Node positioning method and device based on radio, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a node positioning method and device based on radio, electronic equipment and a storage medium, and belongs to the field of wireless communication. The method comprises the following steps: determining a control main node from a plurality of network nodes of a target network, and carrying out initial coordinate calibration on the plurality of network nodes through the node to obtain node calibration coordinates of each node; an anchor node is determined from a plurality of network nodes, and pseudo-range measurement is performed to obtain a first relative distance. Calculating a first relative coordinate of each network node by using the first relative distance; performing phase correction on the first relative coordinates in combination with node calibration coordinates of the anchor nodes to obtain second relative coordinates; and updating the second relative coordinate through the actual position data and the target movement data of the at least one network node at the target moment, and determining the target position coordinate of each network node. According to the embodiment of the invention, the method can achieve the accurate positioning of the coordinates of each node in a radio network under the condition that the satellite positioning system is rejected.

Description

Technical Field

[0001] The present application relates to the field of wireless communications, and in particular to a radio-based node positioning method and device, electronic equipment, and storage medium. Background Art

[0002] A communication network contains multiple nodes, and these nodes in the network refer to a connection point or terminal device in the network, which can be a physical entity or a logical entity. Node positioning refers to the process of determining the specific location of a node in a network or system, so that the geographical location of a mobile device (such as a smartphone, a laptop) can be accurately determined.

[0003] At present, related technologies usually use methods based on multilateral positioning algorithms (such as Link16 data link relative navigation positioning technology) or multi-dimensional scaling positioning technology (Multi-dimensional Scaling, MDS) to perform node positioning. However, these methods usually require several nodes with known positions as anchor nodes, but when the satellite positioning system is denied (that is, the signal of the satellite positioning system cannot be received or is interfered with and cannot be used normally), it is difficult for a node to become an anchor node. The node coordinates obtained by the solution lack a reference system, so that the topological structure composed of the coordinates of each node has a spatial error compared with the real coordinates, reducing the accuracy of node positioning. Therefore, how to provide a radio-based node positioning method that can accurately locate the coordinates of each node in the radio network under the condition of satellite positioning system denial is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The main purpose of the embodiments of the present application is to propose a radio-based node positioning method and device, electronic equipment and storage medium, which can accurately locate the coordinates of each node in the radio network when the satellite positioning system is denied.

[0005] To achieve the above object, a first aspect of an embodiment of the present application proposes a radio-based node positioning method, the method comprising:

[0006] Determine a control master node from among multiple network nodes of the target network;

[0007] Performing initial coordinate calibration on the plurality of network nodes based on the control master node to obtain node calibration coordinates of each of the network nodes, wherein the node calibration coordinates are used to indicate position information of the corresponding network node in a preset first coordinate system;

[0008] Determining an anchor node from the plurality of network nodes based on the node calibration coordinates;

[0009] Performing pseudo-range measurement on the multiple network nodes to obtain a first relative distance of each of the network nodes, where the first relative distance is used to characterize a relative position relationship between any two of the network nodes;

[0010] Calculate the node coordinates based on the first relative distance to determine the first relative coordinates of each of the network nodes, where the first relative coordinates are used to indicate the position information of the corresponding network node in the second coordinate system;

[0011] Performing phase correction on the first relative coordinates based on the node calibration coordinates associated with the anchor node to determine the second relative coordinates of each of the network nodes, where the second relative coordinates are used to indicate position information of the corresponding network node in the first coordinate system;

[0012] Acquire actual position data of at least one of the network nodes at a target time, and acquire target movement data of each of the network nodes at the target time, wherein the actual position data is used to indicate position information of the corresponding network node in the first coordinate system;

[0013] Based on at least one of the actual position data and the target movement data, the second relative coordinates are updated to determine the target position coordinates of each of the network nodes, where the target position coordinates are used to indicate the position information of the corresponding network node after movement in the first coordinate system.

[0014] In some embodiments, updating the second relative coordinates based on at least one of the actual position data and the target movement data to determine the target position coordinates of each of the network nodes includes:

[0015] Determine a node coordinate difference between any two network nodes in the target network based on the node calibration coordinates and the first relative coordinates;

[0016] Performing weighted processing based on the target movement data and the node coordinate difference to obtain a weighted movement vector between any two network nodes in the target network;

[0017] The node coordinates of the second relative coordinates are updated based on at least one of the actual position data and the weighted movement vector to determine the target position coordinates of each of the network nodes.

[0018] In some embodiments, the data type of the target movement data includes a vector type and a numerical type, and the weighted processing based on the target movement data and the node coordinate difference to obtain the weighted movement vector between any two network nodes in the target network includes:

[0019] If the data type of the target movement data is the numerical type, determining a deviation angle between the node calibration coordinates and the first relative coordinates based on the node coordinate difference;

[0020] Determine a movement vector corresponding to the numerical type based on the deviation angle;

[0021] Numerical weighting processing is performed based on the movement vector and the node coordinate difference to obtain the weighted movement vector between any two network nodes in the target network.

[0022] In some embodiments, performing phase correction on the first relative coordinates based on the node calibration coordinates associated with the anchor node to determine the second relative coordinates of each of the network nodes includes:

[0023] Determining a first angle of the anchor node based on a node calibration coordinate associated with the anchor node;

[0024] determining a second angle of the anchor node based on a first relative coordinate associated with the anchor node;

[0025] determining an angle difference based on the first angle and the second angle, the angle difference being used to indicate a degree of deviation between the node calibration coordinates associated with the anchor node and the first relative coordinates associated with the anchor node;

[0026] The first relative coordinates are phase corrected based on the angle difference and the node calibration coordinates associated with the anchor node to determine the second relative coordinates of each of the network nodes.

[0027] In some embodiments, performing phase correction on the first relative coordinate based on the angle difference and the node calibration coordinate associated with the anchor node to determine the second relative coordinate of each of the network nodes includes:

[0028] Performing a Proskopf transformation on the first relative coordinates based on the node calibration coordinates to obtain a transformed coordinate of each of the network nodes, wherein the transformed coordinates are used to indicate position information of the corresponding network node in the first coordinate system;

[0029] The conversion coordinates are subjected to conversion phase correction based on the angle difference and the node calibration coordinates associated with the anchor node to obtain the second relative coordinates of each of the network nodes.

[0030] In some embodiments, the performing initial coordinate calibration on the plurality of network nodes based on the control master node to obtain the node calibration coordinates of each of the network nodes includes:

[0031] Performing pseudo-range measurement on the plurality of network nodes based on the control master node to obtain a second relative distance of each of the network nodes, where the second relative distance is used to characterize a relative position relationship between any two of the network nodes;

[0032] Calculate the node coordinates based on the second relative distance to determine the third relative coordinates of each of the network nodes, where the third relative coordinates are used to indicate the relative position information of the corresponding network node in the second coordinate system;

[0033] Directively move the multiple network nodes based on a preset movement vector to obtain multiple mobile network nodes;

[0034] Based on the control master node, pseudo-range measurement is performed on the multiple mobile network nodes to obtain a third relative distance of the mobile nodes, where the third relative distance is used to characterize the relative position relationship between any two of the mobile network nodes;

[0035] Calculating node coordinates based on the third relative distance to determine fourth relative coordinates of each of the mobile network nodes, where the fourth relative coordinates are used to indicate relative position information of the corresponding mobile network node in the second coordinate system;

[0036] Coordinate fitting is performed based on the third relative coordinate, the fourth relative coordinate, and the preset movement vector to obtain the node calibration coordinates of each of the network nodes.

