Candidate position screening method and device for positioning target, equipment and product

Abstract

The invention discloses a candidate position screening method and device for positioning a target, equipment and a product. The method comprises the following steps: acquiring receiving signals of two pieces of receiving equipment at the same moment and the same duration; establishing a parameter group sequence, wherein a parameter group comprises slice duration and grid size; and traversing the parameter group sequence from the first parameter group of the parameter group sequence based on the target area of the initial screening candidate position until the final candidate position is determined. According to the method, multiple rounds of candidate position screening can be carried out on the target area of the initial screening candidate position, the final positioning precision of the target is guaranteed, meanwhile, the calculated amount of target positioning is greatly reduced, and the positioning speed of the target is effectively improved.

Description

Technical Field

[0001] The present invention belongs to the field of target positioning, and in particular, relates to a method, device, equipment, and product for screening candidate positions for target positioning. Background Art

[0002] Wireless positioning technology uses the propagation characteristics of wireless electromagnetic waves to locate targets. Among them, the direct positioning method in wireless positioning technology needs to traverse all possible candidate positions of the positioning target to calculate measurement information in order to determine the final positioning position of the target that sends the positioning signal. Although the positioning accuracy is high and the signal-to-noise ratio requirement is low, the calculation amount is relatively large, which greatly reduces the speed of target positioning. Summary of the Invention

[0003] In view of this, the present invention aims to overcome the defects in the prior art and proposes a method, device, equipment, and product for screening candidate positions for target positioning.

[0004] To achieve the above object, the technical solution of the present invention is realized as follows: In a first aspect, the present invention discloses a method for screening candidate positions for target positioning, which obtains received signals of two receiving devices at the same time and for the same duration; A parameter group sequence is established. The parameter group includes a slice duration and a grid size. In the parameter group sequence, the slice duration is set in ascending order, and the grid size is set in descending order; Based on the initial target area for screening candidate positions, starting from the first parameter group in the parameter group sequence, the parameter group sequence is traversed until the final candidate position is determined. Among them, the grid area corresponding to the candidate position screened out based on the previous parameter group is used as the target area for screening candidate positions in the next parameter group. The final candidate position is the candidate position screened out based on the last parameter group; Screening candidate positions based on the parameter group includes: determining candidate positions within the corresponding target area according to the grid size; dividing the two received signals into several signal slices respectively according to the slice duration, traversing all candidate positions, determining the corresponding second measurement information, and the candidate positions corresponding to the second measurement information that meet the set threshold are the screened candidate positions. Among them, determining the corresponding second measurement information includes: based on a candidate position, calculating the first measurement information of two signal slices in the same time period of the two received signals, and performing non-coherent combination on all the first measurement information to obtain the second measurement information corresponding to the candidate position.

[0005] In an embodiment of the present invention, calculating the first measurement information of two signal slices corresponding to the same time period includes: performing coherent accumulation on the two signal slices to obtain the first measurement information.

[0006] In an embodiment of the present invention, the time delay difference and Doppler difference of the received signals of two receiving devices are calculated, and the two signal slices are aligned using the time delay difference and Doppler difference for coherent accumulation.

[0007] In an embodiment of the present invention, the grid area corresponding to the candidate position is the grid area represented by the candidate position.

[0008] In an embodiment of the present invention, the candidate position is at the central position of the represented grid area.

[0009] In an embodiment of the present invention, obtaining the received signals of two receiving devices at the same time and for the same duration includes: clock synchronization between the two receiving devices.

[0010] In a second aspect, the present invention discloses a candidate position screening device for positioning a target. The device includes: An acquisition module for acquiring the received signals of two receiving devices at the same time and for the same duration; A parameter group establishment module for establishing a parameter group sequence. The parameter group includes a slice duration and a grid size. In the parameter group sequence, the slice durations are set in ascending order, and the grid sizes are set in descending order; A screening module for traversing the parameter group sequence starting from the first parameter group in the parameter group sequence based on the target area for screening candidate positions at the beginning until the final candidate position is determined. Among them, the grid area corresponding to the candidate position screened based on the previous parameter group is used as the target area for screening candidate positions in the next parameter group. The final candidate position is the candidate position screened based on the last parameter group; screening candidate positions based on the parameter group includes: determining the candidate positions within the corresponding target area according to the grid size; dividing the two received signals into several signal slices respectively according to the slice duration, traversing all candidate positions, determining the corresponding second metric information, and the candidate positions corresponding to the second metric information that meets the set threshold are the screened candidate positions. Among them, determining the corresponding second metric information includes: calculating the first metric information of two signal slices in the same time period of the two received signals based on a candidate position, and performing non-coherent combination on all the first metric information to obtain the second metric information corresponding to the candidate position.

