Positioning method, electronic equipment, storage medium and program product

Abstract

The invention provides a positioning method, electronic equipment, a storage medium and a program product, relates to the technical field of communication, and is used for improving the response speed of object positioning. The method comprises the following steps: acquiring first position information and first speed information of a target object at a first sensing moment; determining a spatial constraint range of the target object based on the first position information and the first speed information; the spatial constraint range is used for reflecting a spatial range where the target object possibly appears at the second sensing moment; the first sensing moment is earlier than the second sensing moment; and under the condition that an echo signal reflected by the target object at the second sensing moment is received, determining position information of the target object at the second sensing moment based on the spatial constraint range and the echo signal reflected by the target object at the second sensing moment.

Description

Technical Field

[0001] The present application relates to the field of communication technologies, and in particular, to a positioning method, an electronic device, a storage medium, and a program product. Background Art

[0002] With the continuous development of the digital information age, in addition to meeting higher communication performance, communication network devices will also expand to support more application service capabilities. Among them, sensing services are one of the new service capabilities with the greatest development potential. Various sensing services in communication sensing integration are mainly realized based on the position and speed of the sensed object. Therefore, the sensing performance of the communication system for the position and speed of the object is the main factor affecting the quality of the sensing service.

[0003] In the existing technical solutions, object positioning requires constructing a spatial spectrum, and the multiple signal classification (MUSIC) algorithm is used multiple times within the range of the spatial spectrum to measure angles and distances. Since the spatial spectrum range used by the MUSIC algorithm for positioning is large and the computational complexity is high, the amount of calculation required for object positioning is large and the positioning time is long, affecting the real-time performance of the positioning result. Summary of the Invention

[0004] The present application provides a positioning method, an electronic device, a storage medium, and a program product, which are used to improve the response speed of object positioning and thus improve real-time performance.

[0005] In a first aspect, the present application provides a positioning method, including: obtaining first position information and first speed information of a target object at a first sensing moment; determining a spatial constraint range of the target object based on the first position information and the first speed information; the spatial constraint range is used to reflect the spatial range where the target object may appear at a second sensing moment; the first sensing moment is earlier than the second sensing moment; and in the case of receiving an echo signal reflected by the target object at the second sensing moment, determining the position information of the target object at the second sensing moment based on the spatial constraint range and the echo signal reflected by the target object at the second sensing moment.

[0006] The technical solution provided by this application at least brings the following beneficial effects: The positioning method provided by this application can determine the position information of the target object at the second sensing moment based on the spatial range where the target object may appear at the second sensing moment and the echo signal reflected by the target object. By determining the spatial range where the target object may appear at the second sensing moment, the amount of data to be processed can be reduced, the algorithm complexity of calculating the position information of the target object at the second sensing moment can be reduced, thereby improving the speed of positioning the target object, further improving the real-time performance, and also being able to limit the position to the area where the target object may appear when calculating the position information of the target object at the second sensing moment, improving the accuracy of the position information detection result.

[0007] A possible implementation manner is that the spatial constraint range is a spherical region; determining the spatial constraint range of the target object based on the first position information and the first velocity information includes: determining the distance between the center of the spherical region and the geometric center of the antenna array based on the first position information, the first velocity information, and the time interval between the first sensing moment and the second sensing moment; determining the radius of the spherical region based on the maximum acceleration of the target object during movement; determining the spatial constraint range based on the distance between the center of the spherical region and the geometric center of the antenna array and the radius of the spherical region.

[0008] Another possible implementation manner is to determine the position information of the target object based on the spatial constraint range and the echo signal reflected by the target object at the second sensing moment, including: determining the spatial spectrum range of the echo signal reflected by the target object at the second sensing moment based on the spatial constraint range; determining the position information of the target object based on the spatial spectrum range and the echo signal reflected by the target object at the second sensing moment.

[0009] Another possible implementation manner is that the spatial spectrum range includes at least one of the following: distance spatial spectrum range, angle spatial spectrum range.

