Radio-based node positioning method and apparatus, electronic device, and storage medium

Abstract

Embodiments of the present application provide a radio-based node positioning method and device, electronic equipment and storage medium, belonging to the field of wireless communication. The method comprises: determining a control master node from a plurality of network nodes of a target network, and performing initial coordinate calibration on the plurality of network nodes through the node to obtain node calibration coordinates of each node; determining an anchor node from the plurality of network nodes, and performing pseudo-range measurement to obtain a first relative distance. The first relative distance is used to solve a first relative coordinate of each network node; the first relative coordinate is phase-corrected in combination with the node calibration coordinates of the anchor node to obtain a second relative coordinate; and the second relative coordinate is updated through actual position data and target movement data of at least one network node at a target time to determine a target position coordinate of each network node. Embodiments of the present application can realize accurate positioning of the coordinates of each node in a radio network in the case of satellite positioning system denial.

Description

Technical Field

[0001] This application relates to the field of wireless communication, and more particularly to a radio-based node positioning method and apparatus, electronic device and storage medium. Background Technology

[0002] A communication network contains multiple nodes, and these nodes refer to connection points or terminal devices within the network; they can be physical or logical entities. Node localization refers to the process of determining the specific location of a node within a network or system, thereby accurately determining the geographical location of mobile devices (such as smartphones and laptops).

[0003] Currently, relevant technologies typically employ methods such as multilateral positioning algorithms (e.g., Link16 data link relative navigation positioning technology) or multi-dimensional scaling (MDS) positioning technology for node localization. However, these methods usually require several nodes with known locations as anchor nodes. When the satellite positioning system is blocked (i.e., the satellite positioning system signal cannot be received or is interfered with and cannot be used normally), it is difficult to find nodes that can serve as anchor nodes. Consequently, the calculated node coordinates lack a reference frame, resulting in spatial errors between the topological structure formed by the node coordinates and the actual coordinates, thus reducing the accuracy of node localization. Therefore, how to provide a radio-based node localization method that can accurately locate the coordinates of each node within a radio network when the satellite positioning system is blocked is an urgent technical problem to be solved. Summary of the Invention

[0004] The main objective of this application is to propose a radio-based node positioning method, apparatus, electronic device, and storage medium that can accurately locate the coordinates of each node in a radio network in the event of rejection by a satellite positioning system.

[0005] To achieve the above objectives, a first aspect of this application proposes a radio-based node localization method, the method comprising:

[0006] Determine the controlling master node from multiple network nodes in the target network;

[0007] Based on the control master node, the initial coordinate calibration of the plurality of network nodes is performed to obtain the node calibration coordinates of each network node. The node calibration coordinates are used to indicate the position information of the corresponding network node in a preset first coordinate system.

[0008] The anchor node is determined from the plurality of network nodes based on the node calibration coordinates;

[0009] Pseudorange measurements are performed on the plurality of network nodes to obtain a first relative distance for each network node, and the first relative distance is used to characterize the relative positional relationship between any two network nodes.

[0010] Based on the first relative distance, the node coordinates are calculated to determine the first relative coordinates of each network node. The first relative coordinates are used to indicate the position information of the corresponding network node in the second coordinate system.

[0011] Based on the node calibration coordinates associated with the anchor node, the first relative coordinates are phase-corrected to determine the second relative coordinates of each network node. The second relative coordinates are used to indicate the position information of the corresponding network node in the first coordinate system.

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

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

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

[0015] Based on the node calibration coordinates and the first relative coordinates, determine the node coordinate difference between any two network nodes in the target network;

[0016] Based on the target movement data and the node coordinate difference, a weighted movement vector between any two network nodes in the target network is obtained by weighting the data.

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

[0018] In some embodiments, the data type of the target movement data includes vector type and 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, then the deviation angle between the node calibration coordinates and the first relative coordinates is determined based on the node coordinate difference;

[0020] The movement vector corresponding to the numerical type is determined based on the deviation angle;

[0021] The weighted movement vector between any two network nodes in the target network is obtained by performing numerical weighting based on the movement vector and the node coordinate difference.

[0022] In some embodiments, the step of 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 includes:

[0023] The first angle of the anchor node is determined based on the node calibration coordinates associated with the anchor node;

[0024] The second angle of the anchor node is determined based on the first relative coordinates associated with the anchor node.

[0025] An angle difference is determined based on the first angle and the second angle, and the angle difference is used to indicate the degree of deviation between the node calibration coordinates associated with the anchor node and the first relative coordinates associated with the anchor node;

[0026] Phase correction is performed 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.

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

[0028] Based on the node calibration coordinates, a Protodyakonov transformation is performed on the first relative coordinates to obtain the transformed coordinates of each network node. The transformed coordinates are used to indicate the position information of the corresponding network node in the first coordinate system.

[0029] Based on the angle difference and the node calibration coordinates associated with the anchor node, the transformed coordinates are converted and phase corrected to obtain the second relative coordinates of each network node.

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

[0031] Based on the control master node, pseudorange measurement is performed on the plurality of network nodes to obtain a second relative distance for each network node. The second relative distance is used to characterize the relative positional relationship between any two network nodes.

[0032] Based on the second relative distance, the node coordinates are calculated to determine the third relative coordinates of each network node. The third relative coordinates are used to indicate the relative position information of the corresponding network node in the second coordinate system.

