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

Abstract

The present invention discloses a target positioning method, device, equipment and product capable of reducing errors, including compensating the received signals of corresponding signal receiving devices by using relative time delay and relative frequency difference to obtain aligned signals; presetting a compensation value for characterizing errors, and compensating the aligned signals by using the compensation value to obtain compensated aligned signals; calculating the correlation metric value of the compensated aligned signals of two signal receiving devices by using a preset metric function; and judging whether the positioning candidate position is the target positioning position according to the correlation metric value. The present invention can preprocess the received signals of two signal receiving devices that need to perform correlation measurement and then perform compensation, so as to reduce the influence caused by factors such as position velocity error and clock synchronization error of the signal receiving devices, reduce the error of signal correlation measurement, and thus improve the accuracy of the final target positioning.

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] The passive positioning technology has very wide applications. For example: in a mobile communication system, the passive positioning technology can adjust the resource allocation in the area by estimating the number of communication base stations and users in the area; in case of disasters or when it is impossible to effectively call for help in the wild, the passive positioning technology can locate by the signals emitted by the signal sources on the rescue targets, greatly shortening the search and rescue time; in addition, the passive positioning technology can also provide high-quality positioning and navigation services for ships, airplanes, etc.

[0003] Under the existing technical conditions, the passive positioning technology can use the Blind Coherent Integration (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 and speed errors of signal receiving devices and clock synchronization errors, directly measuring the signal correlation based on the radio signals received by multiple receiving devices will cause 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 proposes a target positioning method, device, equipment and product capable of reducing errors.

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

[0006] In a first aspect, the present invention discloses a target positioning method capable of reducing errors, including:

[0007] Preset a reference position, and calculate the first delay information and the first Doppler information between the reference position and the positioning candidate position;

[0008] Calculate the second delay information and the second Doppler information between two signal receiving devices and the positioning candidate position respectively;

[0009] Calculate the relative delay and relative frequency difference of the two signal receiving devices respectively, where the relative delay is used to represent 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 represent the difference between the second Doppler information and the first Doppler information of the corresponding signal receiving device;

[0010] Use the relative delay and the relative frequency difference to compensate the received signals of the corresponding signal receiving devices to obtain aligned signals;

[0011] Preset a compensation value for characterizing the error, and use the compensation value to compensate the alignment signal to obtain a compensated alignment signal;

[0012] Use a preset metric function to calculate the correlation metric value of the compensated alignment signals of two signal receiving devices.

[0013] Judge whether the positioning candidate position is the target positioning position according to the correlation metric value.

[0014] In an embodiment of the present invention, the preset reference position is the position of any signal receiving device or a fixed geographical location.

[0015] In an embodiment of the present invention, the compensation value includes: a time delay compensation value and a Doppler compensation value.

[0016] In an embodiment of the present invention, preset a compensation value for characterizing the error, and use the compensation value to compensate the alignment signal to obtain a compensated alignment signal, including:

[0017] Establish a time delay compensation value sequence including several time delay compensation values, traverse any time delay compensation value in the time delay compensation value sequence, and respectively compensate the alignment signals calculated for traversing all positioning candidate positions, and obtain the correlation metric value calculated by using the metric function, wherein the time delay compensation value corresponding to the correlation metric value with the optimal correlation is the optimal time delay compensation value;

[0018] 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 time delay compensation value, and respectively compensate the alignment signals calculated for traversing all positioning candidate positions, and obtain the correlation metric value calculated by using the metric function, wherein the Doppler compensation value corresponding to the correlation metric value with the optimal correlation is the optimal Doppler compensation value;

[0019] Use the obtained optimal time delay compensation value and optimal Doppler compensation value to compensate the alignment signal to obtain a compensated alignment signal.

[0020] In an embodiment of the present invention, establishing a time delay compensation value sequence including several time delay compensation values includes: establishing a threshold range of the time delay compensation value, obtaining several equally spaced time delay compensation values, and forming a time delay compensation value sequence.

[0021] In an embodiment of the present invention, establishing a Doppler compensation value sequence including several Doppler compensation values includes: establishing a threshold range of the Doppler compensation value, obtaining several equally spaced Doppler compensation values, and forming a Doppler compensation value sequence.

