Target positioning method and device capable of improving positioning speed, equipment and product

Abstract

The invention discloses a target positioning method and device capable of improving positioning speed, equipment and a product. The target positioning method comprises the following steps: determining reference signal receiving equipment; traversing a preset time delay difference value, and determining a corresponding time delay difference contour line coordinate; traversing a preset Doppler difference value, and determining a corresponding Doppler difference contour line coordinate; selecting an intersection point of the time delay difference contour line and the Doppler difference contour line as a possible emission position of a target positioning signal; and performing signal correlation calculation between the signal receiving devices based on the possible transmitting position, and judging whether the possible transmitting position is a target positioning position or not. According to the method, the intersection point of the time delay difference contour line and the Doppler difference contour line is obtained, the possible emission position is determined, and the signal correlation is further calculated, so that the number of possible emission positions needing to be calculated is reduced, the calculation amount in the positioning process is effectively reduced, and the positioning speed is directly improved.

Description

Technical Field

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

[0002] Wireless positioning technology can use multiple receiving devices to passively receive positioning signals emitted by the transmitter and ultimately determine the location of the transmitter. Compared with active positioning methods, passive positioning has the advantages of strong concealment, anti-interference, long reconnaissance distance and wide coverage.

[0003] Existing passive positioning technology usually uses the form of grid mobile search to traverse all possible signal transmission positions, and calculates the correlation value in combination with the known position speed information of the signal receiving device and the received signal. Finally, based on the comparison between the correlation value and the set threshold, it is determined whether the signal transmission position is the target positioning position. This positioning method of traversing all possible signal transmission positions in the form of grid mobile search one by one and further calculating makes the entire positioning process computationally intensive, which directly reduces the positioning speed. 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 that can improve the positioning speed.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows: In a first aspect, a target positioning method capable of improving positioning speed includes: Determine the reference signal receiving device; Traversing the preset delay difference values, determining the corresponding delay difference contour line coordinates, the delay difference contour line coordinates are the delay difference values ​​of the candidate position to the reference signal receiving device and another signal receiving device, respectively, and are equal to the candidate position coordinates of the preset delay difference; Traversing preset Doppler differences, determining corresponding Doppler difference contour line coordinates, where the Doppler difference contour line coordinates are Doppler differences from the candidate position to a reference signal receiving device and another signal receiving device, respectively, and are equal to the candidate position coordinates of the preset Doppler difference; The intersection of the delay difference contour line and the Doppler difference contour line is selected as the possible transmission position of the target positioning signal; Based on the possible transmission position, the signal correlation calculation between the signal receiving devices is performed to determine whether the possible transmission position is the target positioning position.

[0006] In one embodiment of the present invention, determining the corresponding delay difference contour line coordinates includes: Based on the known reference signal receiving device position, another signal receiving device position and a preset delay difference, a first equation is established, wherein the first equation is used to characterize that the product of the preset delay difference and the speed of light is equal to the distance difference from the candidate position to the reference signal receiving device and the another signal receiving device respectively; Establishing a second equation, the second equation is used to characterize the candidate position as a spherical constraint on the earth's surface; Using the longitude and latitude coordinate system, based on the set altitude value and the radius of the earth, traverse the preset latitude values ​​to obtain a set of Z coordinate values ​​of the candidate positions using the spatial rectangular coordinate system; The first equation and the second equation are used to traverse the Z coordinate values ​​of the candidate positions, and the coordinates of the candidate positions obtained by solving the coordinates are the coordinates of the delay difference contour line.

[0007] In one embodiment of the present invention, determining the corresponding Doppler difference contour line coordinates includes: Based on the known reference signal receiving device position and speed, another signal receiving device position and speed, and a preset Doppler difference, a third equation is established, where the third equation is used to characterize that the preset Doppler difference is equal to the Doppler difference between the candidate position and another signal receiving device other than the reference signal receiving device and the reference signal receiving device; Using the longitude and latitude coordinate system, based on the set altitude value and the radius of the earth, traverse the preset latitude values ​​to obtain a set of Z coordinate values ​​of the candidate positions using the spatial rectangular coordinate system; The second equation and the third equation are used to traverse the Z coordinate values ​​of the candidate positions, and the coordinates of the candidate positions obtained by solving are Doppler difference contour line coordinates.