[0033] Based on a preset movement vector, the multiple network nodes are moved in a directional manner to obtain multiple mobile network nodes;

[0034] Based on the pseudorange measurement of the multiple mobile network nodes by the control master node, the third relative distance of the mobile nodes is obtained. The third relative distance is used to characterize the relative positional relationship between any two mobile network nodes.

[0035] Based on the third relative distance, the node coordinates are calculated to determine the fourth relative coordinates of each mobile network node. The fourth relative coordinates are used to indicate the relative position information of the corresponding mobile network node in the second coordinate system.

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

[0037] In some embodiments, the step of 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 includes:

[0038] The first phase coordinate of the third relative coordinate is determined based on a preset phase matrix. The first phase coordinate is used to indicate the phase change position information of the corresponding network node in the preset first coordinate system.

[0039] The second phase coordinate of the fourth relative coordinate is determined based on the preset phase matrix. The second phase coordinate is used to indicate the phase change position information of the corresponding network node in the preset first coordinate system.

[0040] The phase coordinate difference is obtained based on the first phase coordinate and the second phase coordinate;

[0041] The phase angle of the fourth relative coordinate is determined based on the phase coordinate difference and the preset movement vector;

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

[0043] To achieve the above objectives, a second aspect of this application provides a radio-based node positioning device, the device comprising:

[0044] The master control node module is used to determine the master control node from multiple network nodes in the target network.

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

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

[0047] The pseudorange measurement module is used to perform pseudorange measurement on the plurality of network nodes to obtain a first relative distance for each of the network nodes.

[0048] The coordinate calculation module is used to calculate the node coordinates based on the first relative distance and determine the first relative coordinates of each network node.

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

[0050] The data acquisition module is used to acquire the actual location data of at least one of the network nodes at the target time, and to acquire the 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 location data and the target movement data, and determine the target location coordinates of each of the network nodes.

[0052] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect.

[0053] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.

[0054] The radio relative positioning method, apparatus, electronic device, and storage medium proposed in this application determine a control master node from multiple network nodes in a target network. Then, based on the control master node, initial coordinate calibration is performed on the multiple network nodes to obtain the node calibration coordinates of each network node. Further, anchor nodes are determined from the multiple network nodes based on the node calibration coordinates, and pseudorange measurements are performed on the multiple network nodes to obtain a first relative distance for each network node. Further, node coordinate calculation is performed based on the first relative distance to determine the first relative coordinates of each network node. Further, phase correction is performed 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. Finally, the actual position data of at least one network node at the target time is acquired, and the target movement data of each network node at the target time is acquired. 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. This application, through initial coordinate calibration, can determine the node calibration coordinates of each network node in a preset first coordinate system. Furthermore, suitable anchor nodes can be determined from multiple network nodes by calibrating node coordinates, thereby effectively avoiding positioning errors caused by the lack of suitable anchor nodes. Compared with related technologies, this application does not rely on satellite positioning systems and can make full use of the network's own node information, achieving accurate positioning of the coordinates of each node within the radio network even when satellite positioning systems are denied access. Attached Figure Description

[0055] Figure 1 This is a flowchart of a radio-based node localization method provided in an embodiment of this application;

[0056] Figure 2 yes Figure 1 The flowchart of step S102 in the document;

[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 the directional movement of a network node 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 The flowchart of step S206 in the text;

[0061] Figure 4 yes Figure 1 The flowchart of step S106 in the process;

[0062] Figure 5 yes Figure 4 The flowchart of step S404 in the document;

[0063] Figure 6 yes Figure 1 The flowchart of step S108 in the process;

[0064] Figure 7 yes Figure 6 The flowchart of step S602 in the document;

[0065] Figure 8 This is a comparison diagram of the positioning error between the radio-based node positioning method provided in the embodiments of this application and related technologies;

[0066] Figure 9 This is a schematic diagram of the structure of the radio-based node positioning device provided in the embodiments of this application;

[0067] Figure 10 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0069] It should be noted that although functional modules are divided in the device schematic diagram and a 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 aforementioned 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 commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0071] First, let's analyze some of the terms used in this application:

[0072] Satellite positioning system denial: This refers to situations where, under certain circumstances, the signal of a satellite positioning system (such as the Global Positioning System (GPS) or the BeiDou Navigation Satellite System) cannot be received or is interfered with, making it unusable.

[0073] Non-metric multi-dimensional scaling (NMDS) methods are used to map network nodes into a low-dimensional space based on their similarity or distance information, in order to visualize the relationships between nodes and preserve their original relative positions. NMDS focuses on maintaining the relative order of distances between network nodes.

[0074] Traditional 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. This visualizes the relationships between nodes while preserving their original relative positions. CMDS focuses on maintaining the original distances between network nodes.

[0075] Anchor node: This refers to a specific node in a computer network that 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 critical node in the network, making the connections and communication of other nodes dependent on it.

[0076] Pseudorange: A term used in navigation and positioning systems, applicable to GPS and other satellite navigation systems. Pseudorange refers to the measured distance the signal travels from a navigation satellite to a receiver; because this distance is not the actual physical distance, it is called "pseudo" range.

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

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

[0079] A standard coordinate system is a coordinate system widely used in fields such as mathematics, physics, engineering, and geographic information systems. It provides a standardized framework for describing positions in space. Examples include 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 within different time intervals (time slots).