[0011] In a third aspect, the present invention discloses an electronic device, including: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the above method.

[0012] In a fourth aspect, the present invention discloses a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the above method is implemented.

[0013] In a fifth aspect, the present invention discloses a computer program product, including a computer program which, when executed by a processor, implements the above method.

[0014] Compared with the prior art, the present invention has the following advantages: The present invention discloses a method, apparatus, device and product for screening candidate positions of a target, including obtaining received signals of two receiving devices at the same time and for the same duration; establishing a parameter group sequence, where the parameter group includes a slice duration and a grid size; based on a target area for screening candidate positions at the start, starting from the first parameter group in the parameter group sequence, traversing the parameter group sequence until a final candidate position is determined. The present invention discloses a method, apparatus, device and product for screening candidate positions of a target, which can perform multiple rounds of screening of candidate positions for the target area for screening candidate positions at the start, while ensuring the final positioning accuracy of the target, greatly reducing the computational amount of target positioning, and effectively improving the positioning speed of the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0016] In the drawings: Figure 1 is a schematic diagram of an application scenario of a method for screening candidate positions of a target according to an embodiment of the present invention; Figure 2 is a schematic diagram of a method for screening candidate positions of a target according to an embodiment of the present invention; Figure 3 is a schematic diagram of candidate position screening of a method for screening candidate positions of a target according to an embodiment of the present invention; Figure 4 is a schematic diagram of determining a second metric information of a method for screening candidate positions of a target according to an embodiment of the present invention; Figure 5 is a schematic diagram of an apparatus for screening candidate positions of a target according to an embodiment of the present invention; Figure 6 is a schematic diagram of an electronic device for screening candidate positions of a target according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0018] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0019] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0020] In the description of the present invention, it should be further noted that the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more.

[0021] The present invention discloses an application scenario of a method, device, equipment, and product for screening candidate positions for target positioning as Figure 1 shown. Under the existing technical conditions, to locate a target, it is necessary to traverse all possible candidate positions of the positioning target for calculation to determine the final positioning position of the target that sends the positioning signal. However, the amount of calculation is relatively large, which greatly reduces the speed of target positioning. The present invention discloses a method, device, equipment, and product for screening candidate positions for target positioning. By establishing a parameter group sequence, starting from the target area for screening candidate positions, traversing the parameter group sequence from the first parameter group until the final candidate position is determined, it is possible to perform multiple rounds of screening of candidate positions for the target area of the starting screening candidate positions, while ensuring the final positioning accuracy of the target, greatly reducing the amount of calculation for target positioning, and effectively improving the positioning speed of the target.

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

[0023] As Figure 2As shown in the figure, the present invention discloses a method for screening candidate positions for locating a target, including: Step S201, obtaining received signals of two receiving devices at the same moment and for the same duration; In this embodiment, the clocks of the two receiving devices are synchronized.

[0024] Step S202, establishing a parameter group sequence, where the parameter group includes a slice duration and a grid size. In the parameter group sequence, the slice durations are set in ascending order, and the grid sizes are set in descending order; In this embodiment, as Figure 1 shown, the larger the grid size, the larger the grid size covered in the target area, the larger the distance between two selected candidate positions, and any position in a grid in the target area is used as a candidate position representing this grid area; In this embodiment, as Figure 3 shown, the parameter group sequence includes several sorted parameter groups. The first parameter group has the shortest slice duration and the largest grid size. In the subsequent parameter groups, the slice durations gradually increase and the grid sizes gradually decrease. Since the peak width of the metric information will gradually narrow as the slice duration becomes longer, it is necessary to synchronously decrease the grid size to achieve a fine determination of candidate positions. The mutual cooperation between the slice duration and the grid size realizes the gradual advancement from roughly determining the area where the candidate positions are located to finely determining the candidate positions, without the need to use the method of traversing all candidate positions in the prior art. While ensuring the later positioning accuracy, the calculation amount is greatly reduced and the target positioning speed is improved; Through the metric information of computable candidate positions, the larger the metric information, the higher the confidence that the corresponding candidate position is the true position of the target. Geographically, near the true position of the target is a sharp peak similar to a small hill (the horizontal and vertical axes are geographical longitude and latitude, and the function value is the metric information), while the metric information peaks of other false candidate positions are very small. The geographical position distance from the peak to the trough is called the peak width. As the slice durations of the two signals increase, the peak width will gradually narrow. For example, using the signal slice of a 100 ms received signal, the calculated metric information has a narrower peak width than using the signal slice of a 10 ms received signal. The narrower the peak width, the more necessary it is to reduce the grid size for a fine screening of candidate positions to improve the accuracy of the later positioning target.