[0008] In one embodiment of the present invention, the method further includes: determining an area of ​​the selected transmission position, and calculating the coordinates of the delay difference contour line and the Doppler difference contour line in the area.

[0009] In one embodiment of the present invention, traversing the preset delay difference values ​​includes: establishing a threshold range of the preset delay difference values, obtaining a plurality of preset delay difference values ​​with equal intervals, and forming a preset delay difference value sequence.

[0010] In one embodiment of the present invention, traversing the preset Doppler difference values ​​includes: establishing a threshold range of the preset Doppler difference values, obtaining a plurality of preset Doppler difference values ​​with equal intervals, and forming a preset Doppler difference value sequence.

[0011] In one embodiment of the present invention, traversing preset latitude values ​​includes: determining a number of equally spaced latitude values ​​to form a latitude value sequence.

[0012] In a second aspect, the present invention discloses a target positioning device capable of improving positioning speed, the device comprising: A reference determination module, used to determine a reference signal receiving device; A first determination module is used to traverse the preset delay difference values ​​and determine the corresponding delay difference contour line coordinates, where the delay difference contour line coordinates are the delay difference values ​​from the candidate position to the reference signal receiving device and another signal receiving device, respectively, and are equal to the candidate position coordinates of the preset delay difference value; A second determination module is used to traverse the preset Doppler difference values ​​and determine the corresponding Doppler difference contour line coordinates, where the Doppler difference contour line coordinates are the Doppler difference values ​​of the candidate position to the reference signal receiving device and another signal receiving device, respectively, and are equal to the candidate position coordinates of the preset Doppler difference value; The transmitting position selection module is used to select the intersection of the delay difference contour line and the Doppler difference contour line as the possible transmitting position of the target positioning signal; The target positioning module is used to calculate the signal correlation between signal receiving devices based on the possible transmission position and determine whether the possible transmission position is the target positioning position.

[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 program product, including a computer program, which implements the above method when executed by a processor.

[0015] Compared with the prior art, the present invention has the following advantages: The present invention discloses a target positioning method, device, equipment and product capable of improving positioning speed, including: determining a reference signal receiving device; traversing preset delay difference values ​​to determine the corresponding delay difference contour line coordinates; traversing preset Doppler difference values ​​to determine the corresponding Doppler difference contour line coordinates; the intersection of the delay difference contour line and the Doppler difference contour line is selected as the possible emission position of the target positioning signal; based on the possible emission position, calculating the signal correlation between signal receiving devices to determine whether the possible emission position is the target positioning position. The present invention discloses a target positioning method, device, equipment and product capable of improving positioning speed, determining the possible emission position through the intersection of the delay difference contour line and the Doppler difference contour line, further calculating the signal correlation, reducing the number of possible emission positions that need to be calculated, effectively reducing the amount of calculation in the positioning process, and directly improving the positioning speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] In the attached picture: Figure 1 A schematic diagram of an application scenario of a target positioning method capable of improving positioning speed according to an embodiment of the present invention; Figure 2 A schematic diagram of a target positioning method capable of improving positioning speed according to an embodiment of the present invention; Figure 3 This is a schematic diagram of delay difference contour lines of a target positioning method capable of improving positioning speed according to an embodiment of the present invention; Figure 4 This is a schematic diagram of Doppler difference contour lines of a target positioning method capable of improving positioning speed according to an embodiment of the present invention; Figure 5 A schematic diagram of selecting possible launch positions for a target positioning method capable of improving positioning speed according to an embodiment of the present invention; Figure 6 A schematic diagram of a target positioning device capable of improving positioning speed according to an embodiment of the present invention; Figure 7 The present invention is a schematic diagram of a target positioning electronic device capable of improving positioning speed according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] 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.

[0019] 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" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0021] 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.

[0022] The application scenarios of the target positioning method, device, equipment and product capable of improving positioning speed disclosed in the present invention are as follows: Figure 1 As shown, under the existing technical conditions, the positioning method is usually based on traversing all possible signal transmission positions in the form of grid mobile search and further calculating. The calculation amount of the entire positioning process is relatively large, which directly reduces the positioning speed. The present invention discloses a target positioning method, device, equipment and product that can improve the positioning speed, predetermines the delay difference contour line and the Doppler difference contour line, determines the possible transmission position through the intersection of the delay difference contour line and the Doppler difference contour line, and further calculates the signal correlation, thereby reducing the number of possible transmission positions that need to be calculated, effectively reducing the calculation amount in the positioning process, and directly improving the positioning speed.