[0037] In some embodiments, performing coordinate fitting based on the third relative coordinate, the fourth relative coordinate, and the preset movement vector to obtain the node calibration coordinates of each of the network nodes includes:

[0038] Determine a first phase coordinate of the third relative coordinate based on a preset phase matrix, where the first phase coordinate is used to indicate phase change position information of the corresponding network node in a preset first coordinate system;

[0039] Determine a second phase coordinate of the fourth relative coordinate based on the preset phase matrix, where the second phase coordinate is used to indicate phase change position information of the corresponding network node in the preset first coordinate system;

[0040] Acquire a phase coordinate difference based on the first phase coordinate and the second phase coordinate;

[0041] Determining a phase angle of the fourth relative coordinate based on the phase coordinate difference and the preset movement vector;

[0042] Coordinate fitting is performed based on the fourth relative coordinate and the phase angle to obtain the node calibration coordinates of each of the network nodes.

[0043] To achieve the above object, a second aspect of an embodiment of the present application proposes a radio-based node positioning device, the device comprising:

[0044] A control master node module, used to determine a control master node from multiple network nodes of a target network;

[0045] An initial coordinate calibration module, used to perform initial coordinate calibration on the plurality of network nodes based on the control master node to obtain node calibration coordinates of each of the network nodes;

[0046] An anchor node module, configured to determine an anchor node from the plurality of network nodes based on the node calibration coordinates;

[0047] A pseudorange measurement module, configured to perform pseudorange measurement on the plurality of network nodes to obtain a first relative distance of each of the network nodes;

[0048] A coordinate calculation module, used to perform node coordinate calculation based on the first relative distance to determine the first relative coordinate of each of the network nodes;

[0049] a phase correction module, configured to perform phase correction on the first relative coordinates based on the node calibration coordinates associated with the anchor node, and determine the second relative coordinates of each of the network nodes;

[0050] A data acquisition module, used to acquire actual location data of at least one of the network nodes at a target time, and to acquire target movement data of each of the network nodes at the target time;

[0051] The dynamic positioning module is used to update the second relative coordinates based on at least one of the actual position data and the target movement data, and determine the target position coordinates of each of the network nodes.

[0052] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in the first aspect is implemented.

[0053] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0054] The radio relative positioning method and device, electronic device and storage medium proposed in the present application determine the control master node from multiple network nodes of the target network. Then, the multiple network nodes are initially calibrated based on the control master node to obtain the node calibration coordinates of each network node. Further, the anchor node is determined from the multiple network nodes based on the node calibration coordinates, and then the pseudo-range measurement is performed on the multiple network nodes to obtain the first relative distance of each network node. Further, the node coordinates are solved based on the first relative distance to determine the first relative coordinates of each network node. Further, the first relative coordinates are phase corrected based on the node calibration coordinates associated with the anchor node to determine the second relative coordinates of each network node. Finally, the actual position data of at least one network node at the target time is obtained, and the target movement data of each network node at the target time is obtained. Based on at least one actual position data and the target movement data, the second relative coordinates are updated to determine the target position coordinates of each network node. The present application can determine the node calibration coordinates of each network node in the preset first coordinate system through initial coordinate calibration. Furthermore, the appropriate anchor node can be determined from multiple network nodes through node calibration coordinates, thereby effectively avoiding positioning errors caused by lack of suitable anchor nodes. Compared with related technologies, this application does not need to rely on the satellite positioning system, and can make full use of the network's own node information to achieve accurate positioning of the coordinates of each node in the radio network when the satellite positioning system is denied. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is a flowchart of a radio-based node positioning method provided in an embodiment of the present application;

[0056] Figure 2 yes Figure 1 Flow chart of step S102 in FIG.

[0057] Figure 2A yes Figure 2 A specific implementation process of pseudorange measurement in step S201;

[0058] Figure 2B yes Figure 2 A specific implementation process of a network node directional movement in step S203;

[0059] Figure 2C yes Figure 2 A specific application example of a preset first coordinate system in step S206;

[0060] Figure 3 yes Figure 2 Flow chart of step S206 in FIG.

[0061] Figure 4 yes Figure 1 Flow chart of step S106 in FIG.

[0062] Figure 5 yes Figure 4 Flow chart of step S404 in FIG.

[0063] Figure 6 yes Figure 1 Flow chart of step S108 in FIG.

[0064] Figure 7 yes Figure 6 Flowchart of step S602 in FIG.

[0065] Figure 8 is a comparison result diagram of the positioning error between the radio-based node positioning method provided in the embodiment of the present application and the related technology;

[0066] Fig. 9 is a schematic diagram of the structure of a radio-based node positioning device provided in an embodiment of the present application;

[0067] Fig.10 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0069] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0070] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0071] First, some nouns involved in this application are analyzed:

[0072] Satellite positioning system denial: This means that in certain circumstances, the signals of satellite positioning systems (such as the Global Positioning System (GPS) or the Beidou Satellite Navigation System) cannot be received or are interfered with, resulting in the inability to use them normally.

[0073] Non-metric Multi-dimensional Scaling (NMDS): It is used to map network nodes into a low-dimensional space based on their similarity or distance information to visualize the relationship between nodes and retain their original relative positions. NMDS focuses on maintaining the relative order of distances between network nodes.

[0074] Classical Multi-dimensional Scaling (CMDS): is a multivariate statistical analysis technique used to map network nodes into a low-dimensional space based on their similarity or distance information to visualize the relationship between nodes and preserve their original relative positions. CMDS focuses on maintaining the original distance between network nodes.

[0075] Anchor node: can refer to a specific node in a computer network and serves as a reference point or starting point for other nodes. For example, in network routing or network topology, an anchor node may be a key node in the network, making the connection and communication of other nodes dependent on the anchor node.

[0076] Pseudorange: A term used in navigation and positioning systems, and can be applied to GPS and other satellite navigation systems. Pseudorange refers to the measurement of the signal propagation distance from the navigation satellite to the receiver, and because this distance is not the real physical distance, it is called "pseudo" range.

[0077] Radio relative positioning: is a technology that determines the relative positions of objects by measuring the properties of radio signals. This technology is widely used in navigation, geolocation, communication and monitoring.

[0078] East-North-Sky (ENS) is a coordinate system used to describe geographic location and direction, and is more intuitive and convenient than the traditional latitude and longitude coordinate system in some applications.

[0079] Standard Coordinate System: refers to a coordinate system widely used in mathematics, physics, engineering, and geographic information systems, which provides a standardized framework for describing positions in space. For example, the Beidou coordinate system and the WGS-84 coordinate system.

[0080] Time Division Multiple Access (TDMA): is a communication technology that allows multiple users or devices to share the same radio frequency or channel, but each user or device communicates in different time intervals (time slots).

[0081] Real-Time Two-Way (RTT) is a pseudo-range measurement technology, which generally refers to distance determination through two-way communication between two nodes.

[0082] Geometric Dilution of Precision (GDOP): It is used to measure the impact of satellite geometric distribution on positioning accuracy. The lower the GDOP value, the smaller the impact of satellite geometric distribution on positioning accuracy, and the higher the positioning accuracy.

[0083] Centroid: In a geographic information system (GIS) or map, the centroid can refer to the geometric center of an area or shape, that is, the average location of all points. This can be found by calculating the average coordinates of all points.

[0084] A communication network contains multiple nodes, and these nodes in the network refer to a connection point or terminal device in the network, which can be a physical entity or a logical entity. Node positioning refers to the process of determining the specific location of a node in a network or system, so that the geographical location of a mobile device (such as a smartphone, a laptop) can be accurately determined.