[0025] Exemplarily, the normalized metric information is expressed as , m and n represent the numbers of the two receiving devices, the slice duration is expressed as , due to the time delay difference between receiving device m and receiving device n, and the slice duration are not in the same order of magnitude. The time delay difference is generally in microseconds, and the slice duration in milliseconds, so for perform scaling processing to obtain the following approximation: ; ; wherein, represents the Doppler difference between the receiving device m and the receiving device n to the same candidate position, j represents the imaginary unit, is the slice duration, t represents time; Thus, it can be seen that is 's attenuation coefficient, is a commonly used function in signal processing. Therefore, it can be determined that as the slice duration changes, the peak width will gradually narrow, which is determined by the function property; In this embodiment, by using the variation characteristic of the peak width with the signal slice duration, a parameter group sequence is set to gradually narrow the target area where the candidate position is located, screen out the final candidate position, and further calculate the metric information to achieve target positioning, reducing the method of traversing all candidate positions to calculate the metric information in the prior art, greatly reducing the calculation amount, and at the same time taking into account the final target positioning accuracy.

[0026] The parameter group sequence includes several parameter groups arranged in order, which is equivalent to data hierarchical processing. Each parameter group is equivalent to a data processing layer. The first parameter group corresponds to the uppermost data processing layer, and the last parameter group corresponds to the lowermost data processing layer. The candidate positions in the target area are screened by the uppermost data processing layer, and the area where the filtered candidate positions are located is used as the target area of the next data processing layer, and then the candidate positions are screened again, continuously narrowing the target area until the final candidate position is determined.

[0027] Step S203, based on the starting target area for screening candidate positions, starting from the first parameter group of the parameter group sequence, traverse the parameter group sequence until the final candidate position is determined. Among them, as Figure 3 shown, the grid area corresponding to the candidate positions screened based on the previous parameter group is used as the target area for screening candidate positions in the next parameter group. The final candidate position is the candidate position screened based on the last parameter group; In this embodiment, traversing the parameter group sequence starts from the first parameter group of the parameter group sequence until the last parameter group. During this process, the slice duration gradually increases from short to long, and the grid size gradually decreases from large to small. While gradually narrowing the target area where the candidate position is located, the final target positioning accuracy is ensured.

[0028] In this embodiment, the grid region corresponding to a candidate position is the grid region represented by the candidate position. When using the first parameter set in the parameter set sequence, that is, when the slice duration is the shortest and the grid size is the largest, the corresponding candidate positions can be quickly screened out. The grid regions corresponding to each candidate position are combined together to form the target region for further screening candidate positions using the next parameter set. At this time, the next parameter set uses a variable slice duration and a decreasing grid size for more accurate candidate position screening.

[0029] In this embodiment, the candidate position is at the center of the represented grid region.

[0030] In this embodiment, the screening of candidate positions is based on calculating metric information for candidate positions and further comparing the metric information with a set threshold. For example, if the metric information is greater than the set threshold, then this candidate position meets the screening requirements and is the candidate position obtained after screening.

[0031] Screening candidate positions based on a parameter set includes: determining candidate positions within the corresponding target region according to the grid size; as Figure 4 shown, according to the slice duration, the two received signals corresponding to the two receiving devices are respectively divided into several signal slices, all candidate positions are traversed, and the corresponding second metric information is determined. The candidate positions corresponding to the second metric information that meets the set threshold are the screened candidate positions. Among them, determining the corresponding second metric information includes: based on a candidate position, calculating the first metric information of two signal slices of the two received signals in the same time period, and performing non-coherent combination according to all the first metric information to obtain the second metric information corresponding to the candidate position.

[0032] In an embodiment of the present invention, calculating the first metric information of two signal slices corresponding to the same time period includes: performing coherent accumulation on the two signal slices to obtain the first metric information.

[0033] In this embodiment, the received signals corresponding to the two receiving devices are at the same time and have the same duration. Based on the slice duration of any parameter set, the same slice duration is used to divide the two received signals into signal slices. As Figure 4 shown, the start times of several signal slices of the two received signals are correspondingly the same.

[0034] In this embodiment, the time delay difference and Doppler difference of the received signals of the two receiving devices are calculated, and the two signal slices are aligned using the time delay difference and Doppler difference for coherent accumulation.