[0023] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0024] like Figure 2 As shown, in one embodiment of the present invention, a target positioning method capable of improving positioning speed includes: Step S201, determining a reference signal receiving device; In this embodiment, exemplarily, the signal receiving device is a signal receiving device arranged on a satellite, and there are a plurality of satellites equipped with the signal receiving device, which simultaneously receive positioning signals emitted by a signal transmitting source located on the surface of the earth.

[0025] Step S202, traversing the preset delay difference values, determining the corresponding delay difference contour line coordinates, the delay difference contour line coordinates are the delay difference values ​​from the candidate position to the reference signal receiving device and another signal receiving device, respectively, and are equal to the candidate position coordinates of the preset delay difference value; Step S203, traversing preset Doppler differences, determining corresponding Doppler difference contour line coordinates, where the Doppler difference contour line coordinates are the Doppler differences from the candidate position to the reference signal receiving device and another signal receiving device, respectively, and are equal to the candidate position coordinates of the preset Doppler difference; Step S204, the intersection of the delay difference contour line and the Doppler difference contour line is selected as the possible transmission position of the target positioning signal; Step S205: Based on the possible transmission position, the signal correlation between the signal receiving devices is calculated to determine whether the possible transmission position is the target positioning position.

[0026] In this embodiment, the method further includes: determining an area of ​​the selected transmission position, and calculating the coordinates of the delay difference contour line and the Doppler difference contour line in the area.

[0027] Exemplarily, a rectangular area grid on the earth's surface is selected as the area of ​​the selected launch position, which is represented by ,in , are the starting and ending positions of longitude and latitude respectively.

[0028] In one embodiment of the present invention, traversing the preset delay difference values ​​includes: establishing a threshold range of the preset delay difference values, obtaining a plurality of preset delay difference values ​​with equal intervals, and forming a preset delay difference value sequence.

[0029] Exemplarily, the threshold range of the preset delay difference is expressed as , then there is the following relationship: ; ; in, Indicates the preset delay difference. Indicates that Equally spaced sampling share, is a positive integer greater than zero.

[0030] Further, exemplary, The value of can be the minimum and maximum values ​​of the delay difference calculated based on the reference signal receiving device and the corresponding another signal receiving device, traversing all candidate positions in the area of ​​the selected transmission position.

[0031] In one embodiment of the present invention, traversing the preset Doppler difference values ​​includes: establishing a threshold range of the preset Doppler difference values, obtaining a plurality of preset Doppler difference values ​​with equal intervals, and forming a preset Doppler difference value sequence.

[0032] Exemplarily, the threshold range of the preset Doppler difference is expressed as , then there is the following relationship: ； ; in, Indicates the preset Doppler difference, Indicates that Equally spaced sampling share, is a positive integer greater than zero.

[0033] Further, exemplary, The value of can be the minimum and maximum values ​​of the Doppler differences calculated by traversing all candidate positions within the area of ​​the selected transmission position based on the reference signal receiving device and the corresponding another signal receiving device.

[0034] In one embodiment of the present invention, traversing preset latitude values ​​includes: determining a number of equally spaced latitude values ​​to form a latitude value sequence.

[0035] Exemplarily, the preset latitude value is expressed as : = ; in, Indicates the latitude range of the area where the launch location will be selected Equally spaced sampling share, is a positive integer greater than zero.

[0036] In one embodiment of the present invention, Figure 2 and Figure 3 As shown, the corresponding delay difference contour line coordinates are determined, including: Based on the known reference signal receiving device position, another signal receiving device position and a preset delay difference, a first equation is established, wherein the first equation is used to characterize that the product of the preset delay difference and the speed of light is equal to the distance difference from the candidate position to the reference signal receiving device and the another signal receiving device respectively; Establishing a second equation, the second equation is used to characterize the candidate position as a spherical constraint on the earth's surface; Using the longitude and latitude coordinate system, based on the set altitude value and the radius of the earth, traverse the preset latitude values ​​to obtain a set of Z coordinate values ​​of the candidate positions using the spatial rectangular coordinate system; The first equation and the second equation are used to traverse the Z coordinate values ​​of the candidate positions, and the coordinates of the candidate positions obtained by solving the coordinates are the coordinates of the delay difference contour line.

