Candidate Location Screening Method, Device, Equipment, and Product for Target Location

Abstract

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 beginning, starting from the first parameter group in the parameter group sequence, traversing the parameter group sequence until the final candidate position is determined. The present invention can perform multiple rounds of screening of candidate positions for the target area for screening candidate positions at the beginning, 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.

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 computational complexity 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:

[0005] 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;

[0006] A parameter group sequence is established. 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;

[0007] Based on the target area for screening candidate positions at the beginning, 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 for the next parameter group. The final candidate position is the candidate position screened out based on the last parameter group;

[0008] 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: calculating the first measurement 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 measurement information to obtain the second measurement information corresponding to the candidate position.

[0009] In one 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.

[0010] In one embodiment of the present invention, calculating the time delay difference and Doppler difference of the received signals of two receiving devices, and using the time delay difference and Doppler difference to align the two signal slices for coherent accumulation.

[0011] In one embodiment of the present invention, the grid region corresponding to the candidate position is the grid region represented by the candidate position.

[0012] In one embodiment of the present invention, the candidate position is at the center position of the represented grid region.

[0013] In one 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.

[0014] In a second aspect, the present invention discloses a candidate position screening device for positioning a target. The device includes:

[0015] An acquisition module, configured to acquire the received signals of two receiving devices at the same time and for the same duration;

[0016] A parameter group establishment module, configured to establish 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;

[0017] A screening module, configured to start from the first parameter group of the parameter group sequence based on the target region for screening candidate positions, traverse the parameter group sequence until the final candidate position is determined. Among them, the grid region corresponding to the candidate position screened based on the previous parameter group is used as the target region 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 region 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: 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 on all the first metric information to obtain the second metric information corresponding to the candidate position.

[0018] 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.

[0019] In a fourth aspect, the present invention discloses a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above method is implemented.

[0020] In a fifth aspect, the present invention discloses a computer program product, including a computer program, and when the computer program is executed by a processor, the above method is implemented.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] The present invention discloses a method, apparatus, device, and product for screening candidate positions for target positioning, 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 starting target area for screening candidate positions, 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 for target positioning, which can perform multiple rounds of screening of candidate positions for the starting target area for screening candidate positions, 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

[0023] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0024] In the drawings:

[0025] Figure 1 is a schematic diagram of an application scenario of a method for screening candidate positions for target positioning according to an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of a method for screening candidate positions for target positioning according to an embodiment of the present invention;

[0027] Figure 3 is a schematic diagram of candidate position screening of a method for screening candidate positions for target positioning according to an embodiment of the present invention;

[0028] Figure 4 is a schematic diagram of determining a second metric information of a method for screening candidate positions for target positioning according to an embodiment of the present invention;

[0029] Figure 5 Schematic diagram of a candidate position screening device for positioning a target according to an embodiment of the present invention;

[0030] Figure 6 Schematic diagram of an electronic device for screening candidate positions for positioning a target according to an embodiment of the present invention. Detailed implementation manners

[0031] 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.

[0032] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "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, and 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 thus should not be construed as a limitation to the present invention.

[0033] 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 may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may 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 according to specific situations.

[0034] 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 number 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.

[0035] The present invention discloses an application scenario of a method, device, equipment and product for screening candidate positions for positioning a target as follows Figure 1As shown, under the conditions of the prior art, to locate a target, it is necessary to traverse all possible candidate positions of the target to be located for calculation to determine the final location of the target that sends the positioning signal. However, such a large amount of calculation significantly 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, based on the starting target area for screening candidate positions, starting from the first parameter group in the parameter group sequence, traversing the parameter group sequence until the final candidate position is determined, it is possible to perform multiple rounds of screening of candidate positions for the starting target area for screening candidate positions, while ensuring the final positioning accuracy of the target, significantly reducing the amount of calculation for target positioning, and effectively improving the speed of target positioning.

[0036] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0037] As Figure 2 shown, the present invention discloses a method for screening candidate positions for target positioning, including:

[0038] Step S201, obtaining received signals of two receiving devices at the same time and for the same duration;

[0039] In this embodiment, the clocks of the two receiving devices are synchronized.

[0040] 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;

[0041] 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;

[0042] In this embodiment, as Figure 3 shown, the parameter group sequence includes several parameter groups set in order. 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 become narrower as the slice duration becomes longer, it is necessary to synchronously decrease the grid size to achieve a fine determination of the candidate position. The mutual cooperation between the slice duration and the grid size realizes the gradual advancement from roughly determining the area where the candidate position is located to finely determining the candidate position, without using the method of traversing all candidate positions in the prior art. While ensuring the later positioning accuracy, the amount of calculation is significantly reduced, and the target positioning speed is improved;

[0043] Through the measurement information of computable candidate positions, the larger the measurement information, the higher the confidence that the corresponding candidate position is the true target position. Geographically, near the true target position is a peak similar to a small hill (the horizontal and vertical axes are geographical longitudes and latitudes, and the function value is the measurement information), while the measurement information peaks at other false candidate positions are very small. The geographical distance from the peak to the trough is called the peak width. As the duration of the two signal slices increases, the peak width will gradually narrow. For example, using a 100ms signal slice of the received signal, the calculated measurement information has a narrower peak width than using a 10ms signal slice of the received signal. The narrower the peak width, the smaller the grid size needs to be reduced for fine screening of candidate positions to improve the accuracy of the later positioning target.