[0085] At present, related technologies usually use methods based on multilateral positioning algorithms (such as Link16 data link relative navigation positioning technology) or multi-dimensional scaling positioning technology (Multi-dimensional Scaling, MDS) to perform node positioning. However, these methods usually require several nodes with known positions as anchor nodes, but when the satellite positioning system is denied (that is, the signal of the satellite positioning system cannot be received or is interfered with and cannot be used normally), it is difficult for a node to become an anchor node. The node coordinates obtained by the solution lack a reference system, so that the topological structure composed of the coordinates of each node has a spatial error compared with the real coordinates, reducing the accuracy of node positioning. Therefore, how to provide a radio-based node positioning method that can accurately locate the coordinates of each node in the radio network under the condition of satellite positioning system denial is a technical problem that needs to be solved urgently.

[0086] Based on this, the embodiments of the present application provide a radio-based node positioning method and device, an electronic device and a storage medium, which can accurately locate the coordinates of each node in the radio network when the satellite positioning system is denied.

[0087] The radio-based node positioning method and device, electronic device and storage medium provided in the embodiments of the present application are specifically described through the following embodiments. First, the radio-based node positioning method in the embodiments of the present application is described.

[0088] The radio-based node positioning method provided in the embodiment of the present application relates to the field of wireless communications. The radio-based node positioning method provided in the embodiment of the present application can be applied to a terminal, can be applied to a server side, or can be software running in a terminal or a server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server side can be configured as an independent physical server, or a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements a radio-based node positioning method, etc., but is not limited to the above forms.

[0089] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0090] Figure 1 is an optional flowchart of a radio-based node positioning method provided in an embodiment of the present application. Figure 1 The method may include but is not limited to steps S101 to S108.

[0091] Step S101, determining a control master node from multiple network nodes of a target network;

[0092] Step S102, performing initial coordinate calibration on multiple network nodes based on the control master node to obtain node calibration coordinates of each network node;

[0093] Step S103, determining an anchor node from a plurality of network nodes based on the node calibration coordinates;

[0094] Step S104, performing pseudo-range measurement on multiple network nodes to obtain a first relative distance of each network node;

[0095] Step S105, performing node coordinate calculation based on the first relative distance to determine the first relative coordinate of each network node;

[0096] Step S106, performing phase correction on the first relative coordinates based on the node calibration coordinates associated with the anchor node to determine the second relative coordinates of each network node;

[0097] Step S107, obtaining actual location data of at least one network node at the target time, and obtaining target movement data of each network node at the target time;

[0098] Step S108: updating the second relative coordinates based on at least one actual position data and target movement data, and determining the target position coordinates of each network node.

[0099] Steps S101 to S108 shown in the embodiment of the present application are to determine the control main node from multiple network nodes of the target network, and use the node to perform initial coordinate calibration on other network nodes, thereby obtaining the node calibration coordinates of each node. Then, an anchor node is selected from these nodes, and a pseudo-range measurement is performed to obtain a first relative distance. Using these distance information, the first relative coordinates of each node are solved. After that, the first relative coordinates are phase corrected in combination with the node calibration coordinates of the anchor node to obtain a second relative coordinate. Finally, the second relative coordinates are updated in combination with the actual position data and target movement data of at least one network node at the target time to determine the target position coordinates of each node. Compared with the related art, the present application uses the node information inside the network to complete the initial coordinate calibration of the node, obtain the node calibration coordinates, and then determine the appropriate anchor node through the node calibration coordinates. The present application effectively reduces the positioning error caused by improper selection of anchor nodes and realizes accurate node positioning in an environment without satellite signals.

[0100] In step S101 of some embodiments, the target network is a radio network that needs to perform node coordinate positioning. The control master node is a key node in the radio network for initial coordinate calibration and node positioning, and is responsible for coordinating and controlling other network nodes in the radio network. The control master node generally selects the network node with the smallest number among multiple network nodes in the radio network, for example, selects the network node numbered 1 (node ​​1) or the network node numbered a (node ​​a) as the control master node.

[0101] It should be noted that if the network node is a connection point, multiple network nodes in the radio network will be randomly numbered, and the connection point with the smallest number will be selected as the control master node. If the network node is a terminal device, the factory numbers of multiple terminal devices in the radio network will be obtained, and the terminal device with the smallest number will be selected as the control master node.

[0102] See also Figure 2 In some embodiments, step S102 may include but is not limited to steps S201 to S206:

[0103] Step S201, performing pseudo-range measurement on multiple network nodes based on the control master node to obtain a second relative distance of each network node;

[0104] Step S202, performing node coordinate calculation based on the second relative distance to determine the third relative coordinate of each network node;

[0105] Step S203, performing direction movement on the multiple network nodes based on the preset movement vector to obtain multiple mobile network nodes;

[0106] Step S204, performing pseudo-range measurement on multiple mobile network nodes based on the control master node to obtain a third relative distance of the mobile node;

[0107] Step S205, performing node coordinate calculation based on the third relative distance to determine the fourth relative coordinates of each mobile network node;

[0108] Step S206, performing coordinate fitting based on the third relative coordinate, the fourth relative coordinate, and the preset movement vector to obtain the node calibration coordinates of each network node.

[0109] In step S201 of some embodiments, the second relative distance refers to a set of pseudorange data obtained by pseudorange measurement in the radio network, and the set of data includes the relative position relationship between any two network nodes in the radio network, for example, the relative position relationship between node 1 and node 2, the relative position relationship between node 1 and node 3, the relative position relationship between node 2 and node 3, etc.

[0110] It should be noted that the second relative distance of each network node is obtained by performing pseudo-range measurement on multiple network nodes based on the control master node, and the measurement is performed in a real-time bidirectional manner in a time division multiple access network, so as to improve the accuracy of pseudo-range measurement between nodes in the radio network.

[0111] In some embodiments, Figure 2AAs shown in Figure 1, pseudo-range measurement is based on the interaction between the control master node and multiple nodes in the network. This process uses continuous time slots to communicate between the control master node and each network node, while measuring and recording the time deviation of each node receiving the signal. The measured values ​​of these time deviations are the key to achieving pseudo-range measurement between nodes. Figure 2A The specific implementation process of the pseudo-range measurement shown can be: first, the multiple network nodes in the radio network are randomly numbered from 1 to N, and node 1 is determined as the control master node. Then, node 1 sends a broadcast message in the first time slot (Slot1), and nodes 2 to node N receive the broadcast message sent by node 1, and measure the time deviation Δti,1 between the time t1 when the message is received and the time slot start time T1. The calculation process is shown in the following formula (1):

[0112] Δti,1=t1-T1 (1)

[0113] Among them, t1 is a set of time data corresponding to the time when node 2 to node N receives the broadcast message; T1 is the time when node 1 sends the broadcast message; in Δti,1, i represents the number of the receiving node, and 1 represents the number of the sending node (node ​​1).

[0114] Furthermore, node 2 sends a broadcast message in the second time slot (Slot2), which carries the time deviation Δt2,1 when receiving the message sent by node 1. Nodes 3 to node N receive the message from node 2 and measure the time deviation Δti,2 between the time t2 when the message is received and the time slot start time T2. The specific calculation process is the same as the principle of formula (1). At this time, node 1 calculates the distance d1,2 from node 2 through Δt2,1. The calculation process is shown in the following formula (2):

[0115] d1,2=c×Δt2,1 (2)

[0116] Where c represents the speed of light; Δt2,1 is the time deviation from when node 1 sends a message to when node 2 receives the message; d1,2 is the pseudorange between node 1 and node 2.

[0117] Furthermore, node 3 sends a broadcast message in the second time slot (Slot3), which carries the time deviations Δt3,1 and Δt3,2 when receiving the messages sent by nodes 1 and 2; nodes 4 to node N receive the message from node 3, and measure the time deviation Δti,3 between the time t3 when the message is received and the time slot start time T3. The specific calculation process is the same as the principle of formula (1). At this time, node 1 and node 2 calculate the distances d1,3 and d2,3 between them and node 3. The specific calculation process is the same as the principle of formula (2).