[0022] In a second aspect, the present invention discloses a target positioning device capable of reducing errors, the device includes:

[0023] A first calculation module, configured to preset a reference position, and calculate first time delay information and first Doppler information between the reference position and a positioning candidate position;

[0024] A second calculation module, configured to calculate second time delay information and second Doppler information between two signal receiving devices and the positioning candidate position respectively;

[0025] A third calculation module, configured to calculate a relative time delay and a relative frequency difference of two signal receiving devices respectively, where the relative time delay is used to represent the difference between the second time delay information and the first time delay information of the corresponding signal receiving device, and the relative frequency difference is used to represent the difference between the second Doppler information and the first Doppler information of the corresponding signal receiving device;

[0026] A first compensation module, configured to use the relative time delay and the relative frequency difference to compensate the received signal of the corresponding signal receiving device to obtain an aligned signal;

[0027] A second compensation module, configured to preset a compensation value for representing an error, and use the compensation value to compensate the aligned signal to obtain a compensated aligned signal;

[0028] A metric module, configured to use a preset metric function to calculate a correlation metric value of the compensated aligned signals of two signal receiving devices;

[0029] A positioning determination module, configured to determine whether the positioning candidate position is a target positioning position according to the correlation metric value.

[0030] In a third aspect, the present invention discloses an electronic device, including: one or more processors; a storage device, configured to store one or more programs, where when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the above method.

[0031] In a fourth aspect, the present invention discloses a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above method is implemented.

[0032] In a fifth aspect, a computer program product includes a computer program, and when the computer program is executed by a processor, the above method is implemented.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] The present invention discloses a target positioning method, device, equipment and product capable of reducing errors, including a preset reference position, and calculating first delay information and first Doppler information between the reference position and a positioning candidate position; respectively calculating second delay information and second Doppler information between two signal receiving devices and the positioning candidate position; respectively calculating the relative delay and relative frequency difference of the two signal receiving devices; using the relative delay and relative frequency difference to compensate the received signals of the corresponding signal receiving devices to obtain aligned signals; presetting a compensation value for characterizing errors, and using the compensation value to compensate the aligned signals to obtain compensated aligned signals; using a preset metric function to calculate the correlation metric value of the compensated aligned signals of the two signal receiving devices; and judging whether the positioning candidate position is the target positioning position according to the correlation metric value. The target positioning method, device, equipment and product capable of reducing errors disclosed by the present invention can preprocess the received signals of two signal receiving devices that need to perform correlation measurement and then perform compensation, so as to reduce the influence caused by factors such as position speed error and clock synchronization error of the signal receiving devices, reduce the error of signal correlation measurement, and thus improve the accuracy of final target positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0036] In the drawings:

[0037] Figure 1 is a schematic diagram of an application scenario of a target positioning method capable of reducing errors according to an embodiment of the present invention;

[0038] Figure 2 is a schematic diagram of a target positioning method capable of reducing errors according to an embodiment of the present invention;

[0039] Figure 3 is a schematic diagram of determining an optimal delay compensation value of a target positioning method capable of reducing errors according to an embodiment of the present invention;

[0040] Figure 4 is a schematic diagram of determining an optimal Doppler compensation value of a target positioning method capable of reducing errors according to an embodiment of the present invention;

[0041] Figure 5 is a schematic diagram of a target positioning device capable of reducing errors according to an embodiment of the present invention;

[0042] Figure 6 is a schematic diagram of a target positioning electronic device capable of reducing errors according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0044] In the description of the present invention, it should be further noted that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0045] The application scenarios of a target positioning method, device, equipment and product capable of reducing errors disclosed in the present invention are as Figure 1 shown. Under the conditions of the prior art, due to factors such as the position and speed error of the signal receiving device and the clock synchronization error, 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. A target positioning method, device, equipment and product capable of reducing errors disclosed in the present invention can preprocess the received signals of two signal receiving devices that need to perform correlation measurement and then perform compensation, so as to reduce the influence caused by factors such as the position and speed error of the signal receiving device and the clock synchronization error, reduce the error of signal correlation measurement, and thus improve the accuracy of the final target positioning.