[0044] Exemplarily, the normalized measurement information is expressed as , where m and n represent the numbers of two receiving devices, and 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 is in milliseconds. Therefore, is scaled to obtain the following approximation:

[0045] ;

[0046] ;

[0047] Among them, represents the Doppler difference between receiving device m and receiving device n to the same candidate position, j represents the imaginary unit, is the slice duration, and t represents time;

[0048] 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;

[0049] 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 positions are located, screen out the final candidate positions, and further calculate the measurement information to achieve target positioning, reducing the method of calculating the measurement information by traversing all candidate positions in the prior art, greatly reducing the calculation amount, and at the same time taking into account the final target positioning accuracy.

[0050] The parameter group sequence includes several parameter groups with sorting settings, which is equivalent to data hierarchical processing. Each parameter group is equivalent to a data processing layer. The first parameter group corresponds to the topmost data processing layer, and the last parameter group corresponds to the bottommost data processing layer. The topmost data processing layer filters the candidate positions in the target area. The area where the filtered candidate positions are located is used as the target area for the next data processing layer, and then the candidate positions are filtered again, continuously narrowing the target area until the final candidate position is determined.

[0051] Step S203: Based on the starting target area for screening candidate positions, starting from the first parameter group in 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 filtered by 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 filtered by the last parameter group;

[0052] In this embodiment, traversing the parameter group sequence starts from the first parameter group in 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 positions are located, the final target positioning accuracy is ensured.

[0053] In this embodiment, the grid area corresponding to the candidate position is the grid area represented by the candidate position. When using the first parameter group in the parameter group sequence, that is, when the slice duration is the shortest and the grid size is the largest, the corresponding candidate positions can be quickly filtered. The grid areas corresponding to each candidate position are combined together to form the target area for further filtering candidate positions using the next parameter group. At this time, the next parameter group uses a variable slice duration and a decreasing grid size to filter candidate positions with higher accuracy.

[0054] In this embodiment, the candidate position is at the center of the represented grid area.

[0055] In this embodiment, the screening of candidate positions is based on calculating the metric information for the 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.

[0056] Filtering out candidate positions based on the parameter group includes: determining the candidate positions within the corresponding target area according to the grid size; as Figure 4As shown, according to the slice duration, the two received signals corresponding to the two receiving devices obtained are respectively divided into a number of signal slices. All candidate positions are traversed to determine the corresponding second metric information. The candidate positions corresponding to the second metric information that meets the set threshold are the selected 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 in the same time period of the two received signals, and performing non-coherent combination according to all the first metric information to obtain the second metric information corresponding to the candidate position.

[0057] 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.

[0058] In this embodiment, the received signals corresponding to the two receiving devices are at the same moment and of the same duration. Based on the slice duration of any parameter group, the same slice duration is used to perform signal slice division on the two received signals. As Figure 4 shown, the start times of several signal slices of the two received signals are correspondingly the same.

[0059] In this embodiment, calculate the time delay difference and Doppler difference of the received signals of the two receiving devices, and use the time delay difference and Doppler difference to align the two signal slices for coherent accumulation.

[0060] Exemplarily, the first metric information is expressed as , and the calculation process is as follows:

[0061] ；

[0062] Among them, and represent the received signals corresponding to the two receiving devices numbered n and m , i represents the i th signal slice, t represents time, represents the start moment of the i th slice, is the slice duration, H represents conjugate transpose, 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 process of coherent accumulation, the actual calculation moment starts from ;

[0063] Among them:

[0064] ；

[0065] ；

[0066] Furthermore , the calculation process is as follows:

[0067] ；

[0068] ；

[0069] Among them, x represents the receiving device n or the receiving device m , t represents time, represents the speed of light; represents the coordinate position vector of the 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 at moment the distance between the receiving device x and the candidate position; represents the receiving device x at moment the velocity vector, which can be determined in advance; is the carrier frequency of the transmitted signal.

[0070] As Figure 4 shown, according to the first metric information between all corresponding signal slices of the received signal, non-coherent combination is performed to obtain the second metric information corresponding to this candidate position. The example is as follows:

[0071] The second metric information is expressed as , and the calculation process is as follows:

[0072] , ;

[0073] 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.

