Group joint positioning method, device and equipment based on time difference positioning, medium and program product

Abstract

The invention relates to the technical field of electronic countermeasures, and provides a group joint positioning method, device and equipment based on time difference positioning, a medium and a program product, the method comprises the following steps: calibrating an observation system error, and designing an error tolerance value; collecting observation time difference of the observation system; selecting an observation range, and establishing a discretized map; traversing each cell in the discretization map, and performing assignment based on the error tolerance value and the observation time difference; and after assignment of all the cells is completed, traversing each cell on the map again, and searching the cell with the maximum value as a positioning result. According to the method, the requirement for the measurement time precision between the observation stations is low, and the data availability is improved and the requirement of positioning calculation for the observation precision is reduced through a method for constructing a discretization map and a limited diffusion calculation range in a unified space.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic countermeasures, and more particularly, to a group joint positioning method, device, equipment, medium and program product based on time difference of arrival (TDOA) positioning. Background Art

[0002] The traditional multi-station TDOA positioning method is a passive positioning technology that determines the target position by measuring the time difference of signals arriving at multiple observation stations. Hyperbolas are constructed using the time when the signal reaches different stations, and the target position is solved by the intersection of the lines. Generally, more than 3 stations are required for planar positioning to obtain a unique solution. This method has high requirements for the accuracy of the extracted time difference. When the synchronization accuracy between stations is low or the signal extraction and matching quality are poor, large calculation errors will occur, resulting in low positioning accuracy or inability to obtain a unique solution. Summary of the Invention

[0003] In view of the above problems, in order to reduce the impact of errors on the positioning result and enhance the stability of the positioning algorithm when using the TDOA positioning algorithm in a group system, the present invention provides a group joint positioning method, device, equipment, medium and program product based on TDOA positioning.

[0004] In a first aspect, the present invention provides a group joint positioning method based on TDOA positioning, including:

[0005] Calibrating the observation system error to design an error tolerance value;

[0006] Collecting the observed time differences of the observation system;

[0007] Selecting an observation range and establishing a discretized map;

[0008] Traversing each cell in the discretized map and assigning values based on the error tolerance value and the observed time differences;

[0009] After all cells are assigned values, traversing each cell on the map again to find the cell with the largest value as the positioning result.

[0010] In some embodiments, the observation range is set considering the capacity boundary of the observation system, the possible interval where the target may exist, and the expected positioning accuracy.

[0011] In some embodiments, the observation range needs to cover all observation stations and target points, and the actual size of the cells in the discretized map ≥ the maximum tolerable error.

[0012] In some embodiments, the traversing each cell in the discretized map and assigning values based on the error tolerance value and the observed time differences includes:

[0013] Traverse each cell on the discretized map. According to the distance from each cell to the observation station, calculate whether the time difference of arrival of the signal at each observation station meets the error range if the target point is located in this cell; the error range is the collected observation time difference ± error tolerance value;

[0014] If it meets the error range, then perform assignment.

[0015] In some embodiments, the method of assignment includes:

[0016] Map ij = M old + V new

[0017]

[0018] where Map ij represents the value of the currently accessed cell; V old is the old value of the currently accessed cell; V new is the value to be newly added to the currently accessed cell, to be calculated; V add is the value increased each time a hit occurs; V first_hit is the value set for the first hit; V offset is the error tolerance value; is the time difference of arrival of the signal to the observation station calculated for the currently traversed cell.

[0019] In some embodiments, if there are multiple cells with the largest search value, then take the average of their coordinates as the positioning result.

[0020] In a second aspect, the present invention provides a group joint positioning device based on time difference positioning, including:

[0021] A first processing unit, used to calibrate the observation system error, and thus design an error tolerance value;

[0022] A second processing unit, used to collect the observation time differences of the observation system;

[0023] A third processing unit, used to select an observation range and establish a discretized map;

[0024] A fourth processing unit, used to traverse each cell in the discretized map and perform assignment based on the error tolerance value and the observation time difference;

[0025] A fifth processing unit, used to, after completing the assignment of all cells, traverse each cell on the map again, and find the cell with the largest value as the positioning result.

[0026] In a third aspect, the present invention provides an electronic device, including:

[0027] At least one processor; and a memory communicatively connected to the at least one processor;

[0028] Wherein, the memory stores instructions executable by the at least one processor, and the at least one processor, by executing the instructions stored in the memory, causes the at least one processor to execute the above-mentioned method.