[0081] Real-Time Two-Way (RTT) is a pseudorange measurement technique that typically refers to determining distance through bidirectional communication between two nodes.

[0082] Geometric Dilution of Precision (GDOP) measures the impact of satellite geometry on positioning accuracy. A lower GDOP value indicates a smaller impact of satellite geometry on positioning accuracy, resulting in higher positioning accuracy.

[0083] Centroid: In Geographic Information Systems (GIS) or maps, the centroid can refer to the geometric center of a region or shape, that is, the average position of all points. This can be obtained by calculating the average coordinates of all points.

[0084] A communication network contains multiple nodes, and these nodes refer to connection points or terminal devices within the network; they can be physical or logical entities. Node localization refers to the process of determining the specific location of a node within a network or system, thereby accurately determining the geographical location of mobile devices (such as smartphones and laptops).

[0085] Currently, relevant technologies typically employ methods such as multilateral positioning algorithms (e.g., Link16 data link relative navigation positioning technology) or multi-dimensional scaling (MDS) positioning technology for node localization. However, these methods usually require several nodes with known locations as anchor nodes. When the satellite positioning system is blocked (i.e., the satellite positioning system signal cannot be received or is interfered with and cannot be used normally), it is difficult to find nodes that can serve as anchor nodes. Consequently, the calculated node coordinates lack a reference frame, resulting in spatial errors between the topological structure formed by the node coordinates and the actual coordinates, thus reducing the accuracy of node localization. Therefore, how to provide a radio-based node localization method that can accurately locate the coordinates of each node within a radio network when the satellite positioning system is blocked is an urgent technical problem to be solved.

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

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

[0088] The radio-based node localization method provided in this application relates to the field of wireless communication. This method can be applied to a terminal, a server, or software running on either a terminal or a server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, etc.; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application implementing the radio-based node localization method, but is not limited to the above forms.

[0089] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: 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, and distributed computing environments including any of the above systems or devices. This 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. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

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

[0091] Step S101: Determine the control master node from multiple network nodes in the target network;

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

[0093] Step S103: Determine the anchor node from multiple network nodes based on the node calibration coordinates;

[0094] Step S104: Perform pseudorange measurement on multiple network nodes to obtain the first relative distance of each network node;

[0095] Step S105: Calculate the node coordinates based on the first relative distance to determine the first relative coordinates of each network node;

[0096] Step S106: 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 network node;

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

[0098] Step S108: Based on at least one actual location data and target movement data, update the second relative coordinates to determine the target location coordinates of each network node.

[0099] Steps S101 to S108 of this embodiment involve determining a control master node from multiple network nodes in the target network and using this node to perform initial coordinate calibration on other network nodes, thereby obtaining the node calibration coordinates of each node. Next, anchor nodes are selected from these nodes, and pseudorange measurements are performed to obtain a first relative distance. Using this distance information, the first relative coordinates of each node are calculated. Then, the first relative coordinates are phase-corrected by combining the node calibration coordinates of the anchor nodes to obtain second relative coordinates. Finally, the second relative coordinates are updated by combining the actual position data of at least one network node at the target time and the target movement data to determine the target position coordinates of each node. Compared to related technologies, this application utilizes node information within the network to complete the initial coordinate calibration of nodes, obtains node calibration coordinates, and then determines suitable anchor nodes using these coordinates. This application effectively reduces positioning errors caused by improper anchor node selection and achieves accurate node positioning in environments without satellite signals.

[0100] In step S101 of some embodiments, the target network is a radio network that requires node coordinate localization. The control master node is a key node in the radio network used for initial coordinate calibration and node localization, and is responsible for coordinating and controlling other network nodes in the radio network. The control master node is generally selected from among multiple network nodes in the radio network with the smallest number, for example, selecting network node number 1 (node ​​1) or network node number a (node ​​a) as the control master node.

[0101] It should be noted that if a 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 a network node is a terminal device, the serial 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] Please see Figure 2 In some embodiments, step S102 may include, but is not limited to, steps S201 to S206:

[0103] Step S201: Based on the control master node, perform pseudorange measurement on multiple network nodes to obtain the second relative distance of each network node;

[0104] Step S202: Calculate the node coordinates based on the second relative distance to determine the third relative coordinates of each network node;

[0105] Step S203: Based on a preset movement vector, multiple network nodes are moved in a directional manner to obtain multiple mobile network nodes;

[0106] Step S204: Based on the control master node, perform pseudorange measurement on multiple mobile network nodes to obtain the third relative distance of the mobile nodes;

[0107] Step S205: Calculate the node coordinates based on the third relative distance to determine the fourth relative coordinates of each mobile network node;

[0108] Step S206: Based on the third relative coordinate, the fourth relative coordinate, and the preset movement vector, coordinate fitting is performed 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. This set of data includes the relative positional relationship between any two network nodes in the radio network. For example, the relative positional relationship between node 1 and node 2, the relative positional relationship between node 1 and node 3, the relative positional relationship between node 2 and node 3, etc.

[0110] It should be noted that the pseudorange measurement of multiple network nodes by the control master node to obtain the second relative distance of each network node is performed in a real-time bidirectional manner in a time-division multiple access network. The purpose is to improve the accuracy of pseudorange measurements between nodes within the radio network.

