Positioning method and device and storage medium

Abstract

The embodiment of the invention provides a positioning method and device and a storage medium, and relates to the technical field of communication, and the method can complete target sensing positioning through coordinating three or less than three nodes. The method comprises the following steps: acquiring N pieces of measurement information; the N pieces of measurement information are obtained by sensing and detecting a target object by M nodes; m is less than or equal to 3; n is greater than or equal to 3; and determining the position of the target object based on the N pieces of measurement information.

Description

Technical Field

[0001] The present disclosure relates to the field of communication technologies, and in particular, to a positioning method, apparatus, and storage medium. Background Art

[0002] Triangulation is a commonly used method for sensing and positioning a target object in a bistatic mode. Among them, the Time of Arrival (TOA) positioning method is based on the radio wave propagation time for positioning. In the case where the target object has no communication ability and there is only one system measurement index (such as delay information), in order to complete the target positioning function in the bistatic mode, at least 4 nodes need to be coordinated to participate in the positioning. One base station emits a sensing signal, and 3 terminals with known position information measure the air interface delay, and the coordinate value of the target is solved according to the triangulation principle to achieve positioning. This solution requires coordinating a large number of nodes of the same type to participate in sensing together, resulting in a high scheduling difficulty of the nodes and limited usage scenarios. Summary of the Invention

[0003] Embodiments of the present disclosure provide a positioning method, apparatus, and storage medium, which can complete target sensing and positioning by coordinating 3 or fewer nodes.

[0004] On the one hand, a positioning method is provided, including: obtaining N measurement information; the N measurement information is obtained by M nodes sensing and detecting a target object; M is less than or equal to 3; N is greater than or equal to 3;

[0005] Based on the N measurement information, determine the position of the target object.

[0006] On the other hand, a communication device is provided, including: an obtaining module and a determining module.

[0007] The obtaining module is configured to obtain N measurement information; the N measurement information is obtained by M nodes sensing and detecting a target object; M is less than or equal to 3; N is greater than or equal to 3;

[0008] The determining module is configured to determine the position of the target object based on the N measurement information.

[0009] On the other hand, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the positioning method described in any of the above embodiments is implemented.

[0010] On the other hand, a computer program product is provided, which includes computer program instructions, and when the computer program instructions are executed by a processor, the positioning method described in any of the above embodiments is implemented.

[0011] Embodiments of the present disclosure provide a positioning method, which can obtain at least three measurement information obtained by nodes sensing and detecting a target object through three or fewer nodes, and then determine the position of the target object based on the principle of three-point positioning. Compared with the conventional three-point positioning scheme that requires at least four nodes to coordinate, this method can effectively reduce the number of nodes participating in sensing on the basis of ensuring the positioning effect, thereby reducing the pressure in aspects such as commercial deployment difficulty, coordination difficulty, privacy permission acquisition difficulty, and construction cost, and helping to expand the usage scenarios of the positioning method. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] To more clearly illustrate the technical solutions in the present disclosure, the following will briefly introduce the drawings required to be used in some embodiments of the present disclosure. Obviously, the drawings in the following description are only the drawings of some embodiments of the present disclosure, and those of ordinary skill in the art can also obtain other drawings based on these drawings.

[0013] Figure 1 Schematic diagram of the architecture of a communication system provided in some embodiments of the present disclosure;

[0014] Figure 2 Schematic diagram of the process of a positioning method provided in some embodiments of the present disclosure;

[0015] Figure 3 Schematic diagram of multi-node positioning provided in some embodiments of the present disclosure;

[0016] Figure 4 Schematic diagram of another multi-node positioning provided in some embodiments of the present disclosure;

[0017] Figure 5 Schematic diagram of yet another multi-node positioning provided in some embodiments of the present disclosure;

[0018] Figure 6 Schematic diagram of yet another multi-node positioning provided in some embodiments of the present disclosure;

[0019] Figure 7 Schematic diagram of yet another multi-node positioning provided in some embodiments of the present disclosure;

[0020] Figure 8 Schematic diagram of yet another multi-node positioning provided in some embodiments of the present disclosure;

[0021] Figure 9 Schematic diagram of yet another multi-node positioning provided in some embodiments of the present disclosure;

[0022] Figure 10 Schematic diagram of yet another multi-node positioning provided in some embodiments of the present disclosure;

[0023] Figure 11 Schematic structural diagram of a communication device provided in some embodiments of the present disclosure;

[0024] Figure 12 Schematic composition diagram of a communication device provided in some embodiments of the present disclosure. Detailed implementation manners

[0025] Next, the technical solutions in the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0026] It should be noted that in the present disclosure, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present disclosure should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, using words such as "exemplary" or "for example" is intended to present related concepts in a specific manner.

[0027] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0028] In the description of the present disclosure, unless otherwise specified, " / " means "or". For example, A / B may represent A or B. The "and / or" herein is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, "at least one" means one or more, and "a plurality" means two or more.