[0010] Another possible implementation manner is that the spatial constraint range is a spherical region. In the case where the spatial spectrum range includes the distance spatial spectrum range, determining the spatial spectrum range of the echo signal reflected by the target object at the second sensing moment based on the spatial constraint range includes: determining the value range of the distance between the target object and the geometric center of the antenna array at the second sensing moment based on the distance between the center of the spherical region and the geometric center of the antenna array and the radius of the spherical region; determining the distance spatial spectrum range based on the value range of the distance between the target object and the geometric center of the antenna array.

[0011] Another possible implementation manner is that the value range of the distance between the target object and the geometric center of the antenna array satisfies the following formula:

[0012]

[0013] Among them, d n represents the distance between the target object and the geometric center of the antenna array, represents the distance between the center of the spherical region and the geometric center of the antenna array, and r0 represents the radius of the spherical region.

[0014] Another possible implementation is that the spatial constraint range is a spherical region. When the spatial spectrum range includes the angular spatial spectrum range, determining the spatial spectrum range of the echo signal reflected by the target object at the second sensing moment based on the spatial constraint range includes: determining the value range of the angle between the target object and the geometric center of the antenna array at the second sensing moment based on the distance between the center of the spherical region and the geometric center of the antenna array, the radius of the spherical region, and the direction of the center of the spherical region relative to the geometric center of the antenna array; determining the angular spatial spectrum range based on the value range of the angle between the target object and the geometric center of the antenna array.

[0015] Another possible implementation is that the value range of the angle between the target object and the geometric center of the antenna array includes the azimuth range; the azimuth range satisfies the following formula:

[0016]

[0017] Among them, Φ n represents the azimuth angle of the target object relative to the geometric center of the antenna array, represents the azimuth angle of the center of the spherical region relative to the geometric center of the antenna array, represents the distance between the center of the spherical region and the geometric center of the antenna array, and r0 represents the radius of the spherical region.

[0018] Another possible implementation is that the value range of the angle between the target object and the geometric center of the antenna array includes the elevation angle range; the elevation angle range satisfies the following formula:

[0019]

[0020] Among them, θ0 represents the elevation angle of the target object relative to the geometric center of the antenna array, represents the elevation angle of the center of the spherical region relative to the geometric center of the antenna array, represents the distance between the center of the spherical region and the geometric center of the antenna array, r n represents the radius of the spherical region.

[0021] Another possible implementation method, in the case where the spatial spectrum range includes the angular spatial spectrum range, based on the spatial spectrum range and the echo signal reflected by the target object at the second sensing moment, determining the position information of the target object includes: based on the echo signal reflected by the target object at the second sensing moment, determining the received signal matrix; based on the received signal matrix and the angular spatial spectrum range, determining the direction measurement result of the target object.

[0022] Another possible implementation method, in the case where the spatial spectrum range includes the distance spatial spectrum range, based on the spatial spectrum range and the echo signal reflected by the target object at the second sensing moment, determining the position information of the target object includes: based on the direction measurement result, determining the single-path echo signal from the echo signal reflected by the target object at the second sensing moment; based on the single-path echo signal and the sensing signal transmitted by the antenna array, determining the observation matrix; based on the observation matrix and the distance spatial spectrum range, determining the position information of the target object.

[0023] Another possible implementation method, the sensing signal includes orthogonal frequency-division multiplexing (OFDM) symbols; determining the observation matrix based on the single-path echo signal and the sensing signal transmitted by the antenna array includes: based on the OFDM symbols of each resource unit on the single-path echo signal and the OFDM symbols of the corresponding resource units in the sensing signal, determining the phase offset of each resource unit; based on the phase offset of each resource unit, determining the observation matrix.

[0024] In a second aspect, the present application provides an object positioning device, including a communication module and a determination module; the communication module is configured to obtain the first position information and the first speed information of the target object at the first sensing moment; the determination module is configured to determine the spatial constraint range of the target object based on the first position information and the first speed information; the spatial constraint range is used to reflect the spatial range where the target object may appear at the second sensing moment; the first sensing moment is earlier than the second sensing moment; in the case of receiving the echo signal reflected by the target object at the second sensing moment, based on the spatial constraint range and the echo signal reflected by the target object at the second sensing moment, determining the position information of the target object at the second sensing moment.