[0111] In some embodiments, such as Figure 2AAs shown, pseudorange measurement is accomplished through the interaction between the control master node and multiple nodes in the network. This process utilizes consecutive time slots to communicate between the control master node and each network node, simultaneously measuring and recording the time deviation of the received signals at each node. These measured time deviations are crucial for achieving pseudorange measurement between nodes. Figure 2A The specific implementation process of pseudorange measurement shown can be as follows: First, 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 (Slot 1), and nodes 2 to 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 start time T1 of the time slot. The calculation process is shown in the following formula (1):

[0112] Δti,1=t1-T1 (1)

[0113] Where t1 is a set of time data corresponding to the time after node 2 to node N receive the broadcast message; T1 is the time data of node 1 sending 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 (Slot 2), carrying in the message the time deviation Δt2,1 when it received the message sent by node 1. Nodes 3 to 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 between itself and node 2 through Δt2,1. The calculation process is shown in formula (2) below:

[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 a message; and d1,2 is the pseudorange between node 1 and node 2.

[0117] Furthermore, node 3 sends a broadcast message in the second time slot (Slot 3), carrying the time deviations Δt3,1 and Δt3,2 when it receives the messages sent by nodes 1 and 2. Nodes 4 to N receive the messages 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, nodes 1 and 2 calculate the distances d1,3 and d2,3 between themselves and node 3. The specific calculation process is the same as the principle of formula (2).

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

[0119] By following the steps above, the master node can be controlled to perform pseudorange measurements on multiple network nodes, thereby obtaining the second relative distance of each network node.

[0120] It should be noted that the propagation speed of radio signals in the air can be affected by weather, propagation medium, buildings, etc., resulting in a speed lower than the speed of light, which affects the accuracy of pseudorange measurements. To solve this problem, multiple pseudorange measurements can be performed on multiple network nodes by controlling the master node to obtain multiple sets of pseudorange data between any two nodes in the radio network. The accuracy of the pseudorange measurement can then be improved by averaging these data. For example, the distance data between node 1 and node 2 can be obtained through two pseudorange measurements, and the average of these two distance data can be used to obtain the distance d1,2 between node 1 and node 2. Similarly, the distance data between node 1 and node 3 can be obtained through four pseudorange measurements, and the average of these two distance data can be used 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 true location information through reference points and offline maps, the node's current true location information will be carried in the broadcast message during pseudorange measurement.

[0122] In step S202 of some embodiments, node coordinate solving calculates the specific position of each node in a certain coordinate system based on the relative position information between nodes. For example, node coordinate solving is performed based on the CMDS algorithm or 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 solving process.

[0123] In some embodiments, the specific process of calculating the third relative coordinates of each network node based on the second relative distance can be as follows: Node 1 receives messages sent from Node 2 to Node N and extracts the distance information between the nodes. Further, a squared distance matrix d can be generated based on this distance information, as shown below. 2 .

[0124]

[0125] Wherein, the squared distance matrix d 2 Each row or column 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 through N; the second column represents the square of the distance between node 2 and nodes 3 through N.

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

[0127]

[0128] Where J is the double decentralization matrix; B is the decentralization matrix.

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

[0130]

[0131] Where E represents an identity matrix of order n; n represents the matrix order, the same as N in the above steps; g is an n×1 vector of all 1s; and I is a 1×n vector of all 1s. Further, the N eigenvalues ​​λ1, λ2, λ3…λ of the decentralized matrix B can be solved. N And the corresponding normalized feature vectors 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 Then, the two largest positive eigenvalues ​​can be determined from the eigenvalues ​​of the decentralized matrix B. The diagonal matrix formed by the square roots of these 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 during the node coordinate calculation process based on the relative distance between any two nodes. The origin and axes of the second coordinate system are defined relative to the relative positions of the nodes in the network. For example, when calculating node coordinates based on the CMDS algorithm, the axes of the second coordinate system are 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. Furthermore, after decentralization, the coordinates of each node are 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 network nodes within the radio network. This vector typically 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 within the radio network according to a predefined direction and distance. Moving network nodes refer to the multiple network nodes after directional movement.

[0135] It should be noted that the preset movement vector can determine the accurate direction of movement by each network node being equipped with a compass or reference point (such as the sun or a fixed landmark), and obtain the accurate distance of movement by a distance sensor or pedometer.

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

[0137] It should be noted that when performing directional relocation of network nodes, as many network nodes as possible should be involved in the directional relocation to enhance the robustness and coverage of the radio network.

[0138] It should be noted that when moving network nodes in a specific direction, the centroid of the topology graph should be kept unchanged. This can prevent the network centroid from shifting due to node movement, thereby maintaining the stability and balance of the network.

[0139] In some embodiments, the calculation process for pseudorange measurement and node coordinate solving in steps S204 and S205 is the same as that in steps S201 and S202. The third relative distance is a set of pseudorange data obtained through pseudorange measurement in the radio network, which includes the relative positional relationship between any two mobile network nodes within the radio network. The fourth relative coordinate is a set of coordinate data for multiple mobile network nodes in the second coordinate system obtained during the node coordinate solving process.

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

[0141] It should be noted that node calibration coordinates refer to the actual coordinates of each network node in a preset first coordinate system obtained after initial coordinate calibration 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 position of nodes in the network. This coordinate system can be arbitrary, such as the East-North-Sky coordinate system or the BeiDou coordinate system.