[0029] As described in the background art, the current three-point positioning scheme requires at least 4 nodes to participate in positioning. Among them, 1 base station transmits sensing signals, and 3 terminals with known position information measure the air interface delay, and the coordinate value of the target object is solved according to the three-point positioning principle. This scheme requires coordinating more nodes of the same type to participate in sensing together, resulting in a relatively high scheduling difficulty of the nodes, which will bring pressures in terms of commercial deployment difficulty, resource coordination, privacy permission acquisition, construction cost, etc., resulting in limited usage scenarios of the positioning scheme.

[0030] Currently, for the problem that it is difficult to coordinate the same type of sensing nodes, existing methods simply combine 6 basic sensing modes (base station transmits and terminal receives, terminal transmits and base station receives, terminal transmits and receives by itself, base station transmits and receives by itself, terminal-A transmits and terminal-B receives, base station A transmits and base station B receives), which still belongs to the mixture of sensing modes between fixed nodes. The measurement information obtained in this scheme can only meet the basic positioning requirements, and no additional measurement information can be obtained to further calibrate the positioning result, which may lead to the problem of low positioning accuracy. For the scheduling problem caused by multiple nodes belonging to the same type of device, it is necessary to consider solving it from two aspects. On the one hand, it is to reduce the total number of nodes deployed in the system, and on the other hand, it is to adjust the type of receiving nodes. The present invention makes full use of the characteristics of the mobility of the terminal to reduce the total number of nodes required in the system for positioning. When there are multiple transmitting nodes in the system, through the cooperation of different types of transceiver links, it is ensured that the delay information from each node to the target object is measurable. Finally, only 2 or 3 nodes need to be coordinated to achieve the positioning effect of 4 nodes in the traditional method.

[0031] Among them, the measures to reduce the total number of nodes deployed in the system include at least one of the following: (1) Mixing the two link modes of A transmits and A receives and A transmits and B receives. One A transmits and A receives link can replace one A transmits and B receives link, thus saving one node for sensing. (2) Mixing fixed nodes (such as base stations) and mobile nodes (such as terminals). One mobile node participating in sensing using the time-division mechanism can replace 2 or more fixed nodes, thus reducing the total number of nodes deployed in the system.

[0032] Among them, the measure to adjust the type of receiving nodes is mainly: Mixing nodes of different types (such as base stations and terminals). When the number of nodes of a certain type A is large, a node of type B can be used to replace a node of type A to achieve reducing the number of nodes of the same type while keeping the total number of nodes unchanged, so as to facilitate scheduling.

[0033] Based on this, the embodiments of the present disclosure provide a positioning method. By using the characteristics of the mobility of the terminal, it is possible to obtain at least 3 measurement information obtained by the nodes sensing and detecting the target object through 3 or fewer nodes, and then determine the position of the target object based on the principle of three-point positioning. Compared with the conventional three-point positioning scheme that requires at least 4 nodes to be coordinated, this method can effectively reduce the number of nodes participating in sensing while ensuring the positioning effect, thereby reducing the pressure in terms of commercial deployment difficulty, coordination difficulty, privacy permission acquisition difficulty, construction cost, etc.

[0034] In the embodiments of the present disclosure, the network architecture of a communication network (including but not limited to 3G, 4G, 5G, and future mobile communication networks) may include a transmitting end (such as including but not limited to a terminal, a base station) and a receiving end (such as including but not limited to a terminal, a base station). Among them, the role of the transmitting end is to send sensing signals to sense and detect a target object, and the role of the receiving end is to receive the echo signals reflected by the target object from the sensing signals and perform measurements.

[0035] Exemplarily, taking the base station as the transceiver of integrated communication and sensing signals as an example, Figure 1 shows a schematic architecture diagram of a communication system provided by the embodiments of the present disclosure. As Figure 1 shown, the communication system 10 includes a base station 11 and a terminal 12. Among them, the base station 11 and the terminal 12 can be communicatively connected.

[0036] In some embodiments, the base station 11 is used to provide wireless access services for multiple terminals 12. Specifically, a base station 11 provides a service coverage area (also known as a cell). The terminals 12 entering this area can communicate with the base station 11 through wireless signals to receive the wireless access services provided by the base station 11. There may be overlaps between the service coverage areas of the base stations 11, and the terminals 12 in the overlapping area can receive wireless signals from multiple base stations 11.

[0037] In some embodiments, the base station 11 can be used to send sensing signals, receive the signals reflected by the target object, and perform sensing processing to obtain sensing information.

[0038] In some embodiments, the terminal 12 can also be used to send sensing signals, receive the signals reflected by the target object, and perform sensing processing to obtain sensing information.

[0039] In some embodiments, the base station 11 can be connected to multiple terminal 12 devices. For example, the base station 11 is connected to the terminal 12 and the terminal 12. Among them, the terminal 12 and the terminal 12 can be located in the same cell, and the terminal 12 and the terminal 12 can also be located in different cells. That is, a base station 11 can provide network services to the terminals 12 in one cell or can also provide network services to the terminals 12 in multiple cells simultaneously.