[0029] In a fourth aspect, the present invention provides a computer-readable storage medium for storing instructions, which, when executed, implement the above-mentioned method.

[0030] In a fifth aspect, the present invention provides a computer program product, which, when called by a computer, causes the computer to execute the above-mentioned method.

[0031] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows:

[0032] 1. The present invention has a lower requirement for the measurement time accuracy between observation stations. By constructing a discretized map in a unified space and using a method of finite diffusion calculation range, the data availability is improved, and the requirement for the observation accuracy of the positioning solution is reduced.

[0033] 2. In practical applications, the present invention can be quickly extended to a scale of more than three stations, and there is no requirement for all observation stations to receive the same signal pulse. In the positioning of static or slow-moving targets, the condition of asynchronous signal reception can be tolerated, and it has stronger stability and applicability for the positioning of large-scale and low-cost group systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a flowchart of a group joint positioning method based on time difference of arrival positioning provided by an embodiment of the present invention.

[0035] Figure 2 It is a schematic diagram of the first group of simulation experiments in an example of an embodiment of the present invention: three-station positioning simulation scenario_target (80, 30).

[0036] Figure 3 It is a comparison diagram of the positioning results of different algorithms in the first group of simulation experiments in an example of an embodiment of the present invention: three-station positioning simulation scenario_target (80, 30).

[0037] Figure 4 It is a schematic diagram of the second group of simulation experiments in an example of an embodiment of the present invention: three-station positioning simulation scenario_target (70, 60).

[0038] Figure 5 It is a comparison diagram of the positioning results of different algorithms in the second group of simulation experiments in an example of an embodiment of the present invention.

[0039] Figure 6 In an example of an embodiment of the present invention, a schematic diagram of the third group of simulation tests: a three-station positioning simulation scenario - target (20, 70).

[0040] Figure 7 A comparison chart of positioning results of different algorithms in the third group of simulation tests in an example of an embodiment of the present invention.

[0041] Figure 8 A comparison chart of positioning accuracies of different algorithms under different time difference accuracies in an example of an embodiment of the present invention.

[0042] Figure 9 A schematic structural diagram of a group joint positioning device based on time difference positioning provided by an embodiment of the present invention.

[0043] Figure 10 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0045] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0046] In a group joint positioning method based on time difference positioning proposed by an embodiment of the present invention, first, a calibration observation system error is determined, and an error tolerance value is designed. Then, time difference acquisition is performed. Specifically, after signal sorting and matching are completed by a master station and two slave stations, two types of time difference information are calculated according to master station - slave station 1 and master station - slave station 2. Next, an observation range is delimited, and a discretized map is established. After the above steps are completed, the discretized map is traversed, and each cell in the discretized map is assigned a value according to the collected time difference, error tolerance value, etc., thereby obtaining a discretized map with assigned values. The point with the largest value is searched for and output as the target point, and then the actual coordinates of the target point are inversely solved according to the conversion rules during the production of the discretized map.

[0047] As Figure 1 shown, the group joint positioning method based on time difference positioning includes the following steps:

[0048] S1, calibrate the observation system error and design an error tolerance value based on this.

[0049] The designed error tolerance value is denoted as V. offset . In some specific implementation manners, the observation system error may originate from the time extraction accuracy of itself or the time difference extraction accuracy after signal sorting and matching. Generally, this error is at the nanosecond to microsecond level. For example, if the system error is 1 ms, the error tolerance value V can be set offset = 1e-6.

[0050] S2, collect the observation time differences of the observation system.

[0051] In the observation system, for each group of observation stations that can perform time difference positioning (combinations that meet the master - slave position constraint and configuration constraint), calculate the time difference of arrival for the same signal, which is the observation time difference. For example, for the master station S i and the slave station S j , the reception times of the same signal are T i , T j respectively. The measured observation time difference can be obtained as T ij = T i - T j , and the positive and negative are distinguished.

[0052] For a three - station observation system, two time differences can be obtained according to the master - slave station 1 and master - slave station 2, which are respectively denoted as: T ij , T ik .

[0053] S3, select an observation range and establish a discretized map.