[0025] A possible implementation method, the spatial constraint range is a spherical region; the determination module is specifically configured to determine the distance between the center of the spherical region and the geometric center of the antenna array based on the first position information, the first speed information, and the time interval between the first sensing moment and the second sensing moment; determining the radius of the spherical region based on the maximum acceleration of the target object during the movement process; based on the distance between the center of the spherical region and the geometric center of the antenna array and the radius of the spherical region, determining the spatial constraint range.

[0026] Another possible implementation, a determination module, specifically configured to determine the spatial spectrum range of the echo signal reflected by the target object at the second sensing moment based on the spatial constraint range; and determine the position information of the target object based on the spatial spectrum range and the echo signal reflected by the target object at the second sensing moment.

[0027] Another possible implementation, the spatial spectrum range includes at least one of the following: distance spatial spectrum range, angle spatial spectrum range.

[0028] Another possible implementation, the spatial constraint range is a spherical region. When the spatial spectrum range includes the distance spatial spectrum range, the determination module is specifically configured to determine the value range of the distance between the target object and the geometric center of the antenna array at the second sensing moment based on the distance between the center of the spherical region and the geometric center of the antenna array, and the radius of the spherical region; and determine the distance spatial spectrum range based on the value range of the distance between the target object and the geometric center of the antenna array.

[0029] Another possible implementation, the value range of the distance between the target object and the geometric center of the antenna array satisfies the following formula:

[0030]

[0031] where d n represents the distance between the target object and the geometric center of the antenna array, represents the distance between the center of the spherical region and the geometric center of the antenna array, and r n represents the radius of the spherical region.

[0032] Another possible implementation, the spatial constraint range is a spherical region. When the spatial spectrum range includes the angle spatial spectrum range, the determination module is specifically configured to determine the value range of the angle between the target object and the geometric center of the antenna array at the second sensing moment based on the distance between the center of the spherical region and the geometric center of the antenna array, the radius of the spherical region, and the direction of the center of the spherical region relative to the geometric center of the antenna array; and determine the angle spatial spectrum range based on the value range of the angle between the target object and the geometric center of the antenna array.

[0033] Another possible implementation, the value range of the angle between the target object and the geometric center of the antenna array includes the azimuth range; the azimuth range satisfies the following formula:

[0034]

[0035] where Φ n represents the azimuth angle of the target object relative to the geometric center of the antenna array, It represents the azimuth angle of the center of the spherical region relative to the geometric center of the antenna array. It represents the distance between the center of the spherical region and the geometric center of the antenna array, and r0 represents the radius of the spherical region.

[0036] In another possible implementation, the value range of the angle between the target object and the geometric center of the antenna array includes the pitch angle range; the pitch angle range satisfies the following formula:

[0037]

[0038] Among them, θ0 represents the pitch angle of the target object relative to the geometric center of the antenna array. It represents the pitch angle of the center of the spherical region relative to the geometric center of the antenna array. It represents the distance between the center of the spherical region and the geometric center of the antenna array, and r n represents the radius of the spherical region.

[0039] In another possible implementation, in the case where the spatial spectrum range includes the angular spatial spectrum range, the determination module is specifically configured to determine the received signal matrix based on the echo signal reflected by the target object at the second sensing moment; and determine the direction measurement result of the target object based on the received signal matrix and the angular spatial spectrum range.

[0040] In another possible implementation, in the case where the spatial spectrum range includes the distance spatial spectrum range, the determination module is specifically configured to determine the single-path echo signal from the echo signal reflected by the target object at the second sensing moment based on the direction measurement result; determine the observation matrix based on the single-path echo signal and the sensing signal transmitted by the antenna array; and determine the position information of the target object based on the observation matrix and the distance spatial spectrum range.

[0041] In another possible implementation, the sensing signal includes OFDM symbols; the determination module is specifically configured to determine the phase offset of each resource unit based on the OFDM symbols of each resource unit on the single-path echo signal and the OFDM symbols of the corresponding positions of the resource units in the sensing signal; and determine the observation matrix based on the phase offset of each resource unit.

[0042] In a third aspect, the present application provides an electronic device, which includes: a processor and a memory; the memory stores instructions executable by the processor; when the processor is configured to execute the instructions, the electronic device implements the method of the first aspect above.

[0043] In a fourth aspect, the present application provides a computer-readable storage medium, which includes: computer software instructions; when the computer software instructions run in an electronic device, the electronic device implements the method of the first aspect above.