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

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

[0145] Step S301: Determine the first phase coordinate of the third relative coordinate based on the preset phase matrix;

[0146] Step S302: Determine the second phase coordinate of the fourth relative coordinate based on the preset phase matrix;

[0147] Step S303: Obtain the phase coordinate difference based on the first phase coordinate and the second phase coordinate;

[0148] Step S304: Determine the phase angle of the fourth relative coordinate based on the phase coordinate difference and the preset movement vector;

[0149] Step S305: Based on the fourth relative coordinate and phase angle, perform coordinate fitting 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 the matrix used to determine the coordinates of multiple network nodes in a specific phase or direction during the coordinate fitting process. For example, it may be a rotation matrix or a mirror matrix. The first phase coordinates refer to the coordinates of the multiple network nodes in a specific phase or direction within a preset first coordinate system. The second phase coordinates refer to the coordinates of the multiple mobile network nodes in a specific phase or direction within the preset first coordinate system. The phase coordinate difference refers to the relative positional difference 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 with either the third or fourth relative coordinate. The phase coordinate difference is obtained by comparing the second phase coordinate with the first phase coordinate.

[0152] It should be noted that the preset phase matrix includes a rotation matrix and a mirror matrix, and their specific calculation methods are shown in formulas (5) and (6) below:

[0153]

[0154] Where θ is any angle value within a 360-degree range; Q1(θ) is the rotation matrix; Q2(θ) is the mirror matrix; cos is the cosine function used to calculate the cosine value of θ; and sin is the sine function 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 as follows: Assuming a step-by-step coordinate transformation within a 360-degree range, θ has 64 possible values, which are: Then, using these 64 sets of θ values, 64 different Q1(θ) and 64 different Q2(θ) can be obtained respectively. Further, by multiplying these 128 sets of preset phase matrices with the third and fourth relative coordinates respectively, 128 different first phase coordinates and 128 different second phase coordinates are obtained. Finally, the difference between each set of second relative coordinates and all the first relative coordinates is calculated to obtain 128x128 sets of phase coordinate differences.

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

[0157] It should be noted that the phase angle of the fourth relative coordinates, determined based on the phase coordinate difference and the preset movement vector, is calculated by taking the angle value of the first and second phase coordinates corresponding to the set of coordinates where the Euclidean distance between the phase coordinate difference and the preset movement vector is minimized. For example, if when and When the difference between the second phase coordinate and the first phase coordinate is minimized, the Euclidean distance between the phase coordinate difference and the preset movement vector is minimized, and 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 coordinates and phase angles to obtain the node calibration coordinates of each network node. The relative coordinates of the mobile network node in a preset first coordinate system are obtained by calculating the product of the fourth relative coordinates and the preset phase matrix corresponding to the phase angle. Then, with the control master node as the origin, the relative coordinates are converted to node calibration coordinates in the preset first coordinate system. For example, if the phase angles are θ1 and θ2, the phase angle corresponding to the second phase coordinates... The corresponding preset phase matrix at this time is Q1(θ). Then, multiplying Q1(θ2) by the fourth relative coordinate yields the relative coordinates of the mobile network node in the East-North-Sky coordinate system. For example, if the phase angles are θ3 and θ4, the phase angles corresponding to the second phase coordinates... The corresponding preset phase matrix at this point 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. Next, taking node 1 (the control master node) as the origin, its true coordinates are defined as [0,0]. This transforms the relative coordinates of all other mobile network nodes into their true coordinates, thus obtaining 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 actual coordinates in the standard coordinate system, then node 1 determines the actual coordinates of all other mobile network nodes in the standard coordinate system based on the coordinates of that node, and thus obtains the node calibration coordinates of the mobile network nodes 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 based on the state of the network nodes in the radio network. The designated anchor nodes should be in a stationary or minimally moving state as much as possible.

[0161] It should be noted that if there are no stationary or small-scale moving network nodes in the radio network, the nodes in the radio network are grouped into groups of at least two network nodes as temporary anchor nodes. Each group of temporary anchor nodes is used as an anchor node at different times, and the duration can be configured according to the needs to improve positioning accuracy.

[0162] In some embodiments, the calculation process for pseudorange measurement and node coordinate solving in steps S104 and S105 is the same as that in steps S201 and S202. The first relative distance is a set of pseudorange data obtained through pseudorange measurement in the radio network, which includes the relative positional relationship between any two network nodes within the radio network. The first relative coordinates are a set of coordinate data for multiple network nodes in the second coordinate system obtained during the node coordinate solving process.

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

[0164] Step S401: Determine the first angle of the anchor node based on the node calibration coordinates associated with the anchor node;

[0165] Step S402: Determine the second angle of the anchor node based on the first relative coordinates associated with the anchor node;

[0166] Step S403: Determine the angle difference based on the first angle and the second angle;

[0167] Step S404: Based on the angle difference and the node calibration coordinates associated with the anchor node, perform phase correction on the first relative coordinates 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 angle between anchor nodes when performing initial coordinate calibration of the network nodes. The second angle refers to the azimuth angle between anchor nodes when performing coordinate positioning of the moved network nodes. The angle difference is the degree of change in direction of the anchor nodes between the two positioning operations.