[0054] The observation range is mainly set considering the ability boundary of the observation system, the possible interval where the target may exist, the expected positioning accuracy, etc. In some embodiments, the observation range needs to cover all observation stations and target points, and make the actual size of the cells in the discretized map ≥ the maximum tolerable error (for example, if the acceptable positioning error is 1 kilometer, the actual meaning corresponding to the side length of the cell should not be less than 1000 m). Convert the actual positions of the observation stations into coordinate positions in the discretized map. The coordinates of each observation station S i are (x i , y i ). The coordinates of the target T are temporarily unknown and are denoted as (x T , y T ).

[0055] All cells in the discretized map are initialized and assigned 0:

[0056] Map ij= 0, i, j ∈ [0, Map_Size)

[0057] S4. Traverse each cell in the discretized map and assign values based on the error tolerance and the time difference of observations

[0058] Traverse each cell on the discretized map. According to the distance from each cell to the observation station, calculate whether the time difference of the signal arriving at each observation station meets the error range if the target point is located in this cell. Due to systematic errors, it only needs to meet the error range of the collected time difference of observations ± the error tolerance value V offset That's all

[0059] For example, currently traversing to cell (x now , y now )

[0060] Calculate the distance D from the current cell (x now , y now ) to each observation station S i , expressed as ni :

[0061]

[0062] The signal transmission speed is C, and then calculate the time T required for the signal to propagate over this distance D ni , expressed as ni :

[0063] T ni = D ni / C

[0064] Calculate the time difference of the signal from the currently traversed cell to the observation station

[0065] T ijob = T ni - T nj

[0066] If the time difference generated by this cell meets the error range, then assign a value

[0067] Map ij = V old + V new

[0068]

[0069] Among them, Map ij represents the value of the currently accessed cell; V old is the old value of the currently accessed cell and can be directly read; V new is the value to be newly added for the currently accessed cell and awaits calculation; V addis the value incremented for each hit, set in advance; V first_hit is the value set for the first hit, set in advance.

[0070] S5. After assigning values to all cells, traverse each cell on the map again to find the cell with the largest value as the positioning result. In some embodiments, if there are multiple cells (x max , y max ) with the largest value, the average of their coordinates is taken as the positioning result, expressed as:

[0071] x T = x max or x max_avg

[0072] y T = y max or y max_avg

[0073] where, x max_avg is the average abscissa of multiple cells with the largest value, and y max_avg is the average ordinate of multiple cells with the largest value.

[0074] To verify and illustrate the performance of the target positioning method proposed by the present invention, according to the Figure 1 shown process, three application examples with different positional relationships between the observation stations and the target points were carried out. The scenario deployment of the first group of examples is as Figure 2 shown, the scenario deployment of the second group of examples is as Figure 4 shown, and the scenario deployment of the third group of examples is as Figure 6 shown. The results of the first group of examples are as Figure 3 shown, the results of the second group of examples are as Figure 5 shown, and the results of the third group of examples are as Figure 7 shown. The variable within the examples is the time difference accuracy, and the variable between the examples is the observation configuration. The specific implementation steps are as follows:

[0075] 1. Set up a simulation scenario: The test area is a square field with a size of 100 km × 100 km. The x and y axes are set with 1 unit representing 1 km. The observation stations are distributed on the left side of the field and are deployed according to (15, 20), (5, 40), (5, 60); the signals are emitted from the target points, and a total of three groups are set to cover various observation angles. In the first group of experiments, the target coordinates are (80, 30), in the second group of experiments, the target coordinates are (70, 60), and in the third group of experiments, the target coordinates are (20, 70).

[0076] 2. At the beginning of each group of experiments, adjust the errors of the signal arrival time differences collected by the two observation stations (set to 1 - 8 microseconds respectively). Let the target point emit signals 100 times repeatedly.

[0077] 3. The observation stations perform calculations using three different algorithms respectively and complete data statistics. The three algorithms are: the traditional time difference of arrival positioning algorithm (TDOA), the traditional time difference of arrival positioning algorithm + accumulation (TDOA_all), and the group joint positioning method based on time difference of arrival positioning of the present invention (Map).

[0078] 4. The calculation process of the traditional time difference of arrival positioning algorithm (TDOA) is as follows. For each set of three - station time difference data (a total of two, master station - slave station 1, master station - slave station 2), calculate the target position (x T , y T ) once. Calculate a positioning error each time. Assume the distance D from the true target position (x T_Real , y T_Real ) to the calculated target position (x T , y T ). Given the observation range R = 100, the error is D / R%. After all data calculations are completed (this experiment is repeated 100 times), output according to the average error.