[0118] Further, by analogy, we obtain the distances d1,N, d2,N, ... dN-1,N between node 1 and node N-1 and node N; node 2 sends a message to node 1 in the N+1th time slot (Slot N+1), reporting the distances d2,3, d2,4, ... d2,N between node 2 and node 3 and node N; node 3 reports the distances d3,4, d3,5, ... d3,N between node 3 and node 4 and node N to node 1 in the N+2th time slot (Slot N+2); node N-1 sends a message to node 1 in the 2N-2th time slot (Slot 2N-2), reporting the distance dN-1,N between node N-1 and node N.

[0119] Through the above steps, the second relative distance of each network node can be obtained by controlling the main node to perform pseudo-range measurement on multiple network nodes.

[0120] It should be noted that since the propagation of radio signals in the air may be affected by weather, propagation media, buildings, etc., the actual propagation speed may be lower than the speed of light, affecting the accuracy of pseudo-range measurement. To solve the above problem, the master node can be controlled to perform multiple pseudo-range measurements on multiple network nodes to obtain multiple sets of pseudo-range data between any two nodes in the radio network, and then the accuracy of pseudo-range measurement can be improved by averaging. For example, the distance data between two nodes 1 and 2 is obtained through two pseudo-range measurements, and then the two distance data are averaged to obtain the distance d1,2 between node 1 and node 2. For another example, the distance data between four nodes 1 and node 3 is obtained through four pseudo-range measurements, and then the two distance data are averaged to obtain the distance d1,3 between node 1 and node 2.

[0121] It should be noted that if a node can determine its current real location information through reference objects and offline maps, the current real location information of the node will be carried in the broadcast message sent during pseudo-range measurement.

[0122] In step S202 of some embodiments, the node coordinate solution is to calculate the specific position of each node in a certain coordinate system based on the relative position information between the nodes. For example, the node coordinate solution is performed based on the CMDS algorithm or based on the NMDS algorithm. The third relative coordinate is a set of coordinate data of multiple network nodes in the second coordinate system obtained during the node coordinate solution process.

[0123] In some embodiments, the specific process of performing node coordinate calculation based on the second relative distance to determine the third relative coordinate of each network node may be: receiving a message sent from node 2 to node N through node 1, and extracting the distance information between the nodes. Further, based on the distance information, a distance square matrix d can be generated as shown below: 2 .

[0124]

[0125] Among them, the distance square matrix d 2 Each row or column in represents the square of the distance between the corresponding node and all other nodes. For example, the first row represents the square of the distance between node 1 and nodes 2 to N; the second column represents the square of the distance between node 2 and nodes 3 to N.

[0126] Furthermore, in order to convert the distance data into a form suitable for multidimensional scaling analysis, so as to accurately reflect and reproduce the relative distance relationship between points in a low-dimensional space, the present application can be performed in the distance square matrix d 2 Multiply both sides by the double decentralization matrix to perform double decentralization and obtain the decentralization matrix. The specific calculation is shown in the following formula (3):

[0127]

[0128] Among them, J is a dual decentralized matrix; B is a decentralized matrix.

[0129] It should be noted that the order of the double decentralized matrix is ​​related to the number of nodes. For example, if there are N nodes, the double decentralized matrix is ​​an N-order matrix. The specific calculation is shown in the following formula (4):

[0130]

[0131] Where E represents a unit matrix of order n; n represents the matrix order, which is the same as N in the above step; g is an n×1 all-1 vector; I is a 1×n all-1 vector. Furthermore, the N eigenvalues ​​λ1, λ2, λ3, ...λ of the decentralized matrix B can be solved. N , and the corresponding normalized eigenvectors v1, v2, v3, ... v N .

[0132] It should be noted that after obtaining the N eigenvalues ​​λ1, λ2, λ3, ...λ of the decentralized matrix B N After that, the two largest positive eigenvalues ​​can be determined from the eigenvalues ​​of the decentralized matrix B, and the diagonal matrix formed by the square roots of the two largest positive eigenvalues ​​is multiplied with the corresponding eigenvector matrix to obtain the configuration matrix. Each row in the configuration matrix corresponds to the relative coordinates of a node in the second coordinate system.

[0133] It should be noted that the second coordinate system is a virtual coordinate system dynamically constructed by the relative distance relationship between any two nodes during the node coordinate solution process. The origin and axis system of the second coordinate system are defined relative to the relative position relationship of the nodes in the network. For example, when solving node coordinates based on the CMDS algorithm, the axis system of the second coordinate system is determined based on the two largest positive eigenvalues ​​of the decentralized matrix, one of which can be defined as the x-axis direction and the other as the y-axis direction. After decentralization, the coordinates of each node can be relative to the origin.

[0134] In step S203 of some embodiments, the preset movement vector refers to a vector predefined to reach a specific target position when adjusting or optimizing the position of a network node in a radio network. This vector usually includes the direction and distance information of the target position relative to the current position. Directional movement refers to the movement of multiple network nodes in a radio network according to a predefined direction and distance. Mobile network nodes refer to multiple network nodes after directional movement.

[0135] It should be noted that the preset movement vector can determine the exact movement direction by equipping each network node with a compass or a reference object (such as the sun or a fixed landmark, etc.), and obtain the exact movement distance through a distance sensor or a pedometer.

[0136] In some embodiments, the specific implementation of the directional movement of the network node is as follows: Figure 2B shown. Figure 2B It shows how nodes in a radio network can optimize network performance by moving in a fixed direction. Here, i and j both represent the number of any node in the radio network; east, south, west, and north represent the possible moving directions of any network node during directional movement. In this process, multiple nodes in the network are guided to move in opposite directions. Such a movement strategy helps to reduce the value of GDOP, thereby significantly improving the positioning accuracy of the network. For example, node i moves to the north and node j moves to the south. For another example, node i moves to the east and node j moves to the west.

[0137] It should be noted that when the network nodes are moved in a directional manner, as many network nodes as possible should be involved in the directional movement to enhance the robustness and coverage of the radio network.

[0138] It should be noted that when the network nodes are moved in a directional manner, the center of mass of the topology diagram should be kept unchanged to avoid the shift of the network center of mass due to node movement, thereby maintaining the stability and balance of the network.

[0139] In step S204 and step S205 of some embodiments, the calculation process of pseudorange measurement and node coordinate solution is the same as the principle of step S201 and step S202. The third relative distance is a set of pseudorange data obtained by pseudorange measurement in the radio network, and this set of data contains the relative position relationship between any two mobile network nodes in the radio network. The fourth relative coordinate is a set of coordinate data of multiple mobile network nodes in the second coordinate system obtained during the node coordinate solution process.

[0140] In step S206 of some embodiments, coordinate fitting refers to using the third relative coordinate, the fourth relative coordinate, and the preset movement vector to find a coordinate system conversion model that best suits the data through a mathematical optimization method. This model can convert the relative coordinates into node calibration coordinates, thereby achieving initial coordinate calibration of multiple network nodes.

[0141] It should be noted that the node calibration coordinates refer to the real coordinates of each network node in the preset first coordinate system obtained after the initial coordinate calibration is performed by the control master node in the radio network.

[0142] It should be noted that the preset first coordinate system is a predefined reference coordinate system used to determine the location of nodes in the network. This coordinate system can be arbitrary, for example, the East-North-Sky coordinate system or the Beidou coordinate system.