[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 the initial coordinate calibration and dynamic positioning are calculated respectively, and the average value of the corresponding three angle values ​​is calculated 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 using a phase correction matrix based on the calculated angle difference to compensate for directional deviations caused by node movement or positioning errors, 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 Thus, the phase correction matrix can be set as follows: Furthermore, the second relative coordinates can be obtained by multiplying the phase correction matrix by the first relative coordinates.

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

[0172] Step S501: Perform a Protodyakonov transformation on the first relative coordinates based on the node calibration coordinates to obtain the transformed coordinates of each network node;

[0173] Step S502: Based on the angle difference and the node calibration coordinates associated with the anchor node, perform phase correction on the transformed coordinates to obtain the second relative coordinates of each network node.

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

[0175] In step S502 of some embodiments, phase correction refers to adjusting the transformed coordinates using a phase correction matrix based on the calculated angle difference to compensate for directional deviations caused by node movement or positioning errors, thereby obtaining more accurate network node coordinates. The calculation process for phase correction is the same as that in step S404 described above.

[0176] In step S107 of some embodiments, actual location data refers to the real location information of the network node at the current moment. This data is typically obtained through positioning technologies (such as GPS, wireless signal positioning, sensor fusion, etc.) and reflects the exact location of the node at a specific moment. Target movement data refers to the distance data information of the network node before and after moving in the first coordinate system, including the movement distance and direction of the network node. This data can be obtained through user input, historical movement pattern analysis, or sensor data (such as accelerometers, gyroscopes, etc.).

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

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

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

[0180] Step S603: Update the node coordinates of the second relative coordinates based on at least one actual location data and a weighted movement vector to obtain the target location 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. Specifically, it is calculated by subtracting the first relative coordinates from the node calibration coordinates.

[0182] For example, if the node's calibrated coordinates are PosLast and its first relative coordinates are PosRot, then the calculation of the node coordinate difference is shown in the following formula (7):

[0183]

[0184] Where i represents the number of any network node in the radio network; PosRot(i) represents the first relative coordinate of the node with the number i; PosLast(i) represents the node calibration coordinate of the node with the number i. This represents the difference in node coordinates for node number i.

[0185] In step S602 of some embodiments, 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 based on the target movement data and the node coordinate difference. The weighted movement vector takes into account measurement errors and coordinate calculation errors, and optimizes the accuracy of the movement vector by assigning different weights. Its specific calculation process is shown in the following formula (8):

[0186]

[0187] in, The variance of the measurement error for the node movement vector; The variance of the coordinate solution error; This represents the target movement data for node number i; Let be the weighted movement vector representing the node numbered i.

[0188] In step S603 of some embodiments, the target position coordinates refer to the actual position information of multiple network nodes after they have moved 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] Where i represents the number of any network node in the radio network; Pos(i) represents the second relative coordinate of the node with the number i.

[0191] Then, by combining at least one actual location data, the updated coordinates Pos are transformed into target location coordinates in a preset first coordinate system.

[0192] Please see Figure 7 In some embodiments, the data type of the target movement data includes vector type and numeric 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 numerical, then determine the deviation angle between the node calibration coordinates and the first relative coordinates based on the node coordinate difference.

[0194] Step S702: Determine the movement vector corresponding to the numerical type based on the deviation angle;

[0195] Step S703: Perform numerical weighting based on the movement vector and the difference in node coordinates to obtain the 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 means that the expected movement distance information of multiple network nodes is represented in numerical form, such as the movement distance or 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 degree of relative rotation or alignment between the two coordinate systems. Its specific calculation process is shown in the following formula (10):

[0197]

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

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

[0200]

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

[0202] In step S703 of some embodiments, numerical weighting processing refers to the process of adjusting the movement vector based on the target movement data of numerical type and the difference in node coordinates. The principle of its specific calculation process is the same as step S602.

[0203] It should be noted that if the target movement data is of vector type, the target position coordinates can be obtained directly through steps S601 to S603, and it is not necessary to calculate the movement vector of the target movement data of vector type.

[0204] In one specific embodiment, the parameters of the radio-based node positioning method are as follows: assuming the number of network nodes is 12, and the network node numbers are 1 to 12; the coordinate dimension is two-dimensional; the positioning cycle is 1 time per second; the initial position range is randomly distributed within an area with a radius of 200m; the average node movement speed is 3 meters per second; the variance of the coordinate calculation error is 10 meters; the variance of the node movement vector measurement error is 2 meters; the number of determined anchor nodes is 2; and the preset first coordinate system is the East-North-Sky coordinate system. The specific implementation process of the radio-based node positioning method can then be as follows: First, node 1 is determined as the control master node, and based on the control master node, the pseudorange measurement of the other 11 network nodes in step S201 is performed to obtain the first set of pseudorange data between any two network nodes, namely: d1,12, d2,12…d11,12; d2,3, d2,4…d2,12; d3,4, d3,5…d3,12; …; d11,12. Further, by using the pseudorange data to calculate the node coordinates in step S202, the two-dimensional relative coordinates Pos1 of the 12 network nodes in the second coordinate system are obtained. Further, node 1 determines the movement strategy of each network node based on the two-dimensional relative coordinates Pos1. Specifically, this may include: first, sorting the x-axis coordinates of the 12 nodes, selecting the 3 nodes with the largest x-axis coordinates to move 20 meters due north, and selecting the 3 nodes with the smallest x-axis coordinates to move 20 meters due south; 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 due east, and the remaining 3 nodes to move 20 meters due west. The directional movement of each node is denoted as a vector. Where i is any one of numbers 1 to 12. Further, steps S201 and S202 are repeated for the directionally moved network nodes to obtain the two-dimensional relative coordinates Pos2 of the 12 mobile network nodes in the second coordinate system. Further, through the above Pos1, Pos2, The coordinate fitting in step S206 above is performed to obtain the node calibration coordinates Pos3 of the 12 network nodes in the East-North-Sky coordinate system. Nodes 1 and 2 are then identified as fixed anchor nodes from the 12 network nodes using the node calibration coordinates Pos3. Nodes 1 and 2 are either stationary or moving within a small range. Further, the pseudorange measurement in step S201 above is performed on the 12 network nodes to obtain the second set of pseudorange data between any two network nodes. When sending the pseudorange measurement message, each node simultaneously reports its own movement distance within the current positioning cycle (1 second). This is calculated based on the sensors carried by each node. Where i is any one of the numbers from 1 to 12.