[0074] As Figure 5As shown in the figure, the present invention also discloses a candidate position screening device for locating a target, including:

[0075] An acquisition module 501, configured to acquire received signals of two receiving devices at the same time and for the same duration;

[0076] 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;

[0077] A screening module 503, configured to traverse the parameter group sequence starting from the first parameter group in 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 out 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 out based on the last parameter group; screening out 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, and determining the corresponding second metric information. The candidate position corresponding to the second metric information that meets the set threshold is the screened candidate position, where 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.

[0078] The present invention also discloses an electronic device, such as Figure 6 shown, discloses an embodiment, which is a block diagram of an electronic device applicable to the above-mentioned candidate position screening for locating a target.

[0079] The electronic device 60 in this embodiment includes a processor 601, which can perform various appropriate actions and processes according to the program stored in the ROM 602 or the program loaded from the storage part 608 into the RAM 603. The processor 601 may include, for example, a general microprocessor, an instruction set processor, and / or a related chipset and / or a dedicated microprocessor, etc. The processor 601 may also include on-board memory for caching purposes. The processor 601 may 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.

[0080] 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 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 programs stored in one or more memories.

[0081] 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 a cathode ray tube, a liquid crystal display, a speaker, etc.; 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 a computer program read from it can be installed into the storage section 608 as needed.

[0082] The present invention also provides a computer-readable storage medium.

[0083] 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 one or more programs are executed, the method according to the embodiments of the present invention is implemented.

[0084] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include but is not limited to: a portable computer disk, a hard disk, a random access memory RAM, a read-only memory ROM, an erasable programmable read-only memory EPROM or a flash memory, a portable compact disk read-only memory CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, device, or device.

[0085] Embodiments of the present invention also include a computer program product.

[0086] The computer program product includes a computer program which contains program codes for executing the method provided by the embodiments of the present invention. When the computer program product runs on an electronic device, the program codes are used to enable the electronic device to implement the method provided by the embodiments of the present invention.

[0087] In one embodiment, the computer program can rely on tangible storage media such as optical storage devices and magnetic storage devices. In another embodiment, the computer program can also be transmitted and distributed in the form of signals on a network medium. The program codes included in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0088] According to the embodiments of the present invention, the program codes for executing the computer program provided by the embodiments of the present invention can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level procedural and / or object-oriented programming languages. The programming languages include but are not limited to programming languages such as Java, C++, Python, C language or similar programming languages. The program codes 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.

[0089] 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 portion 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 a different order than that noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, or 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 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 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.

[0090] 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 each embodiment cannot be used advantageously in combination. The scope of the present invention is defined by the appended claims and their equivalents, and without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, and all such substitutions and modifications should fall within the scope of the present invention.

Claims

1. A method for screening candidate positions for target positioning, characterized in that, Obtain the received signals of two receiving devices at the same time and with the same duration; Establish a sequence of parameter groups, where each parameter group includes a slice duration and a grid size. In the sequence of parameter groups, the slice durations are set in ascending order, and the grid sizes are set in descending order; Based on a target area for initially screening candidate positions, starting from the first parameter group in the sequence of parameter groups, traverse the sequence of parameter groups 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; Screen the candidate positions based on the parameter group, including: determine the candidate positions within the corresponding target area according to the grid size; divide the received signals of the two receiving devices into several signal slices respectively according to the slice duration, traverse all the candidate positions, determine 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: based on a candidate position, calculate the first metric information of two signal slices of the two received signals in the same time period, and perform non-coherent combination on all the first metric information to obtain the second metric information corresponding to the candidate position.

2. The candidate position screening method for target positioning according to claim 1, wherein 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.

3. A method for screening candidate positions for target positioning according to claim 2, characterized in that, Calculate the time delay difference and Doppler difference of the received signals of the two receiving devices, and use the time delay difference and the Doppler difference to align the two signal slices for coherent accumulation.

4. A candidate position screening method for locating 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 candidate position screening method for locating a target according to claim 4, wherein The candidate position is at the center position of the represented grid area.

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

7. A candidate position screening device for locating a target, characterized in that: The device includes: An acquisition module, configured to obtain the received signals of two receiving devices at the same time and with the same duration; A parameter group establishment module, configured to establish a sequence of parameter groups, where each parameter group includes a slice duration and a grid size. In the sequence of parameter groups, the slice durations are set in ascending order, and the grid sizes are set in descending order; A screening module, configured to target regions for screening candidate positions based on a starting point, traverse the parameter group sequence starting from the first parameter group in the parameter group sequence until a final candidate position is determined, wherein the grid region corresponding to the candidate position screened based on the previous parameter group serves as the target region for screening candidate positions for the next parameter group, and the final candidate position is the candidate position screened based on the last parameter group; screening the candidate position based on the parameter group includes: determining candidate positions corresponding to the target region according to the grid size; dividing the two received signals into a plurality of signal slices respectively according to the slice duration, traversing all the candidate positions, determining 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 determining the corresponding second metric information includes: calculating first metric information of two signal slices in the same time period of the two received signals based on one candidate position, and performing non-coherent combination on all the first metric information to obtain the second metric information corresponding to the candidate position.

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

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

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

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