[0079] 5. The calculation process of the traditional time difference of arrival positioning algorithm + accumulation (TDOA_all) is as follows. For each set of three - station time difference data (a total of two, master station - slave station 1, master station - slave station 2), calculate the target position (x T , y T ) once. After recording the results of 100 calculations, find the average coordinates of all (x T , y T ), and then use the average coordinates (x T_avg , y T_avg ) and the true target position (x T_Real , y T_Real ) to calculate the positioning accuracy once.

[0080] 6. The calculation process of the group joint positioning method based on time difference of arrival positioning of the present invention (Map) is as follows. Accumulate 100 groups of time difference data on the same discrete map, and finally find the coordinates (x T , y T ) of the maximum value once. Use these coordinates and the true target position (x T_Real , y T_Real ) to calculate the positioning accuracy once.

[0081] The statistical comparison results of this example are as Figure 8As shown, when the time difference accuracy deteriorates to 6 microseconds, the error of the time difference positioning or the optimized time difference positioning method has exceeded an order of magnitude of this method; when the time difference deteriorates to 7 microseconds, the error has reached three orders of magnitude. It can be seen that the group joint positioning method based on time difference positioning of the present invention has insignificant decrease in efficiency when the time difference accuracy gradually decreases (from 1 microsecond to 8 microseconds), and has great advantages in stability compared with the traditional time difference positioning algorithm.

[0082] Based on the same technical concept, as Figure 9 shown, an embodiment of the present invention provides a group joint positioning device based on time difference positioning, including:

[0083] A first processing unit, configured to calibrate the observation system error and design an error tolerance value accordingly;

[0084] A second processing unit, configured to collect the observed time difference of the observation system;

[0085] A third processing unit, configured to select an observation range and establish a discretized map;

[0086] A fourth processing unit, configured to traverse each cell in the discretized map and assign values based on the error tolerance value and the observed time difference;

[0087] A fifth processing unit, configured to, after all cells are assigned values, traverse each cell on the map again and find the cell with the largest value as the positioning result.

[0088] As for the specific processing methods of each processing unit in the above device, reference can be made to the specific description of the above method, which will not be elaborated here.

[0089] Based on the same technical concept, an embodiment of the present invention further provides an electronic device, which can implement the process of the group joint positioning method based on time difference positioning provided in the above embodiment of the present invention. In one embodiment, the electronic device can be a server, or a terminal device or other electronic devices. As Figure 10 shown, the electronic device may include:

[0090] At least one processor, and a memory connected to at least one processor. In the embodiment of the present invention, the specific connection medium between the processor and the memory is not limited. Figure 10 Here, it is taken as an example that the processor and the memory are connected through a bus. The bus is represented by a thick line in Figure 10 Here, and the connection manners between other components are only for illustrative purposes and are not to be construed as limiting. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 10It is only represented by a thick line, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor may also be referred to as a controller, and there is no restriction on the name.

[0091] In an embodiment of the present invention, the memory stores instructions executable by at least one processor. By executing the instructions stored in the memory, the at least one processor can execute a group joint positioning method based on time difference positioning as described above. The processor can implement Figure 10 the functions of each module in the device shown.

[0092] Among them, the processor is the control center of the device. It can use various interfaces and lines to connect all parts of the entire control device. By running or executing the instructions stored in the memory and calling the data stored in the memory, various functions of the device and process data, so as to monitor the device as a whole.

[0093] In an alternative design, the processor may include one or more processing units. The processor may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above modem processor may not be integrated into the processor. In some embodiments, the processor and the memory may be implemented on the same chip. In some embodiments, they may also be implemented separately on independent chips.

[0094] The processor may be a general-purpose processor, such as a CPU, a digital signal processor, an application-specific integrated circuit, a field programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of a group joint positioning method based on time difference positioning disclosed in combination with the embodiments of the present invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0095] As a non-volatile computer-readable storage medium, the memory can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory can include at least one type of storage medium, for example, it can include flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memory, magnetic disk, optical disc, and so on. The memory is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in the embodiments of the present invention can also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0096] By designing and programming the processor, the code corresponding to a method for group joint positioning based on time difference positioning introduced in the foregoing embodiments can be solidified into the chip, so that the chip can execute the steps of the method in the foregoing embodiments when running. How to design and program the processor is a well-known technology to those skilled in the art and will not be elaborated here.