[0044] In a fifth aspect, the present application provides a computer program product, which includes a computer program; when the computer program runs on an electronic device, the electronic device is enabled to implement the method of the first aspect described above.

[0045] For the beneficial effects of the second to fifth aspects described above, reference may be made to the corresponding descriptions of the first aspect, and details will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of an application environment of a positioning method provided by the present application;

[0047] Figure 2 It is a schematic diagram of a base station structure provided by the present application;

[0048] Figure 3 It is a schematic flowchart of a positioning method provided by the present application;

[0049] Figure 4 It is a schematic flowchart of another positioning method provided by the present application;

[0050] Figure 5 It is a schematic flowchart of yet another positioning method provided by the present application;

[0051] Figure 6 It is a schematic flowchart of yet another positioning method provided by the present application;

[0052] Figure 7 It is a schematic diagram of the composition of an object positioning device provided by the present application;

[0053] Figure 8 It is a schematic diagram of the structure of an electronic device provided by the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0054] The positioning method provided by the present application will be described in detail below with reference to the accompanying drawings.

[0055] The terms "first" and "second" etc. in the description and drawings of the present application are used to distinguish different objects or different treatments of the same object, rather than to describe a specific order of the objects.

[0056] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include other steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices.

[0057] It should be noted that in the embodiments of the present application, 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 embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0058] For the convenience of clearly describing the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish identical or similar items with basically the same functions and roles. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order.

[0059] In the description of the present application, unless otherwise specified, the meaning of "a plurality of" refers to two or more.

[0060] The technical solutions provided by the embodiments of the present application can be applied to various mobile communication networks. For example, a new radio (NR) mobile communication network using 5G, a future mobile communication network, or a multi-communication fusion system, etc. The embodiments of the present application do not limit this.

[0061] With the continuous development of the digital information age, in addition to meeting higher communication performance, communication network devices will also expand to support more application service capabilities. Among them, sensing services are one of the new service capabilities with the greatest development potential. The sensing ability of the communication network can provide information about the surrounding environment and objects for building intelligent services and intelligent networks in the future, thereby promoting the derivation of more new application services and making people's work and life more efficient. Therefore, currently in the research on 5G-A and future mobile networks, the integration of the communication function and the sensing function of the mobile communication system is an important research direction.

[0062] Currently, according to the research of 3GPP in the communication sensing integration scenario and the relevant white papers published by the industry, the future communication sensing integration scenarios mainly include intelligent factories, intelligent transportation, intelligent life, drone supervision, etc.

[0063] In the intelligent factory scenario, the base station and the terminal jointly sense the movement states of workers, automated guided vehicles, autonomous mobile robots, etc. in the factory for tracking to avoid safety accidents; in the intelligent transportation scenario, the base station needs to sense the road environment, vehicles, and pedestrians to assist the regulatory authorities in traffic management or provide additional information to pedestrians and drivers to assist travel and driving; in the intelligent life scenario, the base station and the terminal jointly sense people, as well as people's gestures and postures, etc., thereby providing some functions that can facilitate life, such as action recognition, fall detection, intrusion detection, respiratory rate detection, remote medical treatment, etc.; in the UAV supervision scenario, the base station senses the UAV and the surrounding environment to achieve the positioning of the UAV. At the same time, the sensed environmental information is used to assist the UAV in obstacle avoidance, and some illegal phenomena such as UAV black flying can also be prevented.

[0064] In communication-sensing integration, various sensing services are mainly realized based on the position and speed of the sensed object. Therefore, the sensing performance of the communication system for the position and speed of the object is the main factor affecting the quality of the sensing service.

[0065] In the existing technical solutions, object positioning requires constructing a spatial spectrum, and the MUSIC algorithm is used multiple times within the range of the spatial spectrum for angle and distance measurement. Since the spatial spectrum range used by the MUSIC algorithm for positioning is large and the computational complexity is high, the amount of computation required for object positioning is large and the positioning time is long, affecting the real-time performance of the positioning result.