[0143] In some embodiments, the preset first coordinate system is an east-north-sky coordinate system, and its specific application example is as follows: Figure 2C As shown. The east direction (x-axis) represents the geographic east and is used to indicate the east-west displacement on the horizontal plane; the north direction (y-axis) represents the geographic north and is used together with the east direction to determine the position of the node on the horizontal plane; the sky direction (z-axis) represents the vertical direction or height and is used to indicate the height of the node relative to a reference plane (usually the ground or sea level).

[0144] See also Figure 3 In some embodiments, step S206 may include but is not limited to steps S301 to S305:

[0145] Step S301, determining a first phase coordinate of a third relative coordinate based on a preset phase matrix;

[0146] Step S302, determining a second phase coordinate of a fourth relative coordinate based on a preset phase matrix;

[0147] Step S303, obtaining a phase coordinate difference based on the first phase coordinate and the second phase coordinate;

[0148] Step S304, determining a phase angle of a fourth relative coordinate based on the phase coordinate difference and a preset motion vector;

[0149] Step S305: coordinate fitting is performed based on the fourth relative coordinate and the phase angle to obtain the node calibration coordinates of each network node.

[0150] In steps S301 to S303 of some embodiments, the preset phase matrix refers to a matrix used to determine the coordinates of multiple network nodes in a specific phase or direction during the coordinate fitting process. For example, a rotation matrix or a mirror matrix. The first phase coordinate refers to the coordinates of multiple network nodes determined in a specific phase or direction in a preset first coordinate system. The second phase coordinate refers to the coordinates of multiple mobile network nodes determined in a specific phase or direction in a preset first coordinate system. The phase coordinate difference refers to the relative position difference value between different first phase coordinates and different second phase coordinates in a specific phase or direction.

[0151] It should be noted that the first phase coordinate of the third relative coordinate and the second phase coordinate of the fourth relative coordinate determined based on the preset phase matrix are obtained by multiplying the preset phase matrix by the third relative coordinate or the fourth relative coordinate. The phase coordinate difference is obtained based on the first phase coordinate and the second phase coordinate, which is obtained by the difference between the second phase coordinate and the first phase coordinate.

[0152] It should be noted that the preset phase matrix includes a rotation matrix and a mirror matrix, and the specific calculation method thereof is shown in the following formula (5) and formula (6):

[0153]

[0154] Among them, θ is any angle value within the range of 360 degrees; Q1(θ) is the rotation matrix; Q2(θ) is the mirror matrix; cos is the cosine function, which is used to calculate the cosine value of θ; sin is the sine function, which is used to calculate the sine value of θ.

[0155] In some embodiments, the specific process of obtaining the phase coordinate difference based on the first phase coordinate and the second phase coordinate is: For stepping, the coordinates change within the range of 360 degrees, then θ has 64 sets of values, which are Then, 64 different Q1(θ) and 64 different Q2(θ) can be obtained through these 64 sets of θ values. Further, 128 sets of different first phase coordinates and 128 sets of different second phase coordinates are obtained by multiplying the 128 sets of preset phase matrices with the third relative coordinates and the fourth relative coordinates. Finally, the difference between each set of second relative coordinates and all first relative coordinates is calculated to obtain 128x128 sets of phase coordinate differences.

[0156] In step S304 of some embodiments, the phase angle represents a rotation or mirror angle of a network node or a mobile network node within the radio network relative to its original position in a specific direction.

[0157] It should be noted that the phase angle of the fourth relative coordinate is determined based on the phase coordinate difference and the preset motion vector by calculating the angle value of the first phase coordinate and the second phase coordinate corresponding to the set of the phase coordinate difference and the preset motion vector when the Euclidean distance is the smallest. and When the phase coordinate difference obtained by the difference between the second phase coordinate and the first phase coordinate is the smallest in Euclidean distance with the preset motion vector, the phase angles are determined to be θ1 and θ2. The first phase coordinate is obtained by multiplying Q2(θ1) by the third relative coordinate, and the second phase coordinate is obtained by multiplying Q1(θ2) by the fourth relative coordinate.

[0158] In step S305 of some embodiments, coordinate fitting is performed based on the fourth relative coordinate and the phase angle to obtain the node calibration coordinates of each network node, and the relative coordinates of the mobile network node in the preset first coordinate system are obtained by calculating the product of the fourth relative coordinate and the preset phase matrix corresponding to the phase angle. Then, the relative coordinates are converted into the node calibration coordinates in the preset first coordinate system with the control master node as the origin. For example, if the phase angles are θ1 and θ2, the phase angle corresponding to the second phase coordinate is At this time, the corresponding preset phase matrix is ​​Q1(θ), then Q1(θ2) is multiplied by the fourth relative coordinate to obtain the relative coordinate of the mobile network node in the east-north-sky coordinate system. For another example, if the phase angles are θ3 and θ4, the phase angle corresponding to the second phase coordinate is At this time, the corresponding preset phase matrix is ​​Q2(θ), then Q2(θ4) is multiplied by the fourth relative coordinate to obtain the relative coordinates of the mobile network node in the east-north-sky coordinate system. Then, taking node 1 (the main control node) as the origin, its real coordinates are defined as [0,0], so as to convert the relative coordinates of other mobile network nodes into real coordinates, and then obtain the node calibration coordinates of the mobile network node in the east-north-sky coordinate system.

[0159] It should be noted that if a mobile network node reports its true coordinates in the standard coordinate system, node 1 determines the true coordinates of other mobile network nodes in the standard coordinate system based on the coordinates of the node, and then obtains the node calibration coordinates of the mobile network node in the standard coordinate system.

[0160] In step S103 of some embodiments, the control master node may designate at least two network nodes as anchor nodes according to the states of the network nodes in the radio network, and the designated anchor nodes should be in a stationary state or a small range of motion state as far as possible.

[0161] It should be noted that if there are no network nodes in a stationary or small-range moving state in the radio network, the nodes in the radio network will be grouped, with at least two network nodes as a group as temporary anchor nodes. Each group of temporary anchor nodes will be used as anchor nodes in a time-sharing manner, and the duration can be configured according to demand to improve positioning accuracy.

[0162] In step S104 and step S105 of some embodiments, the calculation process of pseudorange measurement and node coordinate solution is the same as the principle of step S201 and step S202. The first relative distance is a set of pseudorange data obtained by pseudorange measurement in the radio network, and this set of data contains the relative position relationship between any two network nodes in the radio network. The first relative coordinate is a set of coordinate data of multiple network nodes in the second coordinate system obtained during the node coordinate solution process.

[0163] See also Figure 4 In some embodiments, step S106 may include but is not limited to steps S401 to S404:

[0164] Step S401, determining a first angle of the anchor node based on the node calibration coordinates associated with the anchor node;

[0165] Step S402, determining a second angle of the anchor node based on a first relative coordinate associated with the anchor node;

[0166] Step S403, determining an angle difference based on the first angle and the second angle;

[0167] Step S404: performing phase correction on the first relative coordinates based on the angle difference and the node calibration coordinates associated with the anchor node to determine the second relative coordinates of each network node.

[0168] In steps S401 to S403 of some embodiments, the first angle refers to the azimuth between anchor nodes when the network node is initially calibrated. The second angle refers to the azimuth between anchor nodes when the network node is positioned after movement. The angle difference is the degree of change in the direction of the anchor node between two positionings.

[0169] It should be noted that if two anchor nodes are determined in step S103, the first angle and the second angle of the two anchor nodes are calculated respectively. If three anchor nodes are determined in step S103, the three angle values ​​of the three anchor nodes during initial coordinate calibration and dynamic positioning are calculated respectively, and the average values ​​of the corresponding three angle values ​​are calculated respectively to obtain the first angle and the second angle between the anchor nodes.