[0037] Exemplarily, the signal receiving device indicates : ; in, Indicated as shared A signal receiving device; Indicates A signal receiving device; Indicates The X-axis, Y-axis and Z-axis coordinates of the signal receiving device in the spatial rectangular coordinate system; the reference signal receiving device is represented by , expressed as ; T is the transposition symbol.

[0038] The candidate position is denoted as u: ; in, represents the X-axis, Y-axis, and Z-axis coordinates of the candidate position in the spatial rectangular coordinate system, and T is the transposition symbol.

[0039] Furthermore, there is the following relationship:

[0040]

[0041] in, It is a reference signal receiving device The distance u to the candidate position can be obtained from the known The coordinates and u coordinates are calculated; Except for the reference signal receiving device Outside Signal receiving device The distance u to the candidate position can be obtained from the known The coordinates and u coordinates are calculated; is the distance difference, c is the speed of light, is the preset delay difference, R is the known radius of the earth; Further, the first equation (1) and the second equation (2) are established as follows:

[0042]

[0043] Using the latitude and longitude coordinate system, we can get the following from the spherical equation: ； ； ； Where R is the known value of the Earth's radius; is the altitude value, set to 0; B is equal to the preset latitude value , represents the longitude value, then the Z coordinate value of the candidate position can be calculated; The first equation (1), the second equation (2) and the calculated Z coordinate of the candidate position are combined to obtain an equation system containing only two unknown variables, the x coordinate and the y coordinate of the candidate position, and the x coordinate value and the y coordinate value of the candidate position are obtained by solving the equation system; The x-coordinate value, y-coordinate value and calculated z-coordinate value of the candidate position are combined to obtain the coordinates of the candidate position, which are the coordinates of the delay difference contour line.

[0044] Further, the coordinates of the delay difference contour lines are converted into longitude and latitude coordinates to represent the area of ​​the selected transmission position.

[0045] ， ； in, represents longitude, represents latitude; Represents the coordinates of the delay difference contour line.

[0046] In this embodiment, based on a preset latitude value , calculate the reference signal receiving device All signal receiving devices The corresponding delay difference contour line coordinates, further, traverse the preset latitude values , and obtain the coordinate set of the delay difference contour lines.

[0047] In one embodiment of the present invention, those skilled in the art will appreciate that the solution to the set of equations may be obtained by solving a set of nonlinear equations.

[0048] In another embodiment of the present invention, the solution process is as follows: formula , can be transformed into: ; Because there are: = ; so: ; ; After expansion, we get: ； ； in ， , is the inverse of the matrix: ； ； ； ； ； ; Therefore, the solution , get the x-coordinate value and y-coordinate value of the candidate position; In one embodiment of the present invention, Figure 2 and Figure 4 As shown, determine the corresponding Doppler difference contour coordinates, including: Based on the known reference signal receiving device position and speed, another signal receiving device position and speed, and a preset Doppler difference, a third equation is established, where the third equation is used to characterize that the preset Doppler difference is equal to the Doppler difference between the candidate position and another signal receiving device other than the reference signal receiving device and the reference signal receiving device; Using the longitude and latitude coordinate system, based on the set altitude value and the radius of the earth, traverse the preset latitude values ​​to obtain a set of Z coordinate values ​​of the candidate positions using the spatial rectangular coordinate system; The second equation and the third equation are used to traverse the Z coordinate values ​​of the candidate positions, and the coordinates of the candidate positions obtained by solving are Doppler difference contour line coordinates.

[0049] For example, the following relationship is known:

[0050] (2); in, Indicates the preset Doppler difference, represents the speed of the reference signal receiving device known in advance, Indicates a previously known signal receiving device other than the reference signal Outside The speed of the signal receiving device; Establish the third program (3) as follows:

[0051] in, For the The speed of the signal receiving device is The component values ​​of the axis, For reference signal receiving equipment The speed is The component values ​​of the axis; and Can be calculated to obtain: ; ; Using the latitude and longitude coordinate system, we can get the following from the spherical equation: ； ； ； Where R is the known value of the Earth's radius; is the altitude value, set to 0; B is equal to the preset latitude value , represents the longitude value, then the Z coordinate value of the candidate position can be calculated; The second equation (2), the second equation (3) and the calculated Z coordinate of the candidate position are combined to obtain an equation system containing only two unknown variables, the x coordinate and the y coordinate of the candidate position, and the x coordinate value and the y coordinate value of the candidate position are obtained by solving the equation system; Further, the coordinates of the delay difference contour lines are converted into longitude and latitude coordinates to represent the area of ​​the selected transmission position.