[0040] In some embodiments, the base station 11 may be a base station in Long Term Evolution (LTE), Long Term Evolution Advanced (LTE-A), or an evolved Node B (eNB or eNodeB), a base station in a 5G network, or a base station in a future communication system, etc. The base station may include various macro base stations, micro base stations, home base stations, radio remote units, reconfigurable intelligent surfaces (RISs), routers, Wireless Fidelity (WIFI) devices, or various network-side devices such as a primary cell and a secondary cell.

[0041] In some embodiments, the terminal 12 may be a device with wireless transceiver functions, which can be deployed on land, including indoors or outdoors, handheld, wearable, or vehicle-mounted; it can also be deployed on water (such as on a ship); it can also be deployed in the air (such as on an airplane, a balloon, a satellite, etc.). The terminal may be a mobile phone, a tablet computer (Pad), a computer with wireless transceiver functions, a Virtual Reality (VR) terminal, an Augmented Reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, and so on. The application scenarios are not limited in the embodiments of the present disclosure. The terminal may sometimes also be referred to as a user, a User Equipment (UE), an access terminal, a UE unit, a UE station, a mobile station, a mobile unit, a remote station, a remote terminal, a mobile device, a UE terminal, a wireless communication device, a UE agent, or a UE device, etc., and the embodiments of the present disclosure are not limited thereto.

[0042] It should be understood that Figure 1 is an exemplary structural diagram. In the embodiments of the present disclosure Figure 1 the total number of devices included in the shown communication system should be less than or equal to 3, for example, 3 terminals, 1 terminal and 2 base stations, etc. And, except for Figure 1 the shown devices, Figure 1The communication system shown may also include other devices, which are not limited herein.

[0043] Figure 2 FIG. is a flowchart of a positioning method provided by an embodiment of the present disclosure. Exemplarily, the positioning method provided by the present disclosure can be applied to Figure 1 the network architecture shown, and specifically can be applied to a positioning device, which can be Figure 1 any one of the nodes in, or a sensing server (not shown in the figure) connected to the base station and the terminal.

[0044] As Figure 2 shown, the positioning method provided by the present disclosure specifically may include the following steps:

[0045] S201. Obtain N measurement information.

[0046] Among them, the N measurement information is obtained by M nodes performing sensing detection on the target object. M is less than or equal to 3, and N is greater than or equal to 3.

[0047] In some embodiments, the M nodes may perform sensing measurements on the target object to obtain their respective measurement information. Further, the positioning device may obtain at least 3 measurement information from the M nodes for subsequent determination of the position of the target object based on the measurement information.

[0048] Among them, the manner in which the positioning device obtains the measurement information from the M nodes may be an active request manner (after sending a request to the M nodes, receiving the measurement information), or a passive reception (the M nodes actively report).

[0049] In some embodiments, each measurement information in the N measurement information includes: the delay information measured from the echo signal reflected by the target object by the node, and the position information of the node during measurement. For example, if node 1 performs sensing detection at position 1 to obtain delay information 1, then node 1 reports the coordinates of position 1 and delay information 1 as the measurement information to the positioning device.

[0050] S202. Determine the position of the target object based on the N measurement information.

[0051] In some embodiments, after obtaining the N measurement information, the positioning device may calculate the coordinate value of the target object according to the delay information in each measurement information and the measurement position corresponding to the delay information to achieve positioning of the target object.

[0052] Exemplarily, the positioning device may adopt a variety of multi-round-trip-time (multi-RTT) algorithms to determine the absolute address of the target object (such as longitude and latitude coordinates, etc.). For the specific content of the algorithm, please refer to the relevant technical documents and will not be elaborated in detail here. Additionally, other three-point positioning methods may also be used to determine the position of the target object, and the embodiments of the present disclosure do not make specific limitations thereto.

[0053] Next, in combination with specific scenarios and the accompanying drawings of the specification, the solutions for achieving positioning with different numbers of nodes will be described in detail.

[0054] Scenario 1:

[0055] The M nodes include a first node and a second node, and the N measurement information at least includes first measurement information, second measurement information, and third measurement information.

[0056] Among them, the first measurement information is the information obtained by measuring the echo signal of the first sensing signal at the first position by the first node.

[0057] The second measurement information is the information obtained by measuring the echo signal of the second sensing signal at the second position by the first node.

[0058] The third measurement information is the information obtained by measuring the echo signal of the first sensing signal or the echo signal of the second sensing signal at the third position by the second node.

[0059] It can be seen that in Scenario 1, two nodes and two sensing signals are used to obtain three measurement information for positioning. Among them, the first node needs to move between the first position and the second position, so the first node can be a terminal. The position of the second node remains unchanged, so both the terminal and the base station can be used as the second node.

[0060] In addition, according to the different sources of the sensing signals, the following implementation methods can be specifically divided:

[0061] Implementation Method 1

[0062] The first sensing signal is the sensing signal sent by the first node at the first position, and the second sensing signal is the sensing signal sent by the first node at the second position.