[0035] Exemplarily, the first metric information is expressed as , and the calculation process is as follows: ； Among them, and represent the received signals corresponding to two receiving devices numbered n and m respectively; i represents the i th signal slice; t represents time; represents the starting moment of the i th slice; is the slice duration; H represents conjugate transpose, and 1 j represents the imaginary unit; is the time delay difference between the two receiving devices; is the Doppler difference between the two receiving devices; represents that in the coherent accumulation process, the actual calculation moment starts from ; Among them: ； ； Furthermore, the calculation process is as follows: ； ； Among them, x represents receiving device n or receiving device m ; t represents time; represents the speed of light; represents the coordinate position vector of receiving device x at moment, which can be determined in advance; represents the candidate position coordinate position vector, which can be determined in advance; represents the distance between receiving device at x moment and the candidate position; represents the velocity vector of receiving device x at moment, which can be determined in advance; is the carrier frequency of the transmitted signal.

[0036] As Figure 4 shown, according to the first metric information between all corresponding signal slices of the received signals, non-coherent combination is performed to obtain the second metric information corresponding to this candidate position, and the example is as follows: The second metric information is represented as , and the calculation process is as follows: , ; Among them, represents the th signal slice, represents the first metric information, represents the total number of signal slices of a received signal, represents the modulo operation.

[0037] As Figure 5 shown, the present invention also discloses a candidate position screening device for positioning a target, including: An acquisition module 501, configured to acquire received signals of two receiving devices at the same time and with the same duration; A parameter group establishment module 502, configured to establish a parameter group sequence, where the parameter group includes a slice duration and a grid size. In the parameter group sequence, the slice durations are set in ascending order, and the grid sizes are set in descending order; A screening module 503, configured to traverse the parameter group sequence starting from the first parameter group of the parameter group sequence based on a target area for screening candidate positions at the beginning until the final candidate position is determined. Among them, the grid area corresponding to the candidate position screened based on the previous parameter group is used as the target area for screening candidate positions in the next parameter group, and the final candidate position is the candidate position screened based on the last parameter group; screening candidate positions based on the parameter group includes: determining candidate positions within the corresponding target area according to the grid size; dividing the two received signals into a plurality of signal slices respectively according to the slice duration, traversing all candidate positions, determining the corresponding second metric information, and the candidate positions corresponding to the second metric information that meet the set threshold are the screened candidate positions. Among them, determining the corresponding second metric information includes: calculating the first metric information of two signal slices in the same time period of the two received signals based on a candidate position, and performing non-coherent combination on all the first metric information to obtain the second metric information corresponding to the candidate position.

[0038] The present invention also discloses an electronic device. As Figure 6 shown, an embodiment is disclosed, which is a block diagram of an electronic device applicable to the above-mentioned candidate position screening for positioning a target.

[0039] In this embodiment, the electronic device 60 includes a processor 601, which can perform various appropriate actions and processes according to the programs stored in the ROM 602 or the programs loaded from the storage section 608 into the RAM 603. The processor 601 can include, for example, a general microprocessor, an instruction set processor, and / or a related chipset, and / or a dedicated microprocessor, etc. The processor 601 can also include on-board memory for caching purposes. The processor 601 can include a single processing unit or multiple processing units for performing different actions of the method flow according to the embodiments of the present invention.

[0040] In the RAM 603, various programs and data required for the operation of the electronic device 60 are stored. The processor 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. The processor 601 performs various operations of the method flow according to the embodiments of the present invention by executing the programs in the ROM 602 and / or the RAM 603. It should be noted that the programs can also be stored in one or more memories other than the ROM 602 and the RAM 603, and the processor 601 can also perform various operations of the method flow according to the embodiments of the present invention by executing the programs stored in one or more memories.

[0041] According to an embodiment of the present invention, the electronic device 60 may further include an I / O interface 605, and the I / O interface 605 is also connected to the bus 604. The electronic device 60 may further include one or more of the following components connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including, for example, a cathode ray tube, a liquid crystal display, and a speaker; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 6010 is also connected to the I / O interface 605 as needed. A removable medium 6011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 6010 as needed so that the computer program read from it can be installed into the storage section 608 as needed.

[0042] The present invention also provides a computer-readable storage medium.

[0043] The computer-readable storage medium may be included in the electronic device / device system described in the above embodiments; or it may exist separately without being assembled into the electronic device / device. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiments of the present invention is implemented.

[0044] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include but is not limited to: portable computer disks, hard disks, random access memory RAM, read-only memory ROM, erasable programmable read-only memory EPROM or flash memory, portable compact disk read-only memory CD-ROM, optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device.

[0045] An embodiment of the present invention further includes a computer program product.