[0170] In step S404 of some embodiments, phase correction refers to adjusting the first relative coordinates through the phase correction matrix according to the calculated angle difference to compensate for the direction deviation caused by node movement or positioning error, thereby obtaining more accurate network node coordinates (second relative coordinates). For example, when the first angle is The second angle is The angle difference is In this way, the phase correction matrix can be set as Furthermore, the second relative coordinates may be obtained by multiplying the phase correction matrix by the first relative coordinates.

[0171] See also Figure 5 In some embodiments, step S404 may include but is not limited to steps S501 to S502:

[0172] Step S501, performing a Prototype transformation on the first relative coordinates based on the node calibration coordinates to obtain the transformed coordinates of each network node;

[0173] Step S502: Performing a conversion phase correction on the conversion coordinates based on the angle difference and the node calibration coordinates associated with the anchor node to obtain a second relative coordinate of each network node.

[0174] In step S501 of some embodiments, the Prokistinis transform is a coordinate transformation method that uses the known coordinates of one or more anchor nodes (node ​​calibration coordinates) to adjust the coordinates of other network nodes (first relative coordinates) to obtain more accurate network node coordinates (converted coordinates). The converted coordinates are the position information of multiple network nodes in the first coordinate system obtained after the first phase coordinates are transformed by the Prokistinis transform.

[0175] In step S502 of some embodiments, conversion phase correction refers to adjusting the conversion coordinates through a phase correction matrix according to the calculated angle difference to compensate for the direction deviation caused by node movement or positioning error, thereby obtaining more accurate network node coordinates. The calculation process of conversion phase correction is the same as the principle of the above step S404.

[0176] In step S107 of some embodiments, the actual location data refers to the real location information of the network node at the current moment, which is usually obtained through positioning technology (such as GPS, wireless signal positioning, sensor fusion, etc.), reflecting the exact location of the node at a specific moment. The target movement data refers to the distance data information of the network node before and after the movement in the first coordinate system, including the movement distance and movement direction of the network node. These data can be obtained through user input, historical movement pattern analysis or sensor data (such as accelerometer, gyroscope, etc.).

[0177] See also Figure 6In some embodiments, step S108 includes but is not limited to steps S601 to S603:

[0178] Step S601, determining a node coordinate difference between any two network nodes in a target network based on the node calibration coordinates and the first relative coordinates;

[0179] Step S602, performing weighted processing based on the target movement data and the node coordinate difference to obtain a weighted movement vector between any two network nodes in the target network;

[0180] Step S603: updating the node coordinates of the second relative coordinates based on at least one actual position data and a weighted movement vector to obtain the target position coordinates of each network node.

[0181] In step S601 of some embodiments, the node coordinate difference refers to the difference between the node calibration coordinates of multiple network nodes in the radio network in the first coordinate system and the first relative coordinates in the second coordinate system, which is specifically obtained by performing difference calculation between the first relative coordinates and the node calibration coordinates.

[0182] For example, the node calibration coordinate is PosLast, and the first relative coordinate is PosRot, then the node coordinate difference is calculated as shown in the following formula (7):

[0183]

[0184] Wherein, i represents the number of any network node in the radio network; PosRot(i) represents the first relative coordinate of the node numbered i; PosLast(i) represents the node calibration coordinate of the node numbered i; Represents the node coordinate difference of the node numbered i.

[0185] In step S602 of some embodiments, the target movement data refers to information about the expected movement of multiple network nodes, including the movement direction, speed, distance or movement path of the network nodes. Weighted processing refers to the process of adjusting the movement vector according to the target movement data and the node coordinate difference. The weighted movement vector takes into account the measurement error and the coordinate solution error, and optimizes the accuracy of the movement vector by assigning different weights. The specific calculation process is shown in the following formula (8):

[0186]

[0187] in, is the variance of the node movement vector measurement error; is the variance of the coordinate solution error; is the target mobile data representing the node numbered i; is the weighted motion vector representing the node numbered i.

[0188] In step S603 of some embodiments, the target position coordinates refer to the real position information of the multiple network nodes after they move in the first coordinate system. The coordinate update first updates the second relative coordinates according to the weighted movement vector to obtain the relative coordinates Pos of each network node in the first coordinate system. The specific calculation process is shown in the following formula (9):

[0189]

[0190] Wherein, i represents the number of any network node in the radio network; Pos(i) represents the second relative coordinate of the node numbered i.

[0191] Then, the updated coordinates Pos are converted into target position coordinates in a preset first coordinate system in combination with at least one actual position data.

[0192] See also Figure 7 In some embodiments, the data type of the target movement data includes a vector type and a numerical type, and step S602 may include but is not limited to steps S701 to S703:

[0193] Step S701, if the data type of the target movement data is a numerical type, determining a deviation angle between the node calibration coordinates and the first relative coordinates based on the node coordinate difference;

[0194] Step S702, determining a movement vector corresponding to the numerical type based on the deviation angle;

[0195] Step S703, performing numerical weighting processing based on the movement vector and the node coordinate difference to obtain a weighted movement vector between any two network nodes in the target network.

[0196] In step S701 of some embodiments, the data type of the target movement data is a numerical type, which refers to the distance information of the expected movement of multiple network nodes, which is expressed in numerical form, such as the distance moved or the number of steps. The deviation angle refers to the angle difference between the node calibration coordinates of multiple network nodes in the preset first coordinate system and the first relative coordinates of multiple network nodes in the second coordinate system. This angle reflects the relative rotation or alignment between the two coordinate systems. The specific calculation process is shown in the following formula (10):

[0197]

[0198] in, is the deviation angle; Δx is the x-axis value corresponding to the node coordinate difference; Δy is the y-axis value corresponding to the node coordinate difference; arccos is the inverse function of the cosine function, which is used to calculate the angle value of the known cosine value

[0199] In step S702 of some embodiments, the movement vector is a movement vector corresponding to the target movement data when the data type is a numerical type, and includes the distance and direction information of the expected movement of multiple network nodes. The specific calculation process is shown in the following formula (11):

[0200]

[0201] Among them, d i The target movement data of the numerical type representing the node numbered i; is d i The corresponding movement vector.

[0202] In step S703 of some embodiments, the numerical weighting process refers to the process of adjusting the motion vector according to the numerical type target motion data and the node coordinate difference. The principle of the specific calculation process is the same as step S602.

[0203] It should be noted that if the data type of the target movement data is a vector type, the target position coordinates are directly obtained through steps S601 to S603, and there is no need to calculate the movement vector of the vector type target movement data.

[0204] In a specific embodiment, the parameters of the radio-based node positioning method are: assuming that the number of network nodes is 12, and the network nodes are numbered from 1 to 12; the coordinate dimension is two-dimensional; the positioning cycle is 1 time per second; the initial position range is randomly distributed in an area with a radius of 200m; the average node moving speed is 3 meters per second; the variance of the coordinate solution error is 10 meters; the variance of the node movement vector measurement error is 2 meters; the number of anchor nodes determined is 2; the preset first coordinate system is the east-north-sky coordinate system. At this time, the specific implementation process of the radio-based node positioning method can be: first, determine node 1 as the control master node, and perform the pseudo-range measurement of the above step S201 on the other 11 network nodes based on the control master node, and obtain the first set of pseudo-range data between any two network nodes, which are: d1,12, d2,12...d11,12; d2,3, d2,4...d2,12; d3,4, d3,5...d3,12; ...; d11,12. Furthermore, the node coordinates of the above step S202 are solved by using the above pseudo-range data to obtain the two-dimensional relative coordinates Pos1 of the 12 network nodes in the second coordinate system. Furthermore, node 1 determines the movement strategy of each network node according to the two-dimensional relative coordinate Pos1. Specifically, it may include: firstly sorting the x-axis coordinates of the 12 nodes, selecting the 3 nodes with the largest x-axis coordinates to move 20 meters to the north direction, and selecting the 3 nodes with the smallest x-axis coordinates to move 20 meters to the south direction; then sorting the y-axis coordinates of the remaining 6 nodes, selecting the 3 nodes with the largest y-axis coordinates to move 20 meters to the east direction, and the remaining 3 nodes to move 20 meters to the west direction. The directional movement of each node is recorded as a vector Wherein, i is any one of numbers 1 to 12. Further, repeat steps S201 and S202 for the network nodes after the directional movement, and obtain the two-dimensional relative coordinates Pos2 of the 12 mobile network nodes in the second coordinate system. Further, through the above Pos1, Pos2, Perform the coordinate fitting of step S206 to obtain the node calibration coordinates Pos3 of the 12 network nodes in the east-north-sky coordinate system. And determine node 1 and node 2 as fixed anchor nodes from the 12 network nodes through the node calibration coordinates Pos3. Among them, node 1 and node 2 are in a stationary state or moving within a small range. Further, perform the pseudo-range measurement of step S201 on the 12 network nodes to obtain the second set of pseudo-range data between any two network nodes. When each node sends a pseudo-range measurement message, it also reports its own moving distance within this positioning cycle (1s). It is calculated based on the sensors carried by each node. Where i is any number from 1 to 12.