[0063] For example, taking the measurement of the echo signal of the first sensing signal by the second node as an example, in combination with Figure 3 it is described as follows.

[0064] (1) At time t1, the first node is at the first position and sends the sensing signal 1. The first node receives the echo signal of the sensing signal 1 reflected by the target object, calculates and records the one-way delay information τ A1 (corresponding to the first measurement information).

[0065] (2) The second node remains at the third position all the time. The sensing signal 1 generates an echo signal in the direction of the second node, and the round-trip delay information sensed by the second node is τ A1 +τ B1 (corresponding to the third measurement information).

[0066] (3) At time t2, the first node is at the second position and sends the sensing signal 2. The first node receives the echo signal of the sensing signal 2 reflected by the target object, and calculates and records the one-way delay information τ A2 (corresponding to the second measurement information).

[0067] (4) The first node reports the coordinates of the first position, the coordinates of the second position, and the delay information τ A1 , τ A2 to the positioning device. The second node reports the coordinates of the third position and the delay information τ A1 +τ B1 to the positioning device.

[0068] (5) The positioning device calculates the position of the target object through the 3 delay information and 3 position coordinates.

[0069] (6) When necessary, the second node can also additionally receive the echo information of the sensing signal 2 and report the measured additional delay information to the positioning device, which can be used for calibration of the measurement results and improve the robustness of the positioning method.

[0070] Implementation method 2

[0071] The first sensing signal is the sensing signal sent by the second node at the third position, and the second sensing signal is the signal sent by the second node at the third position.

[0072] For example, combined with Figure 4 for illustration.

[0073] (1) At time t1, the second node sends the sensing signal 1. The second node receives the echo signal of the sensing signal 1 reflected by the target object, and calculates and records the one-way delay information τ B1 .

[0074] (2) At the same time, the first node at the first position receives the echo signal of the sensing signal 1 reflected by the target object and records the round-trip delay information τ A1 +τ B1 .

[0075] (3) At time t2, the second node sends the sensing signal 2. The first node that has moved to the second position receives the echo signal of the sensing signal 2 reflected by the target object and records the round-trip delay information τ A2 +τ B1 .

[0076] (4) The second node reports its own coordinates and the time delay information τ B1 to the positioning device. The first node reports the coordinates of the first position, the coordinates of the second position, the time delay information τ A1 +τ B1 and τ A2 +τ B1 to the positioning device.

[0077] (5) The positioning device obtains the position of the target object by calculating the time delay information and the node position coordinates.

[0078] (6) When necessary, the second node can also additionally receive the echo signal of the sensing signal 2 and report the additional time delay information to the positioning device for calibration of the measurement result.

[0079] Implementation method 3

[0080] The first sensing signal is the sensing signal sent by the first node at the first position, and the second sensing signal is the sensing signal sent by the second node at the third position.

[0081] Taking the measurement of the echo signal of the first sensing signal by the second node as an example, it is described in combination with Figure 5 for illustration.

[0082] (1) At time t1, the first node is at the first position and sends the sensing signal 1. The first node receives the echo signal of the sensing signal 1 reflected by the target object, calculates and records the one-way time delay information τ A1 .

[0083] (2) The second node remains at the third position all the time. The sensing signal 1 generates an echo signal in the direction of the second node. The full-time delay information sensed by the second node is τ A1 +τ B1 .

[0084] (3) At time t2, the first node moves to the second position, the second node sends the sensing signal 2, and the first node receives the echo of the sensing signal 2 and records the time delay information τ A2 +τ B1 .

[0085] (4) The first node reports the first position coordinates, the second position coordinates, the time delay information τ A1 and τ A2 +τ B1 to the positioning device. The second node reports the coordinates of position 3 and the time delay information τ A1 +τ B1 to the positioning device.

[0086] (5) The positioning device obtains the position of the target object by calculating the time delay information and the node position coordinates.

[0087] (6) When necessary, the second node can also additionally receive the echo signal of the sensing signal 2 and report the additional delay information to the positioning device, which can be used for calibration of the measurement results.

[0088] Taking the measurement of the echo signal of the second sensing signal by the second node as an example, it will be described in combination with Figure 6 as follows.

[0089] (1) At time t1, the first node is at the first position and sends the sensing signal 1. The first node receives the echo signal of the sensing signal 1 reflected by the target object, calculates and records the one-way delay information τ A1 .

[0090] (2) At time t2, the first node moves to the second position, and the second node remains at the third position unchanged. At this time, the second node sends the sensing signal 2 and receives the echo signal of the sensing signal 2, calculates and records the one-way delay information τ B2 ,

[0091] (3) The first node at the second position receives the echo of the sensing signal 2 and records the round-trip delay information τ A2 +τ B2 ;

[0092] (4) The first node reports the coordinates of the first position, the coordinates of the second position, the delay information τ A1 and τ A2 +τ B2 to the positioning device, and the second node reports the coordinates of the third position and the delay information τ B2 to the positioning device.