[0052] , ； in, represents longitude, represents latitude; Represents the coordinates of the delay difference contour line.

[0053] In this embodiment, based on a preset latitude value , calculate the reference signal receiving device All signal receiving devices The corresponding Doppler difference contour line coordinates, further, traverse the preset latitude values , and obtain the coordinate set of Doppler difference contour lines.

[0054] In one embodiment of the present invention, those skilled in the art will appreciate that the solution to the set of equations may be obtained by solving a set of nonlinear equations.

[0055] In another embodiment of the present invention, the solution process is as follows: The x- and y-coordinates of the candidate locations are expressed in polar coordinates as follows: ; ; in ， ， R is the known value of the Earth’s radius; is the altitude value, set to 0; B is equal to the preset latitude value , Furthermore, using Euler's formula, we can , use The expansion is as follows: ； ； Furthermore, the x- and y-coordinates of the candidate positions can be expressed as and can be calculated express; Expand the third equation (3) as follows:

[0056] The coefficient calculation process is as follows: ; ; ;

[0057] ; ; ; ; ; ; ; ; Will use and can be calculated represents the x-coordinate and y-coordinate of the candidate position, and is substituted into the expanded third equation (3) to obtain and solve the equation value; Based on the solution The value and can be calculated , get the x-coordinate value and y-coordinate value corresponding to the polar coordinates of the candidate position.

[0058] In another embodiment of the present invention, if the earth is regarded as an ellipsoid, the second equation (2) is replaced by the following formula: ; in, , , B is equal to the preset latitude value ; is the height value, set to 0; is the length of the semi-major axis of the ellipsoid.

[0059] like Figure 6 As shown, the present invention also discloses a target positioning device capable of improving positioning speed, comprising: A reference determination module 601 is used to determine a reference signal receiving device; A first determination module 602 is used to traverse preset delay difference values ​​and determine corresponding delay difference contour line coordinates, where the delay difference contour line coordinates are the delay difference values ​​from the candidate position to the reference signal receiving device and another signal receiving device, respectively, and are equal to the candidate position coordinates of the preset delay difference; The second determination module 603 is used to traverse the preset Doppler difference values ​​and determine the corresponding Doppler difference contour line coordinates, where the Doppler difference contour line coordinates are the Doppler differences from the candidate position to the reference signal receiving device and another signal receiving device, respectively, and are equal to the candidate position coordinates of the preset Doppler difference; The transmitting position selection module 604 is used to select the intersection of the delay difference contour line and the Doppler difference contour line as the possible transmitting position of the target positioning signal; The target positioning module 605 is used to calculate the signal correlation between signal receiving devices based on the possible transmission position, and determine whether the possible transmission position is the target positioning position.

[0060] 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 target positioning capable of improving positioning speed.

[0061] 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 to 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 an 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 an embodiment of the present invention.

[0062] In RAM703, various programs and data required for the operation of electronic device 70 are stored. Processor 701, ROM702 and RAM703 are connected to each other through bus 704, and processor 701 performs various operations of the method flow according to the embodiment of the present invention by executing the program in ROM702 and / or RAM703. It should be noted that the program can also be stored in one or more memories other than ROM702 and RAM703, and processor 701 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.

[0063] 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, etc.; and a communication portion 709 including a network interface card such as a LAN card, a modem, etc. 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 on the drive 7010 as needed, so that a computer program read therefrom is installed into the storage portion 708 as needed.

[0064] The present invention also provides a computer-readable storage medium.

[0065] 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.

[0066] 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.