[0097] Based on the same inventive concept, an embodiment of the present invention further provides a storage medium storing computer instructions, which, when run on a computer, cause the computer to execute a method for group joint positioning based on time difference positioning discussed above.

[0098] In some optional embodiments, the present invention also provides that various aspects of a method for group joint positioning based on time difference positioning can also be implemented in the form of a program product, which includes program code that, when the program product runs on a device, causes the control device to execute the steps in a method for group joint positioning based on time difference positioning according to various exemplary embodiments of the present invention described above in this specification.

[0099] It should be noted that although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present invention, the features and functions of two or more of the above-described units may be embodied in one unit. Conversely, the features and functions of one unit described above may be further divided and embodied by multiple units. Additionally, although the operations of the method of the present invention are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution.

[0100] Those skilled in the art should understand that the embodiments of the present invention may be provided as a method, a system, or a computer program product. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0101] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a server, such that the instructions executed by the processor of the computer or other programmable data processing device generate means for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0102] The program code for performing the operations of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0103] In the case of a remote computing device, the remote computing device can be connected to the user computing device via any kind of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., by using an Internet service provider to connect via the Internet).

[0104] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one process Figure 1 or more processes and / or blocks Figure 1 or more blocks specified in one block or more blocks.

[0105] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one process Figure 1 or more processes and / or blocks Figure 1 or more blocks specified in one block or more blocks.

[0106] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A group joint positioning method based on time difference positioning, characterized in that, Including: Calibrate the observation system error to design an error tolerance value; Collect the observation time difference of the observation system; Select an observation range and establish a discretized map; Traverse each cell in the discretized map and assign values based on the error tolerance value and the observation time difference; After all cells are assigned values, traverse each cell on the map again to find the cell with the largest value as the positioning result.

2. The group joint positioning method based on time difference positioning according to claim 1, wherein The observation range is set considering the ability boundary of the observation system, the possible interval where the target may exist, and the expected positioning accuracy.

3. The method for group joint positioning based on time difference positioning according to claim 2, wherein The observation range needs to cover all observation stations and target points, and make the actual size of the cells in the discretized map ≥ the maximum tolerable error.

4. The method for group joint positioning based on time difference positioning according to claim 1, wherein, The traversing each cell in the discretized map and assigning values based on the error tolerance value and the observation time difference includes: Traverse each cell on the discretized map, and calculate whether the time difference of the signal arriving at each observation station conforms to the error range if the target point is located in this cell according to the distance from each cell to the observation station; the error range is the collected observation time difference ± the error tolerance value; If it conforms to the error range, then assign a value.

5. The method for group joint positioning based on time difference positioning according to claim 4, wherein The method of the assignment includes: Map ij = V old + V new Among them, Map ij represents the value of the currently accessed cell; V old is the old value of the currently accessed cell; V new is the value to be newly added to the cell being accessed this time, to be calculated; V add is the value increased each time a hit occurs; V first_hit is the value set for the first hit; V offset is the error tolerance value; T ijob is the time difference between the signal calculated for the currently traversed cell and the observation station.

6. The group joint positioning method based on time difference positioning according to claim 1, wherein, If there are multiple cells with the largest value found, take the average value of their coordinates as the positioning result.

7. A group joint positioning device based on time difference positioning, characterized in that, Including: A first processing unit for calibrating the observation system error to design an error tolerance value; A second processing unit for collecting the observation time difference of the observation system; A third processing unit for selecting an observation range and establishing a discretized map; A fourth processing unit for traversing each cell in the discretized map and assigning values based on the error tolerance value and the observation time difference; A fifth processing unit for, after all cells are assigned values, traversing each cell on the map again to find the cell with the largest value as the positioning result.

8. An electronic device, characterized in that, Including: At least one processor; And a memory communicatively connected to the at least one processor; Wherein, the memory stores instructions executable by the at least one processor, and the at least one processor, by executing the instructions stored in the memory, causes the at least one processor to execute the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store instructions, and when the instructions are executed, the method according to any one of claims 1-6 is implemented.

10. A computer program product, characterized in that, When the computer program product is called by a computer, the computer is caused to execute the method according to any one of claims 1-6.

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