[0093] (5) The positioning device obtains the position of the target object by solving the delay information and the node position coordinates.

[0094] (6) When necessary, the second node can also additionally receive the echo signal of the sensing signal 1 and report the additional delay information to the positioning device, which can be used for calibration of the measurement results.

[0095] Scenario 2:

[0096] The M nodes include the first node and the second node, and the N measurement information includes at least the first measurement information, the second measurement information, and the third measurement information.

[0097] Among them, the first measurement information is the information obtained by measuring the echo signal of the first sensing signal by the first node at the first position, and the first sensing signal is the sensing signal sent by the first node at the first position.

[0098] The second measurement information is the information obtained by the first node measuring the echo signal of the second sensing signal at the second position, and the second sensing signal is the sensing signal sent by the first node at the second position.

[0099] The third measurement information is the information obtained by the second node measuring the third sensing signal at the third position; the third sensing signal is the sensing signal sent by the second node at the third position.

[0100] It can be seen that in this scenario 2, two nodes and three sensing signals are used to obtain three measurement information for positioning. Among them, the first node needs to move between the first position and the second position, so the first node can be a terminal. The position of the second node remains unchanged, so both the terminal and the base station can be used as the second node.

[0101] For example, in combination with Figure 7 it is described as follows.

[0102] (1) At time t1, the first node is at the first position, sends the sensing signal 1, and the first node receives the echo signal of the sensing signal 1 reflected by the target object, calculates and records the one-way delay information τ A1 .

[0103] (2) At time t2, the first node moves to the second position, sends the sensing signal 2, and the first node receives the echo signal of the sensing signal 2 reflected by the target object, calculates and records the one-way delay information τ A2 .

[0104] (3) The second node always remains at the third position. At time t3, it sends the sensing signal 3, and the second node receives the echo signal of the sensing signal 3 reflected by the target object, calculates and records the one-way delay information τ B3 .

[0105] (4) The first node reports the coordinates of the first position, the coordinates of the second position, the delay information τ A1 and τ A2 to the positioning device, and the second node reports the coordinates of the third position and the delay information τ B3 to the positioning device.

[0106] (5) The positioning device obtains the position of the target object by solving the delay information and the node position coordinates.

[0107] (6) When necessary, the first node can also additionally receive the echo signal of the sensing signal 3, and the second node can also additionally receive the echo signals of the sensing signal 1 and the sensing signal 2, and report the above additional delay information to the positioning device, which can be used for calibration of the measurement results.

[0108] Scenario 3:

[0109] The M nodes include a first node, a second node, and a third node. The N measurement information includes at least first measurement information, second measurement information, third measurement information, and fourth measurement information.

[0110] Among them, the first measurement information is the information obtained by measuring the echo signal of the first sensing signal at the first position by the first node.

[0111] The second measurement information is the information obtained by measuring the echo signal of the second sensing signal at the second position by the first node.

[0112] The third measurement information is the information obtained by measuring the echo signal of the first sensing signal or the second sensing signal at the third position by the second node.

[0113] The fourth measurement information is the information obtained by measuring the echo signal of the first sensing signal or the second sensing signal at the fourth position by the third node.

[0114] It can be seen that in this scenario 3, three nodes and 2 sensing signals are used to obtain four measurement information for positioning. Among them, the first node needs to move between the first position and the second position, so the first node can be a terminal. The positions of the second node and the third node remain unchanged, so both the terminal and the base station can be used as the second node and the third node.

[0115] In addition, according to the different sources of the sensing signals, it can be specifically divided into the following implementation methods:

[0116] Implementation method 1

[0117] The first sensing signal is the sensing signal sent by the first node at the first position, and the second sensing signal is the sensing signal sent by the first node at the second position.

[0118] For example, taking the measurement of the echo signal of the first sensing signal by the second node and the measurement of the echo signal of the second sensing signal by the third node as an example, combined with Figure 8 for illustration.

[0119] (1) At time t1, the first node sends the sensing signal 1, and the first node receives the echo signal of the sensing signal 1 reflected by the target object, calculates and records the one-way delay information τ A1 .

[0120] (2) At the same time, the second node receives the echo signal of the sensing signal 1 reflected by the target object and records the full-round delay information τ A1 +τ B1 .

[0121] (3) At time t2, the first node that has moved to the second position sends the sensing signal 2, and the first node receives the echo signal of the sensing signal 2 reflected by the target object, calculates and records the one-way delay information τA2 .

[0122] (4) Meanwhile, the third node receives the echo signal of the sensing signal 2 reflected by the target object and records the full-round-trip delay information τ A2 +τ C2 .

[0123] (5) The first node reports the coordinates of the first position and the second position and the delay information τ A1 、τ A2 to the positioning device. The second node reports the coordinates of the third position and the delay information τ A1 +τ B1 to the positioning device. The third node reports the coordinates of the fourth position and the delay information τ A2 +τ C2 to the positioning device.

