or completely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network or a wide area network, or can be connected to an external computing device.

[0060] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, 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, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code 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 box may also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments and / or claims of the present invention can be combined and / or combined in various ways, even if such a combination or combination is not explicitly recorded in the present invention. In particular, without departing from the spirit and teaching of the present invention, the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present invention.

[0061] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination. The scope of the present invention is limited by the attached 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 target positioning method capable of reducing errors, characterized in that: include: Preset a reference position, and calculate and obtain first delay information and first Doppler information between the reference position and the candidate positioning position; Calculating second time delay information and second Doppler information between two signal receiving devices and the candidate positioning position respectively; Respectively calculating the relative time delay and relative frequency difference of the two signal receiving devices, wherein the relative time delay is used to characterize the difference between the second time delay information corresponding to the signal receiving device and the first time delay information, and the relative frequency difference is used to characterize the difference between the second Doppler information corresponding to the signal receiving device and the first Doppler information; Using the relative time delay and the relative frequency difference, compensating the received signal of the corresponding signal receiving device to obtain an alignment signal; Presetting a compensation value for characterizing an error, and using the compensation value to compensate the alignment signal to obtain the compensated alignment signal; Calculating the correlation metric value of the alignment signals after compensation by the two signal receiving devices by using a preset metric function; According to the correlation metric value, it is determined whether the candidate positioning position is a target positioning position.

2. A target positioning method capable of reducing errors according to claim 1, characterized in that: The preset reference position is the position of any of the signal receiving devices or a fixed geographical position.

3. A target positioning method capable of reducing errors according to claim 1, characterized in that: The compensation value includes: a delay compensation value and a Doppler compensation value.

4. A target positioning method capable of reducing errors according to claim 3, characterized in that: The presetting of the compensation value for characterizing the error, and using the compensation value to compensate the alignment signal to obtain the compensated alignment signal, include: Establishing a delay compensation value sequence including a plurality of the delay compensation values, traversing any of the delay compensation values ​​in the delay compensation value sequence, respectively compensating the alignment signals calculated by traversing all the positioning candidate positions, and obtaining the correlation metric value calculated by using the metric function, wherein the delay compensation value corresponding to the correlation metric value with the best correlation is the optimal delay compensation value; Establishing a Doppler compensation value sequence including a plurality of the Doppler compensation values, traversing any of the Doppler compensation values ​​in the Doppler compensation value sequence, and respectively compensating the alignment signals calculated by traversing all the candidate positioning positions in combination with the optimal delay compensation value, and obtaining the correlation metric value calculated by using the metric function, wherein the Doppler compensation value corresponding to the correlation metric value with the best correlation is the optimal Doppler compensation value; The alignment signal is compensated by using the obtained optimal delay compensation value and the obtained optimal Doppler compensation value to obtain the compensated alignment signal.

5. A target positioning method capable of reducing errors according to claim 4, characterized in that: The establishing of a delay compensation value sequence including a plurality of the delay compensation values ​​includes: establishing a threshold range of the delay compensation value, obtaining a plurality of the delay compensation values ​​with equal intervals, and forming the delay compensation value sequence.

6. A target positioning method capable of reducing errors according to claim 4, characterized in that: The establishing of a Doppler compensation value sequence including a plurality of the Doppler compensation values ​​includes: establishing a threshold range of the Doppler compensation value to obtain a plurality of the Doppler compensation values ​​with equal spacing to form the Doppler compensation value sequence.

7. A target positioning device capable of reducing errors, characterized in that: The device comprises: A first calculation module, used for presetting a reference position, and calculating and obtaining first delay information and first Doppler information between the reference position and a candidate positioning position; A second calculation module, used to respectively calculate second time delay information and second Doppler information between two signal receiving devices and the candidate positioning position; A third calculation module, used to respectively calculate the relative time delay and relative frequency difference of the two signal receiving devices, wherein the relative time delay is used to characterize the difference between the second time delay information corresponding to the signal receiving device and the first time delay information, and the relative frequency difference is used to characterize the difference between the second Doppler information corresponding to the signal receiving device and the first Doppler information; A first compensation module, configured to compensate a received signal of the corresponding signal receiving device by using the relative time delay and the relative frequency difference to obtain an alignment signal; A second compensation module, used for presetting a compensation value for characterizing an error, and using the compensation value to compensate the alignment signal to obtain the compensated alignment signal; A measurement module, used to calculate the correlation measurement value of the alignment signal after compensation of the two signal receiving devices by using a preset measurement function; The positioning judgment module is used to judge whether the positioning candidate position is a target positioning position according to the correlation measurement value.

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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