[0046] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0047] In an embodiment of the present invention, as Figure 2 shown, a target positioning method capable of reducing errors includes:

[0048] Step S201, preset a reference position, and calculate the first delay information and the first Doppler information between the reference position and the positioning candidate position;

[0049] In this embodiment, the calculation processes of the delay information and the Doppler information are as follows:

[0050] The delay information is expressed as , and the Doppler information is expressed as , where i represents the i th receiving device, t represents time, and there is the following relationship:

[0051] ;

[0052] ;

[0053] Wherein, represents the speed of light, represents the i coordinate position vector of the th receiving device at time represents the coordinate position vector of the positioning candidate position, represents at time the distance between the receiving device i and the positioning candidate position, represents the i th receiving device at time the velocity vector, is the carrier frequency of the transmitted signal.

[0054] In this embodiment, the preset reference position is the position of any signal receiving device or a fixed geographical location.

[0055] In this embodiment, the geographical coordinates of the preset reference position, the geographical coordinates of all receiving devices, and the velocity vector are all known.

[0056] Step S202: Calculate the second delay information and the second Doppler information between the two signal receiving devices and the positioning candidate position respectively;

[0057] In this embodiment, since the geographical coordinate information, the velocity vector information of the two signal receiving devices, and the geographical coordinate information of the positioning candidate position are all known, the second delay information and the second Doppler information can be calculated;

[0058] Step S203: Calculate the relative delay and the relative frequency difference between the two signal receiving devices, wherein the relative delay is used to represent 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 represent the difference between the second Doppler information and the first Doppler information of the corresponding signal receiving device;

[0059] 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 represents the i th receiving device, and there is the following relationship:

[0060] ;

[0061] ;

[0062] Step S204: Compensate the received signal of the corresponding signal receiving device by using the relative time delay and relative frequency difference to obtain an aligned signal;

[0063] Preferably, if the reference position is set on any one of the two signal receiving devices for correlation measurement, the received signal of the signal receiving device set as the reference position is directly used as the aligned signal of this signal receiving device without compensation, effectively reducing the computational complexity.

[0064] In this embodiment, the process of obtaining the aligned signal is exemplified as follows:

[0065] The i received signal of the th receiving device is expressed as , with a total duration of , a sampling start time of , the total number of sampling points after sampling is , the sampling rate is , and the sampling time interval

[0066] ;

[0067] ;

[0068] ;

[0069] The aligned signal is expressed as , and there is the following relationship:

[0070] ;

[0071] where represents the relative time delay corresponding to the sampling point , represents the relative frequency difference corresponding to the sampling point , both of which can be calculated, is the imaginary unit.

[0072] Furthermore, the calculation process is as follows:

[0073] To calculate , it is necessary to first process , that is, process the sampling point offset sequence:

[0074] If is rounded, that is, , at this time can be directly approximated as ;

[0075] If is not rounded, Interpolation processing is required, such as linear interpolation:

[0076] ;

[0077] ;

[0078] wherein, is the integer-valued index of the sampling point.

[0079] Furthermore, the calculation of is as follows:

[0080] ;

[0081] ;

[0082] wherein, , have both been obtained through calculation. Furthermore, there is the following relationship:

[0083] ;

[0084] Step S205: Preset a compensation value for characterizing the error, and use the compensation value to compensate the alignment signal to obtain the compensated alignment signal;

[0085] Step S206: Use a preset metric function to calculate the correlation metric value of the compensated alignment signals of the two signal receiving devices.

[0086] Step S207: Determine whether the positioning candidate position is the target positioning position according to the correlation metric value.

[0087] Exemplarily, in one embodiment, the larger the correlation metric value, the more likely the positioning candidate position is the actual signal transmission position.

[0088] In this embodiment, exemplarily, set a correlation metric value threshold. If the correlation metric value of the positioning candidate position is greater than the correlation metric value threshold, then determine that this positioning candidate position is the target positioning position.

[0089] Exemplarily, using the method disclosed in this embodiment, calculate the correlation metric value corresponding to each positioning candidate position one by one. When the correlation metric value is greater than the set correlation metric value threshold, the corresponding positioning candidate position is determined as the target positioning position.

[0090] In the embodiment, the compensation value includes: a time delay compensation value and a Doppler compensation value.