[0124] (6) The positioning device selects two sets of information with A transmitting and B receiving and one set of information with A transmitting and A receiving to solve the equations, and then the position of the target object can be obtained. The unselected set of information can be used for calibration of the measurement results.

[0125] (7) In addition, the positioning device can also selectively receive measurement information other than the above paths. For example, the third node receives the echo signal of the sensing signal 1, and the second node receives the echo signal of the sensing signal 2. Reporting the obtained additional delay information to the positioning device can be used for further calibration of the measurement results.

[0126] Implementation Method 2

[0127] The first sensing signal is the sensing signal sent by the first node at the first position, and the second sensing signal is the sensing signal sent by the second node at the third position, or the sensing signal sent by the third node at the fourth position.

[0128] For example, taking the second node sending the sensing signal at the third position as an example, combined with Figure 9 for illustration.

[0129] (1) At time t1, the second node sends the sensing signal 1, and the second node itself receives the echo signal of the sensing signal 1 reflected by the target object, calculates and records the one-way delay information τ B1 .

[0130] (2) Meanwhile, the first node receives the echo signal of the sensing signal 1 reflected by the target object at the first position and records the full-round-trip delay information τ A1 +τ B1 . The third node receives the echo signal of the sensing signal 1 reflected by the target object at the fourth position and records the full-round-trip delay information τ B1 +τ C1 .

[0131] (3) At time t2, the first node that has moved to the second position sends a sensing signal 2. The first node itself receives the echo signal of the sensing signal 2 reflected by the target object, and calculates and records the one-way delay information τ. A2 .

[0132] (4) The second node reports the coordinates of the third position and the delay information τ B1 to the positioning device. The third node reports the coordinates of the fourth position and the delay information τ B1 + τ C1 to the positioning device. The first node reports the coordinates of the first position and the second position and the delay information τ A1 + τ B1 , τ A2 to the positioning device.

[0133] (5) The positioning device selects two sets of information of A transmitting and B receiving and one set of information of A transmitting and A receiving as the main combination to solve the equation, and then the position of the target object can be obtained. The unselected set of information can be used for the calibration of the measurement results.

[0134] (6) In addition, the positioning device can also selectively receive measurement signals other than the above paths. For example, the third node receives the echo signal of the sensing signal 2, and the second node receives the echo signal of the sensing signal 2. The obtained additional delay information is also reported to the positioning device, which can be used for further calibration of the measurement results.

[0135] Implementation method 3

[0136] The first sensing signal is the sensing signal sent by the second node at the third position, and the second sensing signal is the sensing signal sent by the third node at the fourth position.

[0137] For example, in combination with Figure 10 for illustration.

[0138] (1) At time t1, the second node sends a sensing signal 1. The second node receives the echo signal of the sensing signal 1 reflected by the target object, and calculates and records the one-way delay information τ B1 .

[0139] (2) At the same time, the first node receives the echo of the sensing signal 1 reflected by the target object at the first position and records the delay information τ A1 + τ B1 .

[0140] (3) At time t2, the third node sends a sensing signal 2 at the fourth position. The third node receives the echo signal of the sensing signal 2 reflected by the target object, and calculates and records the one-way delay information τ C2 .

[0141] (4) The first node that has moved to the second position receives the echo of the sensing signal 2 reflected by the target object and records the time delay information τ A2 +τ C2 。

[0142] (5) The second node reports the coordinates of the third position and the time delay information τ B1 to the positioning device. The third node reports the coordinates of the fourth position and the time delay information τ C2 to the positioning device. The first node reports the coordinates of the first and second positions and the time delay information τ A1 +τ B1 、τ A2 +τ C2 to the positioning device.

[0143] (6) The positioning device selects two sets of information with A transmitting and B receiving and one set of information with A transmitting and A receiving as the main combination to solve the equation, and then the position of the target object can be obtained. The unselected set of information can be used for the calibration of the measurement results.

[0144] (7) Additionally, measurement information other than the above paths can be selectively received. For example, the third node receives the echo signal of the sensing signal 1, and the second node receives the echo signal of the sensing signal 2. The obtained additional time delay information is also reported to the positioning device, which can be used for further calibration of the measurement results.

[0145] The positioning method provided by the embodiments of the present disclosure can obtain at least three measurement information obtained by nodes sensing and detecting a target object through three or fewer nodes, and then determine the position of the target object based on the principle of three-point positioning. Compared with the conventional three-point positioning scheme that requires at least four nodes to be coordinated, this method can effectively reduce the number of nodes participating in sensing while ensuring the positioning effect, thereby reducing the pressure in aspects such as commercial deployment difficulty, coordination difficulty, privacy permission acquisition difficulty, and construction cost.

[0146] Furthermore, based on the characteristic that the terminal can move, the embodiments of the present disclosure can achieve obtaining more measurement information with fewer nodes. Among them, in addition to the necessary measurement information for positioning, other additional measurement information can also be used to calibrate the positioning results, further improving the robustness of the positioning method.