[0046] This computer program product includes a computer program, and this computer program contains program code for executing the method provided by the embodiment of the present invention. When the computer program product runs on an electronic device, this program code is used to enable the electronic device to implement the method provided by the embodiment of the present invention.

[0047] In one embodiment, this computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, this computer program may also be transmitted and distributed in the form of a signal on a network medium. The program code contained in this computer program can be transmitted by any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0048] According to an embodiment of the present invention, the program code for executing the computer program provided by the embodiment of the present invention can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level procedures and / or object-oriented programming languages. Programming languages include but are not limited to, such as Java, C++, python, C language, or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network or a wide area network, or can be connected to an external computing device.

[0049] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks may occur in an order different from that noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and combinations of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions. Those skilled in the art will understand that the features described in the various embodiments and / or claims of the present invention can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features described in the various embodiments and / or claims of the present invention can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present invention.

[0050] The embodiments of the present invention have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although the embodiments have been described separately above, this does not mean that the measures in the respective embodiments cannot be used advantageously in combination. The scope of the present invention is defined by the appended claims and their equivalents, and without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, and all such substitutions and modifications should fall within the scope of the present invention.

Claims

1. A method for screening candidate locations for positioning a target, characterized in that: Obtain reception signals of two receiving devices at the same time and for the same duration; Establishing a parameter group sequence, wherein the parameter group includes a slice duration and a grid size, wherein the slice duration is arranged in ascending order, and the grid size is arranged in descending order; Based on the target area of ​​the initial screening candidate position, starting from the first parameter group in the parameter group sequence, traversing the parameter group sequence until the final candidate position is determined, wherein the grid area corresponding to the candidate position screened based on the previous parameter group is used as the target area for the next parameter group to screen the candidate position, and the final candidate position is the candidate position screened based on the last parameter group; The candidate positions are screened out based on the parameter group, including: determining the candidate positions corresponding to the target area according to the grid size; dividing the two received signals into a number of signal slices according to the slice duration, traversing all the candidate positions, and determining the corresponding second measurement information, the candidate position corresponding to the second measurement information that meets the set threshold is the screened candidate position, wherein the determination of the corresponding second measurement information includes: based on one candidate position, calculating the first measurement information of the two signal slices of the same time period of the two received signals, and performing incoherent merging based on all the first measurement information to obtain the second measurement information corresponding to the candidate position.

2. A method for screening candidate locations for positioning a target according to claim 1, characterized in that: The calculating the first metric information of the two signal slices corresponding to the same time period includes: performing coherent accumulation on the two signal slices to obtain the first metric information.

3. A method for screening candidate locations for positioning a target according to claim 2, characterized in that: The delay difference and Doppler difference of the signals received by the two receiving devices are calculated, and the delay difference and the Doppler difference are used to align the two signal slices for coherent accumulation.

4. A method for screening candidate locations for positioning a target according to claim 1, characterized in that: The grid area corresponding to the candidate position is the grid area represented by the candidate position.

5. A method for screening candidate locations for positioning a target according to claim 4, characterized in that: The candidate position is located at the center of the grid area represented.

6. A method for screening candidate locations for positioning a target according to claim 1, characterized in that: The step of acquiring reception signals of two receiving devices at the same time and with the same duration includes: clock synchronization between the two receiving devices.

7. A device for screening candidate positions of a positioning target, characterized in that: The device comprises: An acquisition module, used to acquire reception signals of two receiving devices at the same time and for the same duration; A parameter group establishing module, used to establish a parameter group sequence, wherein the parameter group includes a slice duration and a grid size, and in the parameter group sequence, the slice duration is arranged in ascending order, and the grid size is arranged in descending order; A screening module is used to screen the target area of ​​the candidate position based on the starting point, starting from the first parameter group in the parameter group sequence, traverse the parameter group sequence until the final candidate position is determined, wherein the grid area corresponding to the candidate position screened out based on the previous parameter group is used as the target area for screening the candidate position by the next parameter group, and the final candidate position is the candidate position screened out based on the last parameter group; screening the candidate position based on the parameter group includes: determining the candidate position corresponding to the target area according to the grid size; dividing the two received signals into a number of signal slices according to the slice duration, traversing all the candidate positions, determining the corresponding second metric information, and the candidate position corresponding to the second metric information that meets the set threshold is the screened candidate position, wherein the determination of the corresponding second metric information includes: calculating the first metric information of the two signal slices of the same time period of the two received signals based on one candidate position, and performing incoherent merging based on all the first metric information to obtain the second metric information corresponding to the candidate position.

8. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to perform the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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