[0091] The time delay compensation value is expressed as , and the Doppler compensation value is expressed as ;

[0092] 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:

[0093] As Figure 3 shown, a time-delay compensation value sequence including a plurality of time-delay compensation values is established, and any one of the time-delay compensation values in the time-delay compensation value sequence is traversed, and the alignment signals calculated by traversing all the positioning candidate positions are respectively compensated, and a correlation metric value calculated by using a metric function is obtained, wherein the time-delay compensation value corresponding to the correlation metric value with the optimal correlation is the optimal time-delay compensation value;

[0094] As Figure 4 shown, a Doppler compensation value sequence including a plurality of Doppler compensation values is established, and any one of the Doppler compensation values in the Doppler compensation value sequence is traversed, and in cooperation with the optimal time-delay compensation value, the alignment signals calculated by traversing all the positioning candidate positions are respectively compensated, and a correlation metric value calculated by using a metric function is obtained, wherein the Doppler compensation value corresponding to the correlation metric value with the optimal correlation is the optimal Doppler compensation value;

[0095] The obtained optimal time-delay compensation value and optimal Doppler compensation value are used to compensate the alignment signal to obtain a compensated alignment signal.

[0096] In this embodiment, the calculation of the optimal time-delay compensation value and the optimal Doppler compensation value effectively reduces the signal error and improves the later positioning accuracy.

[0097] In another embodiment of the present invention, it includes: establishing a threshold range of the time-delay compensation value to obtain a plurality of equally spaced time-delay compensation values, which form a time-delay compensation value sequence.

[0098] In another embodiment of the present invention, a Doppler compensation value sequence including a plurality of Doppler compensation values is established, including: establishing a threshold range of the Doppler compensation value to obtain a plurality of equally spaced Doppler compensation values, which form a Doppler compensation value sequence.

[0099] In this embodiment, the setting of the time-delay compensation value sequence and the Doppler compensation value sequence realizes the artificial adjustment of the compensation amplitude at any time according to needs.

[0100] Exemplarily, in this embodiment, the time-delay compensation value sequence is expressed as The Doppler compensation value sequence is expressed as :

[0101] ;

[0102] ;

[0103] Among them, , represents a set fixed threshold, , represents a total of ones, ones of time delay compensation values and Doppler compensation values;

[0104] In this embodiment, since finally the correlation measurement is performed between two aligned signals and , it can be equivalently considered as only compensating one of the aligned signals to achieve the purpose of reducing errors.

[0105] The following relationship is established:

[0106] ;

[0107] Among them, represents the aligned signal of the i-th receiving device, represents the aligned signal of the j-th receiving device; represents a metric function used to measure the aligned signal and the aligned signal ;

[0108] Furthermore, the optimal time delay compensation value is expressed as , and there is the following relationship:

[0109]

[0110] Among them, represents calculating and outputting the value that maximizes the function, represents the modulo operation, and at the same time locates the candidate position coordinates takes all candidate position coordinates, takes all values in the time delay compensation sequence .

[0111] Furthermore, the optimal Doppler compensation value is expressed as , and to determine the optimal Doppler compensation value , there is the following relationship:

[0112] ;

[0113]

[0114] Among them, represents calculating and outputting the value that maximizes the function, represents the modulo operation, and at the same time locates the candidate position coordinates Iterate through all the positioning candidate positions, and the value of iterates through all the values in the Doppler compensation sequence.

[0115] The compensated alignment signal is denoted as , and there is the following relationship:

[0116] ;

[0117] As Figure 2 shown, in step S206, using a preset metric function, calculate the correlation metric value of the compensated alignment signals of two signal receiving devices, including:

[0118] In this embodiment, the metric function is used to measure the correlation metric value between the corresponding two alignment signals of two signal receiving devices, and further, based on the comparison relationship between the correlation metric value and a set threshold, determine whether the corresponding positioning candidate position is the actual signal transmission position.

[0119] In this embodiment, the metric function can be selectively chosen as needed. Three selectable metric functions are as follows:

[0120] ;

[0121] ;

[0122]

[0123] where T is the signal length, are two signals to be measured, is 's conjugate, abs() represents the modulus operation, and real() represents the real part operation.