[0205] Further, using the second set of pseudorange data, the node coordinates in step S202 are calculated to obtain the two-dimensional relative coordinates Pos4 of the 12 network nodes in the second coordinate system. Using these two-dimensional relative coordinates Pos4, a Protodyakonov transformation is performed in step S501 to obtain the two-dimensional relative coordinates Pos5 of the 12 network nodes in the East-North-Sky coordinate system. Using these two-dimensional relative coordinates Pos5, a phase correction transformation is performed in step S502 to obtain the two-dimensional relative coordinates Pos6 of the 12 network nodes in the East-North-Sky coordinate system. Using these two-dimensional relative coordinates Pos6, the coordinates in step S502 are updated to obtain the target position coordinates POS of the 12 network nodes after movement in the East-North-Sky coordinate system.

[0206] As can be seen from the above steps, compared to related technologies that require at least three nodes with known locations as anchor nodes to achieve node coordinate positioning, this application can obtain the node calibration coordinates of network nodes through initial coordinate calibration, and then determine two anchor nodes through the node calibration coordinates to achieve accurate node coordinate positioning. Therefore, this application can achieve accurate positioning of the coordinates of each node within a radio network by utilizing the network's own node information even when satellite positioning system denial is possible.

[0207] Please see Figure 8 , Figure 8 This is a comparison of the positioning errors between the aforementioned radio-based node positioning method and related technologies. Figure 8 The red, blue, and black curves represent different positioning methods. Red represents Circular Error Probable (CEP), blue represents Root Mean Square (RMS), and black represents Two-Dimensional Root Mean Square (2DRMS). The three curves marked with circles (“O”) characterize the positioning error of this application, while the three curves marked with asterisks (“*”) characterize the positioning error of traditional algorithms (i.e., the methods used in related technologies). It should be noted that... Figure 8 The horizontal axis represents the variance of the calculation error across different coordinates, and the vertical axis represents the results of three indices: CEP, RMS, and 2DRMS. Figure 8 It can be seen that, compared with traditional algorithms, this application achieves a lower positioning error under the same dimensions and coordinate calculation error variance. A lower positioning error indicates higher node positioning accuracy. For example, as... Figure 8As shown, in the two-dimensional case, when the variance of the coordinate calculation error is 10 or 15, the results of the three indicators of CEP, RMS, and 2DRMS in this application are all lower than those of the traditional algorithm, which means that the node positioning accuracy of this application is higher than that of the traditional algorithm. Therefore, this application can better achieve accurate positioning of the coordinates of each node in the radio network when the satellite positioning system denies it.

[0208] Please see Figure 9 This application also provides a radio-based node positioning device that can implement the above-described radio-based node positioning method. The device includes:

[0209] The control master node module 901 is used to determine the control master node from multiple network nodes in the target network;

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

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

[0212] The pseudorange measurement module 904 is used to perform pseudorange measurement on multiple network nodes to obtain the first relative distance of each network node.

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

[0214] The phase correction module 906 is used to perform phase correction on the first relative coordinates based on the node calibration coordinates associated with the anchor node, and 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 to 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 location data and target movement data, and determine the target location coordinates of each network node.

[0217] The specific implementation of this 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] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned radio-based node positioning method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0219] Please see Figure 10 , Figure 10 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0220] The processor 1001 can be implemented using a general-purpose central processing unit (CPU), microprocessor, 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 this application.

[0221] The memory 1002 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1002 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1002 and is called and executed by the processor 1001 to implement the radio-based node positioning method of the embodiments of this application.

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

[0223] The communication interface 1004 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

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

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

[0226] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described radio-based node localization method.

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

[0228] The radio-based node positioning method, apparatus, electronic device, and storage medium provided in this application first select a control master node from a target network. Next, the control master node is used to perform initial coordinate calibration on other nodes in the network. This includes obtaining a second relative distance by performing pseudorange measurements on multiple network nodes based on the control master node, then calculating a third relative coordinate based on these distances, and then directionally moving multiple network nodes based on a preset movement vector to obtain multiple mobile network nodes. Subsequently, pseudorange measurements are performed again to obtain the third relative distance, and a fourth relative coordinate is calculated. Finally, 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 network node. Then, an anchor node is determined from the multiple network nodes, and the first relative coordinate is phase-corrected based on the node calibration coordinates 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 and second angles 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 actual position data and the target movement data, the second relative coordinates are updated to determine the target position coordinates of each network node.