[0205] Further, the node coordinates of step S202 are solved by the second set of pseudorange data to obtain the two-dimensional relative coordinates Pos4 of the 12 network nodes in the second coordinate system. The Proskopf transform of step S501 is performed by the two-dimensional relative coordinates Pos4 to obtain the two-dimensional relative coordinates Pos5 of the 12 network nodes in the east-north-sky coordinate system. The conversion phase correction of step S502 is performed by the two-dimensional relative coordinates Pos5 to obtain the two-dimensional relative coordinates Pos6 of the 12 network nodes in the east-north-sky coordinate system. The coordinate update of step S502 is performed by the two-dimensional relative coordinates Pos6 to obtain the target position coordinates POS of the 12 network nodes after moving in the east-north-sky coordinate system.

[0206] Through the above steps, it can be seen that compared with the related art that requires at least three nodes with known positions as anchor nodes to realize the positioning of node coordinates, the present application can obtain the node calibration coordinates of the network node through initial coordinate calibration, and determine two anchor nodes through the node calibration coordinates to realize the accurate positioning of the node coordinates. Therefore, the present application can realize the accurate positioning of the coordinates of each node in the radio network by using the network's own node information when the satellite positioning system is denied.

[0207] See also Figure 8 , Figure 8 It is the comparison result of the positioning error between the above radio-based node positioning method and related technologies. Figure 8 The red, blue and black curves in the figure represent different positioning methods. The red one represents the circular error probability (CEP), the blue one represents the root mean square positioning method (RMS), and the black one represents the two-dimensional root mean square (2DRMS). The three curves with circles ("Ο") are used to characterize the positioning error of the present application, and the three curves with asterisks ("*") are used to characterize the positioning error of the traditional algorithm (i.e., the method adopted by the relevant technology). It should be noted that Figure 8 The horizontal axis is the variance of different coordinate solution errors, and the vertical axis is the results of the three indicators of CEP, RMS, and 2DRMS. Figure 8 It can be seen that compared with the traditional algorithm, under the same dimension and variance of coordinate solution error, the positioning error of the present application is lower. The lower the positioning error, the higher the accuracy of node positioning. For example, Figure 8As shown in the figure, in the two-dimensional case, when the variance of the coordinate solution error is 10 or 15, the results of the three indicators of CEP, RMS, and 2DRMS of the present application are all lower than those of the traditional algorithm, which means that the accuracy of the node positioning of the present application is higher than that of the traditional algorithm. Therefore, the present application can better realize the accurate positioning of the coordinates of each node in the radio network when the satellite positioning system is denied.

[0208] See also Fig. 9 The embodiment of the present application further provides a radio-based node positioning device, which can implement the above radio-based node positioning method, and the device includes:

[0209] A control master node module 901 is used to determine a control master node from multiple network nodes of a target network;

[0210] An initial coordinate calibration module 902 is used to perform initial coordinate calibration on multiple network nodes based on the control master node to obtain node calibration coordinates of each network node;

[0211] Anchor node module 903, used to determine an anchor node from multiple network nodes based on node calibration coordinates;

[0212] The pseudo-range measurement module 904 is used to perform pseudo-range measurement on multiple network nodes to obtain a first relative distance of each network node;

[0213] A coordinate calculation module 905 is used to calculate the node coordinates based on the first relative distance to determine the first relative coordinates of each network node;

[0214] A phase correction module 906, configured to perform phase correction on the first relative coordinates based on the node calibration coordinates associated with the anchor node to determine the second relative coordinates of each network node;

[0215] The data acquisition module 907 is used to acquire the actual location data of at least one network node at the target time, and acquire the target movement data of each network node at the target time;

[0216] The dynamic positioning module 908 is used to update the second relative coordinates based on at least one actual position data and target movement data to determine the target position coordinates of each network node.

[0217] The specific implementation of the device is basically the same as the specific embodiment of the radio-based node positioning method described above, and will not be repeated here.

[0218] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned radio-based node positioning method when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a car computer, etc.

[0219] See also Fig.10 , Fig.10 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0220] The processor 1001 may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0221] The memory 1002 may be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1002 may store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1002, and the processor 1001 calls and executes the radio-based node positioning method of the embodiment of this application;

[0222] Input / output interface 1003, used to implement information input and output;

[0223] The communication interface 1004 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0224] A bus 1005 , which transmits information between various components of the device (e.g., the processor 1001 , the memory 1002 , the input / output interface 1003 , and the communication interface 1004 );

[0225] The processor 1001 , the memory 1002 , the input / output interface 1003 and the communication interface 1004 are connected to each other in communication within the device via the bus 1005 .

[0226] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned radio-based node positioning method is implemented.

[0227] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0228] The radio-based node positioning method and device, electronic device and storage medium provided in the embodiment of the present application first select a control master node from the target network. Then, the control master node is used to perform initial coordinate calibration on other nodes in the network, including pseudo-range measurement of multiple network nodes based on the control master node to obtain a second relative distance, then node coordinates are solved based on these distances to obtain a third relative coordinate, and then multiple network nodes are directed to move based on a preset moving vector to obtain multiple mobile network nodes, and then pseudo-range measurement is performed again to obtain a third relative distance, and a fourth relative coordinate is solved, and finally coordinate fitting is performed based on the third relative coordinate, the fourth relative coordinate and the preset moving vector to obtain the node calibration coordinate of each network node. Then, an anchor node is determined from multiple network nodes, and a phase correction is performed on the first relative coordinate based on the node calibration coordinate associated with the anchor node to determine the second relative coordinate of each network node. This step includes determining the angle difference based on the first angle and the second angle of the anchor node, and then performing phase correction on the first relative coordinate. Finally, the actual position data of at least one network node at the target time is obtained, and the target movement data of each network node at the target time is obtained. Based on the at least one actual position data and the target movement data, the second relative coordinate is updated to determine the target position coordinates of each network node.

[0229] It can be seen that compared with the related art, the present application first obtains the third relative coordinate and the fourth relative coordinate by respectively performing pseudo-range measurement and node coordinate solution on the network nodes before and after the directional movement. Furthermore, the phase angle between the two relative coordinates is determined by the third relative coordinate and the fourth relative coordinate, and the fourth relative coordinate is phase-corrected according to the phase angle and the preset phase matrix to obtain a more accurate node calibration coordinate, thereby realizing the accurate initial coordinate calibration of the network node in the preset first coordinate system. Then, a suitable anchor node is determined according to the node calibration coordinate obtained by the initial coordinate calibration, and multiple network nodes are dynamically positioned according to the anchor node to obtain the target position coordinates of each network node, thereby realizing the accurate positioning of the coordinates of each node when the network node is in a mobile state. The whole process does not rely on the satellite positioning system, but by making full use of the network's own node information, it effectively avoids the positioning error caused by the lack of a suitable anchor node, and realizes the accurate positioning of the coordinates of each node in the radio network under the condition of satellite positioning system denial.