[0124] As Figure 5 shown, the present invention also discloses a target positioning device capable of reducing errors, including:

[0125] A first calculation module 501, configured to preset a reference position, and calculate the first time delay information and the first Doppler information between the reference position and the positioning candidate position;

[0126] A second calculation module 502, configured to calculate the second time delay information and the second Doppler information between two signal receiving devices and the positioning candidate position respectively;

[0127] A third calculation module 503 is configured to calculate the relative time delay and relative frequency difference of two signal receiving devices respectively, where the relative time delay is used to represent the difference between the second time delay information and the first time delay information of the corresponding signal receiving device, and the relative frequency difference is used to represent the difference between the second Doppler information and the first Doppler information of the corresponding signal receiving device;

[0128] A first compensation module 504 is configured to use the relative time delay and the relative frequency difference to compensate the received signal of the corresponding signal receiving device to obtain an aligned signal;

[0129] A second compensation module 505 is configured to preset a compensation value for representing an error, and use the compensation value to compensate the aligned signal to obtain a compensated aligned signal;

[0130] A metric module 506 is configured to calculate the correlation metric value of the compensated aligned signals of two signal receiving devices by using a preset metric function;

[0131] A positioning determination module 507 is configured to determine whether the positioning candidate position is the target positioning position according to the correlation metric value.

[0132] The present invention also discloses an electronic device, as Figure 6 shown, discloses an embodiment, which is a block diagram of an electronic device applicable to the above-mentioned target positioning that can reduce errors.

[0133] 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 into the RAM 603. The processor 601 can include, for example, a general microprocessor, an instruction set processor, and / or a related chipset and / or a dedicated microprocessor, etc. The processor 601 can also include on-board memory for caching purposes. The processor 601 can include a single processing unit or multiple processing units for performing different actions of the method flow according to the embodiments of the present invention.

[0134] In the RAM 603, various programs and data required for the operation of the electronic device 60 are stored. The processor 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604, and the processor 601 performs various operations of the method flow according to the embodiments of the present invention by executing the programs in the ROM 602 and / or the RAM 603. It should be noted that the program can also be stored in one or more memories other than the ROM 602 and the RAM 603, and the processor 601 can also perform various operations of the method flow according to the embodiments of the present invention by executing the programs stored in one or more memories.

[0135] According to an embodiment of the present invention, the electronic device 60 may further include an I / O interface 605, and the I / O interface 605 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, a speaker, etc.; 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. The 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 from it is installed into the storage portion 608 as needed.

[0136] The present invention also provides a computer-readable storage medium.

[0137] The computer-readable storage medium may be included in the electronic device / apparatus system described in the above embodiments; or it may exist separately without being assembled into the electronic device / apparatus. 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.

[0138] 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 of the above. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0139] An embodiment of the present invention further includes a computer program product.

[0140] The computer program product includes a computer program, and the computer program contains program code for executing the method provided by the embodiments of the present invention. When the computer program product runs on an electronic device, the program code is used to cause the electronic device to implement the method provided by the embodiments of the present invention.

[0141] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium. The program code included 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.

[0142] According to 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. Programming languages include but are not limited to, for example, Java, C++, Python, 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 cases involving 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 or a wide area network, or can be connected to an external computing device.

[0143] 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 program segment, or a part of the code, and the above-mentioned module, program segment, or 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 blocks may occur in a different order than that marked 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 the combination of blocks in the block diagram or flowchart, can be implemented using a dedicated hardware-based system for performing the specified functions or operations, or can be implemented using a combination of dedicated hardware and computer instructions. Those skilled in the art can understand that the features recited in the various embodiments and / or claims of the present invention can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly recited in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features recited in the various embodiments and / or claims 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.

[0144] The embodiments of the present invention have been described above. However, these embodiments are merely for illustrative purposes and not for limiting the scope of the present invention. Although the embodiments have been described separately above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. The scope of the present invention is defined by the appended claims and their equivalents, and without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, and these substitutions and modifications should all fall within the scope of the present invention.