[0229] Therefore, compared to related technologies, this application first obtains the third and fourth relative coordinates by performing pseudorange measurements and node coordinate calculations on network nodes before and after directional movement. Further, the phase angle between the three relative coordinates is determined using the third and fourth relative coordinates, and the fourth relative coordinate is phase-corrected based on the phase angle and a preset phase matrix to obtain more accurate node calibration coordinates, thus achieving accurate initial coordinate calibration of network nodes in a preset first coordinate system. Then, suitable anchor nodes are determined based on the node calibration coordinates obtained from the initial coordinate calibration, and multiple network nodes are dynamically positioned based on the anchor nodes to obtain the target position coordinates of each network node, thereby achieving accurate positioning of each node's coordinates when the network nodes are in a moving state. The entire process does not rely on a satellite positioning system but effectively avoids positioning errors caused by the lack of suitable anchor nodes by fully utilizing the network's own node information, achieving accurate positioning of each node's coordinates within the radio network even when satellite positioning systems are denied access.

[0230] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

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

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

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

[0234] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0235] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0236] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

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

[0238] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0239] If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0240] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A radio-based node localization method, characterized in that, The method includes: Determine the controlling master node from multiple network nodes in the target network; Based on the control master node, the initial coordinate calibration of the plurality of network nodes is performed to obtain the node calibration coordinates of each network node. The node calibration coordinates are used to indicate the position information of the corresponding network node in a preset first coordinate system. The anchor node is determined from the plurality of network nodes based on the node calibration coordinates; Pseudorange measurements are performed on the plurality of network nodes to obtain a first relative distance for each network node, and the first relative distance is used to characterize the relative positional relationship between any two network nodes. Based on the first relative distance, the node coordinates are calculated to determine the first relative coordinates of each network node. The first relative coordinates are used to indicate the position information of the corresponding network node in the second coordinate system. Based on the node calibration coordinates associated with the anchor node, the first relative coordinates are phase-corrected to determine the second relative coordinates of each network node. The second relative coordinates are used to indicate the position information of the corresponding network node in the first coordinate system. Acquire the actual position data of at least one of the network nodes at the target time, and acquire the target movement data of each of the network nodes at the target time. The actual position data is used to indicate the position information of the corresponding network node in the first coordinate system. Based on at least one of the actual location data and the target movement data, the second relative coordinates are updated to determine the target position coordinates of each network node. The target position coordinates are used to indicate the position information of the corresponding network node after it moves in the first coordinate system.

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

3. The method according to claim 2, characterized in that, The data types of the target movement data include vector and numerical types. The weighted processing based on the target movement data and the node coordinate differences to obtain the 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, then the deviation angle between the node calibration coordinates and the first relative coordinates is determined based on the node coordinate difference; The movement vector corresponding to the numerical type is determined based on the deviation angle; The weighted movement vector between any two network nodes in the target network is obtained by performing numerical weighting based on the movement vector and the node coordinate difference.

4. The method according to claim 1, characterized in that, The step of 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 includes: The first angle of the anchor node is determined based on the node calibration coordinates associated with the anchor node; The second angle of the anchor node is determined based on the first relative coordinates associated with the anchor node. An angle difference is determined based on the first angle and the second angle, and the angle difference is used to indicate the degree of deviation between the node calibration coordinates associated with the anchor node and the first relative coordinates associated with the anchor node; Phase correction is performed 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.

5. The method according to claim 4, characterized in that, The step of performing phase correction on the first relative coordinates based on the angle difference and the node calibration coordinates associated with the anchor node, and determining the second relative coordinates of each network node, includes: Based on the node calibration coordinates, a Protodyakonov transformation is performed on the first relative coordinates to obtain the transformed coordinates of each network node. The transformed coordinates are used to indicate the position information of the corresponding network node in the first coordinate system. Based on the angle difference and the node calibration coordinates associated with the anchor node, the transformed coordinates are converted and phase corrected to obtain the second relative coordinates of each network node.

6. The method according to claim 1, characterized in that, The initial coordinate calibration of the multiple network nodes based on the control master node, to obtain the node calibration coordinates of each network node, includes: Based on the control master node, pseudorange measurement is performed on the plurality of network nodes to obtain a second relative distance for each network node. The second relative distance is used to characterize the relative positional relationship between any two network nodes. Based on the second relative distance, the node coordinates are calculated to determine the third relative coordinates of each network node. The third relative coordinates are used to indicate the relative position information of the corresponding network node in the second coordinate system. Based on a preset movement vector, the multiple network nodes are moved in a directional manner to obtain multiple mobile network nodes; Based on the pseudorange measurement of the multiple mobile network nodes by the control master node, the third relative distance of the mobile network nodes is obtained. The third relative distance is used to characterize the relative positional relationship between any two mobile network nodes. Based on the third relative distance, the node coordinates are calculated to determine the fourth relative coordinates of each mobile network node. The fourth relative coordinates are used to indicate the relative position information of the corresponding mobile network node in the second coordinate system. Based on the third relative coordinate, the fourth relative coordinate, and the preset movement vector, coordinate fitting is performed to obtain the node calibration coordinates of each network node.

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

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

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 7.

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