[0230] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0231] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0232] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0233] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0234] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0235] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0236] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0237] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0238] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0239] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store programs.

[0240] The preferred embodiments of the present application are described above with reference to the accompanying drawings, but the scope of the rights of the present application is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present application should be within the scope of the rights of the present application.

Claims

1. A radio-based node positioning method, characterized in that: The method comprises: Determine a control master node from among multiple network nodes of the target network; Performing initial coordinate calibration on the plurality of network nodes based on the control master node to obtain node calibration coordinates of each of the network nodes, wherein the node calibration coordinates are used to indicate position information of the corresponding network node in a preset first coordinate system; Determining an anchor node from the plurality of network nodes based on the node calibration coordinates; Performing pseudo-range measurement on the multiple network nodes to obtain a first relative distance of each of the network nodes, where the first relative distance is used to characterize a relative position relationship between any two of the network nodes; Calculate the node coordinates based on the first relative distance to determine the first relative coordinates of each of the network nodes, where the first relative coordinates are used to indicate the position information of the corresponding network node in the second coordinate system; Performing phase correction on the first relative coordinates based on the node calibration coordinates associated with the anchor node to determine the second relative coordinates of each of the network nodes, where the second relative coordinates are used to indicate position information of the corresponding network node in the first coordinate system; Acquire actual position data of at least one of the network nodes at a target time, and acquire target movement data of each of the network nodes at the target time, wherein the actual position data is used to indicate position information of the corresponding network node in the first coordinate system; Based on at least one of the actual position data and the target movement data, the second relative coordinates are updated to determine the target position coordinates of each of the network nodes, where the target position coordinates are used to indicate the position information of the corresponding network node after movement in the first coordinate system.

2. The method according to claim 1, characterized in that: The updating of the second relative coordinates based on at least one of the actual position data and the target movement data to determine the target position coordinates of each of the network nodes includes: Determine a node coordinate difference between any two network nodes in the target network based on the node calibration coordinates and the first relative coordinates; Performing weighted processing based on the target movement data and the node coordinate difference to obtain a weighted movement vector between any two network nodes in the target network; The node coordinates of the second relative coordinates are updated based on at least one of the actual position data and the weighted movement vector to determine the target position coordinates of each of the network nodes.

3. The method according to claim 2, characterized in that The data type of the target movement data includes a vector type and a numerical type, and the weighted processing based on the target movement data and the node coordinate difference to obtain a weighted movement vector between any two network nodes in the target network includes: If the data type of the target movement data is the numerical type, determining a deviation angle between the node calibration coordinates and the first relative coordinates based on the node coordinate difference; Determine a movement vector corresponding to the numerical type based on the deviation angle; Numerical weighting processing is performed based on the movement vector and the node coordinate difference to obtain the weighted movement vector between any two network nodes in the target network.

4. The method according to claim 1, characterized in that: The performing phase correction on the first relative coordinates based on the node calibration coordinates associated with the anchor node to determine the second relative coordinates of each of the network nodes includes: Determining a first angle of the anchor node based on a node calibration coordinate associated with the anchor node; determining a second angle of the anchor node based on a first relative coordinate associated with the anchor node; determining an angle difference based on the first angle and the second angle, the angle difference being used to indicate a degree of deviation between the node calibration coordinates associated with the anchor node and the first relative coordinates associated with the anchor node; The first relative coordinates are phase corrected based on the angle difference and the node calibration coordinates associated with the anchor node to determine the second relative coordinates of each of the network nodes.

5. The method according to claim 4, characterized in that The performing phase correction on the first relative coordinate based on the angle difference and the node calibration coordinate associated with the anchor node to determine the second relative coordinate of each of the network nodes includes: Performing a Proskopf transformation on the first relative coordinates based on the node calibration coordinates to obtain a transformed coordinate of each of the network nodes, wherein the transformed coordinates are used to indicate position information of the corresponding network node in the first coordinate system; The conversion coordinates are subjected to conversion phase correction based on the angle difference and the node calibration coordinates associated with the anchor node to obtain the second relative coordinates of each of the network nodes.

6. The method according to claim 1, characterized in that The initial coordinate calibration of the plurality of network nodes based on the control master node to obtain the node calibration coordinates of each of the network nodes includes: Performing pseudo-range measurement on the plurality of network nodes based on the control master node to obtain a second relative distance of each of the network nodes, where the second relative distance is used to characterize a relative position relationship between any two of the network nodes; Calculate the node coordinates based on the second relative distance to determine the third relative coordinates of each of the network nodes, where the third relative coordinates are used to indicate the relative position information of the corresponding network node in the second coordinate system; Directively move the multiple network nodes based on a preset movement vector to obtain multiple mobile network nodes; Based on the control master node, pseudo-range measurement is performed on the multiple mobile network nodes to obtain a third relative distance of the mobile nodes, where the third relative distance is used to characterize the relative position relationship between any two of the mobile network nodes; Calculating node coordinates based on the third relative distance to determine fourth relative coordinates of each of the mobile network nodes, where the fourth relative coordinates are used to indicate relative position information of the corresponding mobile network node in the second coordinate system; Coordinate fitting is performed based on the third relative coordinate, the fourth relative coordinate, and the preset movement vector to obtain the node calibration coordinates of each of the network nodes.

7. The method according to claim 6, characterized in that The performing coordinate fitting based on the third relative coordinate, the fourth relative coordinate, and the preset movement vector to obtain the node calibration coordinates of each of the network nodes includes: Determine a first phase coordinate of the third relative coordinate based on a preset phase matrix, where the first phase coordinate is used to indicate phase change position information of the corresponding network node in a preset first coordinate system; Determine a second phase coordinate of the fourth relative coordinate based on the preset phase matrix, where the second phase coordinate is used to indicate phase change position information of the corresponding network node in the preset first coordinate system; Acquire a phase coordinate difference based on the first phase coordinate and the second phase coordinate; Determining a phase angle of the fourth relative coordinate based on the phase coordinate difference and the preset movement vector; Coordinate fitting is performed based on the fourth relative coordinate and the phase angle to obtain the node calibration coordinates of each of the network nodes.

8. A radio-based node positioning device, characterized in that: The device comprises: A control master node module, used to determine a control master node from multiple network nodes of a target network; An initial coordinate calibration module, used to perform initial coordinate calibration on the plurality of network nodes based on the control master node to obtain node calibration coordinates of each of the network nodes; An anchor node module, configured to determine an anchor node from the plurality of network nodes based on the node calibration coordinates; A pseudorange measurement module, configured to perform pseudorange measurement on the plurality of network nodes to obtain a first relative distance of each of the network nodes; A coordinate calculation module, used to perform node coordinate calculation based on the first relative distance to determine the first relative coordinate of each of the network nodes; a phase correction module, configured to perform phase correction on the first relative coordinates based on the node calibration coordinates associated with the anchor node, and determine the second relative coordinates of each of the network nodes; A data acquisition module, used to acquire actual location data of at least one of the network nodes at a target time, and to acquire target movement data of each of the network nodes at the target time; The dynamic positioning module is used to update the second relative coordinates based on at least one of the actual position data and the target movement data, and determine the target position coordinates of each of the network nodes.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing 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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