Claims

1. A target positioning method capable of reducing errors, characterized in that, Including: A preset reference position, and calculating first time delay information and first Doppler information between the reference position and a positioning candidate position; Respectively calculating second time delay information and second Doppler information between two signal receiving devices and the positioning candidate position; Respectively calculating the relative time delay and relative frequency difference of the two signal receiving devices, wherein the relative time delay is used to represent the difference between the second time delay information and the first time delay information corresponding to the signal receiving device, and the relative frequency difference is used to represent the difference between the second Doppler information and the first Doppler information corresponding to the signal receiving device; Compensating the received signal of the corresponding signal receiving device by using the relative time delay and the relative frequency difference to obtain an aligned signal; Presetting a compensation value for representing an error, and compensating the aligned signal by using the compensation value to obtain the compensated aligned signal; Calculating a correlation metric value of the compensated aligned signals of the two signal receiving devices by using a preset metric function; Judging whether the positioning candidate position is a target positioning position according to the correlation metric value; The compensation value includes: a time delay compensation value and a Doppler compensation value; The preset compensation value for representing an error, and compensating the aligned signal by using the compensation value to obtain the compensated aligned signal, includes: Establishing a time delay compensation value sequence including a plurality of the time delay compensation values, traversing any one of the time delay compensation values in the time delay compensation value sequence, respectively compensating the aligned signals calculated by traversing all the positioning candidate positions, and obtaining the correlation metric value calculated by using the metric function, wherein the time delay compensation value corresponding to the correlation metric value with the optimal correlation is the optimal time delay compensation value; Establishing a Doppler compensation value sequence including a plurality of the Doppler compensation values, traversing any one of the Doppler compensation values in the Doppler compensation value sequence, cooperating with the optimal time delay compensation value, respectively compensating the aligned signals calculated by traversing all the positioning candidate positions, 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 optimal correlation is the optimal Doppler compensation value; Compensating the aligned signal by using the obtained optimal time delay compensation value and the optimal Doppler compensation value to obtain the compensated aligned signal.

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

3. A target positioning method capable of reducing errors according to claim 1, characterized in that, The establishing a time delay compensation value sequence including a plurality of the time delay compensation values includes: establishing a threshold range of the time delay compensation value, obtaining a plurality of equidistant time delay compensation values, and forming the time delay compensation value sequence.

4. A target positioning method capable of reducing errors according to claim 3, characterized in that, The establishing a Doppler compensation value sequence including a plurality of the Doppler compensation values includes: establishing a threshold range of the Doppler compensation value, obtaining a plurality of equidistant Doppler compensation values, and forming the Doppler compensation value sequence.

5. A target positioning device capable of reducing errors, characterized in that: The device includes: The first calculation module is configured to preset a reference position and calculate first time-delay information and first Doppler information between the reference position and a positioning candidate position; The second calculation module is configured to calculate second time-delay information and second Doppler information between two signal receiving devices and the positioning candidate position respectively; The third calculation module is configured to calculate a relative time delay and a relative frequency difference of the two signal receiving devices respectively, where the relative time delay is used to represent the difference between the second time-delay information and the first time-delay information corresponding to the signal receiving device, and the relative frequency difference is used to represent the difference between the second Doppler information and the first Doppler information corresponding to the signal receiving device; The first compensation module is configured 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 aligned signal; The second compensation module is configured to preset a compensation value for representing an error, and compensate the aligned signal by using the compensation value to obtain the compensated aligned signal; the compensation value includes: a time-delay compensation value and a Doppler compensation value; establish a time-delay compensation value sequence including a plurality of the time-delay compensation values, traverse any one of the time-delay compensation values in the time-delay compensation value sequence, and compensate the aligned signals calculated for all the positioning candidate positions respectively, and obtain a correlation metric value calculated by using a metric function, where the time-delay compensation value corresponding to the correlation metric value with the optimal correlation is the optimal time-delay compensation value; establish a Doppler compensation value sequence including a plurality of the Doppler compensation values, traverse any one of the Doppler compensation values in the Doppler compensation value sequence, cooperate with the optimal time-delay compensation value, and compensate the aligned signals calculated for all the positioning candidate positions respectively, and obtain the correlation metric value calculated by using the metric function, where the Doppler compensation value corresponding to the correlation metric value with the optimal correlation is the optimal Doppler compensation value; compensate the aligned signal by using the obtained optimal time-delay compensation value and the optimal Doppler compensation value to obtain the compensated aligned signal; The metric module is configured to calculate a correlation metric value of the compensated aligned signals of the two signal receiving devices by using a preset metric function; The positioning determination module is configured to determine whether the positioning candidate position is a target positioning position according to the correlation metric value.

6. An electronic device, characterized in that, 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 are caused to execute the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that , The computer program, when executed by a processor, implements the method according to any one of claims 1 to 4.

8. A computer program product comprising a computer program, characterized in that, , The computer program, when executed by a processor, implements the method according to any one of claims 1 to 4.

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