[0067] Embodiments of the present invention also include a computer program product.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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 improving positioning speed, characterized in that: include: Determine the reference signal receiving device; Traversing preset delay difference values, determining corresponding delay difference contour line coordinates, wherein the delay difference contour line coordinates are delay differences from a candidate position to the reference signal receiving device and another signal receiving device, respectively, and are equal to the candidate position coordinates of the preset delay difference value; Traversing preset Doppler differences, determining corresponding Doppler difference contour line coordinates, wherein the Doppler difference contour line coordinates are Doppler differences from the candidate position to the reference signal receiving device and another signal receiving device, respectively, and are equal to the candidate position coordinates of the preset Doppler difference; The intersection of the delay difference contour line and the Doppler difference contour line is selected as the possible transmission position of the target positioning signal; Based on the possible transmission position, a signal correlation calculation is performed between the signal receiving devices to determine whether the possible transmission position is the target positioning position.

2. A target positioning method capable of improving positioning speed according to claim 1, characterized in that: The determining of the corresponding delay difference contour line coordinates includes: Based on the known position of the reference signal receiving device, the position of another signal receiving device and the preset time delay difference, a first equation is established, wherein the first equation is used to characterize that the product of the preset time delay difference and the speed of light is equal to the distance difference from the candidate position to the reference signal receiving device and the other signal receiving device respectively; Establishing a second equation, wherein the second equation is used to characterize that the candidate position is a spherical constraint on the surface of the earth; Using the longitude and latitude coordinate system, based on the set altitude value and the earth radius value, traverse the preset latitude values ​​to obtain a set of Z coordinate values ​​of the candidate positions using the spatial rectangular coordinate system; The Z coordinate values ​​of the candidate positions are traversed by using the first equation and the second equation, and the coordinates of the candidate positions obtained by solving the equations are the coordinates of the delay difference contour line.

3. A target positioning method capable of improving positioning speed according to claim 2, characterized in that: The determining of the corresponding Doppler difference contour line coordinates includes: Based on the known position and speed of the reference signal receiving device, the position and speed of another signal receiving device, and the preset Doppler difference, a third equation is established, wherein the third equation is used to characterize that the preset Doppler difference is equal to the Doppler difference between the candidate position and another signal receiving device other than the reference signal receiving device and the reference signal receiving device; Using the longitude and latitude coordinate system, based on the set altitude value and the earth radius value, traverse the preset latitude values ​​to obtain a set of Z coordinate values ​​of the candidate positions using the spatial rectangular coordinate system; The Z coordinate values ​​of the candidate positions are traversed by using the second equation and the third equation, and the coordinates of the candidate positions obtained by solving the equations are the Doppler difference contour line coordinates.

4. A target positioning method capable of improving positioning speed according to claim 1, characterized in that: The method further comprises: determining an area of ​​a selected transmission position, and calculating the coordinates of the delay difference contour line and the coordinates of the Doppler difference contour line within the area.

5. The target positioning method capable of improving positioning speed according to claim 1, characterized in that: The traversing the preset delay difference values ​​includes: establishing a threshold range of the preset delay difference values, obtaining a plurality of the preset delay difference values ​​with equal intervals, and forming the preset delay difference value sequence.

6. A target positioning method capable of improving positioning speed according to claim 1, characterized in that: The traversing the preset Doppler difference values ​​includes: establishing a threshold range of the preset Doppler difference values, obtaining a plurality of the preset Doppler difference values ​​with equal intervals, and forming the preset Doppler difference sequence.

7. A target positioning method capable of improving positioning speed according to claim 2, characterized in that: The traversing the preset latitude values ​​includes: determining a plurality of the latitude values ​​with equal intervals to form the latitude value sequence.

8. A target positioning device capable of improving positioning speed, characterized in that: The device comprises: A reference determination module, used to determine a reference signal receiving device; A first determination module is used to traverse the preset delay difference values ​​and determine the corresponding delay difference contour line coordinates, wherein the delay difference contour line coordinates are the delay difference values ​​from the candidate position to the reference signal receiving device and another signal receiving device, respectively, and are equal to the candidate position coordinates of the preset delay difference value; A second determination module is used to traverse preset Doppler differences and determine corresponding Doppler difference contour line coordinates, wherein the Doppler difference contour line coordinates are Doppler differences from the candidate position to the reference signal receiving device and another signal receiving device, respectively, and are equal to the candidate position coordinates of the preset Doppler difference; A transmission position selection module is used to select the intersection of the delay difference contour line and the Doppler difference contour line as a possible transmission position of the target positioning signal; The target positioning module is used to calculate the signal correlation between the signal receiving devices based on the possible transmission position, and determine whether the possible transmission position is the target positioning position.

9. 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 7.

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 7 is implemented.

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