[0147] It can be understood that, in order to implement the above functions, the communication device (which can be the above positioning device) includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiments of the present disclosure, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the manner of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present disclosure.

[0148] The embodiments of the present disclosure can divide the functional modules of the communication device according to the above method embodiments. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one functional module. The above integrated module can be implemented in the form of hardware or software. It should be noted that the division of modules in the embodiments of the present disclosure is illustrative, only a logical function division, and there can be other division methods in actual implementation. The following takes the example of dividing each functional module corresponding to each function for illustration.

[0149] Figure 11 It is a schematic structural diagram of a communication device provided by the embodiments of the present disclosure, and the communication device can execute the positioning method provided by the above method embodiments. As Figure 11 shown, the communication device includes an acquisition module 1101 and a determination module 1102.

[0150] The acquisition module 1101 is used to acquire N measurement information; the N measurement information is obtained by M nodes sensing and detecting a target object; M is less than or equal to 3; N is greater than or equal to 3;

[0151] The determination module 1102 is used to determine the position of the target object based on the N measurement information.

[0152] In some embodiments, each of the N measurement information includes: the time delay information measured from the echo signal reflected by the node to the target object, and the position information of the node during measurement.

[0153] In some embodiments, the M nodes include a first node and a second node; the N measurement information at least includes first measurement information, second measurement information, and third measurement information; the first measurement information is the information obtained by the first node measuring the echo signal of the first sensing signal at the first position; the second measurement information is the information obtained by the first node measuring the echo signal of the second sensing signal at the second position; the third measurement information is the information obtained by the second node measuring the echo signal of the first sensing signal or the echo signal of the second sensing signal at the third position.

[0154] In some embodiments, the first sensing signal is the sensing signal sent by the first node at the first position; the second sensing signal is the sensing signal sent by the first node at the second position.

[0155] In some embodiments, the first sensing signal is the sensing signal sent by the second node at the third position; the second sensing signal is the signal sent by the second node at the third position.

[0156] In some embodiments, the first sensing signal is the sensing signal sent by the first node at the first position; the second sensing signal is the sensing signal sent by the second node at the third position.

[0157] In some embodiments, the M nodes include a first node and a second node; the N measurement information at least includes first measurement information, second measurement information, and third measurement information; the first measurement information is the information obtained by measuring the echo signal of the first sensing signal by the first node at the first position; the first sensing signal is the sensing signal sent by the first node at the first position; the second measurement information is the information obtained by measuring the echo signal of the second sensing signal by the first node at the second position; the second sensing signal is the sensing signal sent by the first node at the second position; the third measurement information is the information obtained by measuring the third sensing signal by the second node at the third position; the third sensing signal is the sensing signal sent by the second node at the third position.

[0158] In some embodiments, the M nodes include a first node, a second node, and a third node; the N measurement information at least includes first measurement information, second measurement information, third measurement information, and fourth measurement information; the first measurement information is the information obtained by measuring the echo signal of the first sensing signal by the first node at the first position; the second measurement information is the information obtained by measuring the echo signal of the second sensing signal by the first node at the second position; the third measurement information is the information obtained by measuring the echo signal of the first sensing signal or the second sensing signal by the second node at the third position; the fourth measurement information is the information obtained by measuring the echo signal of the first sensing signal or the second sensing signal by the third node at the fourth position.

[0159] In some embodiments, the first sensing signal is the sensing signal sent by the first node at the first position; the second sensing signal is the sensing signal sent by the first node at the second position.

[0160] In some embodiments, the first sensing signal is the sensing signal sent by the first node at the first position; the second sensing signal is the sensing signal sent by the second node at the third position, or the sensing signal sent by the third node at the fourth position.

[0161] In some embodiments, the first sensing signal is the sensing signal sent by the second node at the third position; the second sensing signal is the sensing signal sent by the third node at the fourth position.

[0162] In the case where the functions of the above integrated modules are implemented in the form of hardware, embodiments of the present disclosure provide another possible structure of the communication device involved in the above embodiments. As Figure 12 shown, the communication device 120 includes: a processor 1202, and a bus 1204. Optionally, the communication device may further include a memory 1201; optionally, the communication device may further include a communication interface 1203.

[0163] The processor 1202 may be used to implement or execute various exemplary logical blocks, modules, and circuits described in connection with the embodiments of the present disclosure. The processor 1202 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the embodiments of the present disclosure. The processor 1202 may also be a combination for implementing computing functions, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0164] The communication interface 1203 is used to connect to other devices through a communication network. The communication network may be an Ethernet, a radio access network, a wireless local area network (WLAN), etc.

[0165] The memory 1201 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium, or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0166] As a possible implementation, the memory 1201 can exist independently of the processor 1202. The memory 1201 can be connected to the processor 1202 through a bus 1204 and is used to store instructions or program codes. When the processor 1202 calls and executes the instructions or program codes stored in the memory 1201, the positioning method provided by the embodiments of the present disclosure can be implemented.

[0167] In another possible implementation, the memory 1201 can also be integrated with the processor 1202.

[0168] The bus 1204 can be an extended industry standard architecture (EISA) bus or the like. The bus 1204 can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 12 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0169] In some embodiments, executable instructions are stored in the memory 1201. When the processor 1202 executes the executable instructions, the communication device is enabled to execute the positioning method described in any one of the above embodiments.

[0170] Some embodiments of the present disclosure provide a computer-readable storage medium (for example, a non-transitory computer-readable storage medium). Computer program instructions are stored in the computer-readable storage medium. When the computer program instructions run on a computer, the computer is enabled to execute the positioning method described in any one of the above embodiments.

[0171] Exemplarily, the above computer-readable storage medium can include, but is not limited to: magnetic storage devices (such as hard disks, floppy disks, or magnetic tapes, etc.), optical discs (such as Compact Disks (CDs), Digital Versatile Disks (DVDs), etc.), smart cards, and flash memory devices (such as Erasable Programmable Read-Only Memories (EPROMs), cards, sticks, or key drives, etc.). The various computer-readable storage media described in the present disclosure can represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" can include, but is not limited to, wireless channels and various other media that can store, contain, and / or carry instructions and / or data.

[0172] The embodiments of the present disclosure provide a computer program product containing instructions. When the computer program product runs on a computer, the computer is enabled to execute the positioning method described in any one of the above embodiments.

[0173] As described above, it is only the specific implementation manner of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present disclosure should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A positioning method, characterized in that, The method includes: Obtaining N measurement information; the N measurement information is obtained by M nodes performing sensing detection on a target object; M is less than or equal to 3; N is greater than or equal to 3; Based on the N measurement information, determining the position of the target object.

2. The method according to claim 1, wherein Each of the N measurement information includes: the time delay information measured from the echo signal reflected by the node from the target object, and the position information of the node during measurement.

3. The method according to claim 1, characterized in that, The M nodes include a first node and a second node; the N measurement information includes at least first measurement information, second measurement information, and third measurement information; The first measurement information is the information obtained by the first node measuring the echo signal of the first sensing signal at the first position; The second measurement information is the information obtained by the first node measuring the echo signal of the second sensing signal at the second position; The third measurement information is the information obtained by the second node measuring the echo signal of the first sensing signal or the echo signal of the second sensing signal at the third position.

4. The method according to claim 3, characterized in that The first sensing signal is the sensing signal sent by the first node at the first position; the second sensing signal is the sensing signal sent by the first node at the second position.

5. The method according to claim 3, wherein The first sensing signal is the sensing signal sent by the second node at the third position; the second sensing signal is the signal sent by the second node at the third position.

6. The method according to claim 3, characterized in that, The first sensing signal is the sensing signal sent by the first node at the first position; the second sensing signal is the sensing signal sent by the second node at the third position.

7. The method according to claim 1, characterized in that, The M nodes include a first node and a second node; the N measurement information includes at least first measurement information, second measurement information, and third measurement information; The first measurement information is the information obtained by the first node measuring the echo signal of the first sensing signal at the first position; the first sensing signal is the sensing signal sent by the first node at the first position; The second measurement information is the information obtained by the first node measuring the echo signal of the second sensing signal at the second position; the second sensing signal is the sensing signal sent by the first node at the second position; The third measurement information is the information obtained by the second node measuring the third sensing signal at the third position; the third sensing signal is the sensing signal sent by the second node at the third position.

8. The method according to claim 1, wherein The M nodes include a first node, a second node, and a third node; the N measurement information includes at least first measurement information, second measurement information, third measurement information, and fourth measurement information; The first measurement information is the information obtained by the first node measuring the echo signal of the first sensing signal at the first position; The second measurement information is the information obtained by the first node measuring the echo signal of the second sensing signal at the second position; The third measurement information is the information obtained by the second node measuring the echo signal of the first sensing signal or the echo signal of the second sensing signal at the third position; The fourth measurement information is the information obtained by measuring the echo signal of the first sensing signal or the second sensing signal at the fourth position by the third node.

9. The method according to claim 8, wherein The first sensing signal is the sensing signal sent by the first node at the first position; the second sensing signal is the sensing signal sent by the first node at the second position.

10. The method according to claim 8, wherein The first sensing signal is the sensing signal sent by the first node at the first position; the second sensing signal is the sensing signal sent by the second node at the third position, or the sensing signal sent by the third node at the fourth position.

11. The method according to claim 8, wherein The first sensing signal is the sensing signal sent by the second node at the third position; the second sensing signal is the sensing signal sent by the third node at the fourth position.

12. A communication device, characterized in that, Including: A processor and a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions such that the communication device executes the positioning method according to any one of claims 1-11.

13. A computer-readable storage medium, characterized in that, Computer instructions are stored on the computer-readable storage medium such that the communication device executes the positioning method according to any one of claims 1-11.

Images