[0066] To address the above technical problems, the present application provides a positioning method, the idea of which is: to be able to determine the spatial range where the target object may appear at the second sensing moment; based on the spatial range where the target object may appear at the second sensing moment and the echo signal reflected by the target object, determine the position information of the target object at the second sensing moment. By determining the spatial range where the target object may appear at the second sensing moment, the amount of data to be processed can be reduced, the algorithm complexity of calculating the position information of the target object at the second sensing moment can be reduced, thereby improving the speed of positioning the target object. Moreover, when calculating the position information of the target object at the second sensing moment, the position can be restricted to the area where the target object may appear, improving the accuracy of the position information detection result.

[0067] The following specifically introduces the embodiments provided by the present application in conjunction with the accompanying drawings of the specification.

[0068] The positioning method provided by the present application can be applied to an application environment as Figure 1 shown. As Figure 1 shown, this application environment includes: a base station 110 and a target object 120.

[0069] In some embodiments, the base station 110 may be a base station in Long Term Evolution (LTE), Long Term Evolution Advanced (LTEA), or an evolved Node B (eNB or eNodeB), a base station device 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, remote radio heads, reconfigurable intelligent surfaces (RIS), routers, wireless fidelity (WIFI) devices, and other network-side devices.

[0070] In some embodiments, the target object 120 is any static or dynamic object within the coverage range of the base station 110. For example, the target object 120 may be a dynamic object.

[0071] In some embodiments, as Figure 2 shown, the base station 110 includes an antenna array 111. Exemplarily, the base station 110 is configured to transmit a sensing signal to the target object 120 through the antenna array 111, and is further configured to receive an echo signal reflected by the target object 120 through the antenna array 111.

[0072] It should be noted that the distance between the antenna units in the antenna array 111 included in the base station 110 is much smaller than the distance between the base station 110 and the target object 120. Therefore, for the target object 120, the position of the geometric center of the antenna array 111 can be regarded as the position of each antenna unit included in the antenna array 111. The position of the geometric center of the antenna array 111 may be the average value of the position coordinates of all antenna units in the antenna array 111.

[0073] In some embodiments, the base station 110 further includes a processing device 112. The processing device 112 is configured to determine the spatial constraint range of the target object 120 based on the first position information and the first speed information of the target object 120 at the first sensing moment; the processing device 112 is further configured to, in the case of receiving the echo signal reflected by the target object 120 at the second sensing moment, determine the position information of the target object 120 at the second sensing moment based on the spatial constraint range and the echo signal reflected by the target object 120 at the second sensing moment.

[0074] Exemplarily, the processing device 112 may be a chip or a processor with computing capabilities. The processing device 112 may be a central processing unit (CPU), a microcontroller unit (MCU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or a field-programmable gate array (FPGA), etc. The specific device form of the processing device 112 is not limited in the embodiments of the present application.

[0075] In some embodiments, the target object 120 can reflect the sensing signal sent by the base station 110. Exemplarily, the sensing signal transmitted by the base station 110 to the target object 120 can propagate in space, the target object 120 can reflect the sensing signal propagating in space, and the sensing signal is reflected by the target object 120 and then propagates in space as an echo signal, and can be acquired by the base station 110.

[0076] In some embodiments, the sensing signal transmitted by the base station 110 can be reflected by multiple objects in space; different echo signals are reflected by multiple objects in space into space; the base station 110 can acquire the echo signals reflected by multiple objects in space. The target object 120 is any one of the multiple objects.

[0077] It should be noted that Figure 2 it is only an exemplary hardware implementation environment diagram, Figure 2 the number of devices included in it, the names of each device are not limited, and in addition to Figure 2 the devices shown, the base station may further include other devices, such as radio frequency front-end devices and baseband units, etc.

[0078] It should be noted that the system architecture described in the embodiments of the present application is for more clearly explaining the technical solutions of the embodiments of the present application, and does not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art know that with the evolution of the system architecture, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0079] See Figure 3 , which is a schematic flowchart of a positioning method provided by an embodiment of the present application. As Figure 3 shown, the positioning method provided by the present application can be implemented by the above base station, and specifically includes the following steps S201 to S203.

[0080] S201. Obtain the first position information and the first velocity information of the target object at the first sensing moment.

[0081] In some embodiments, the distance between the target object and the geometric center of the antenna array of the base station is much greater than the distance between the antenna elements included in the antenna array of the base station. For the target object, the position of the geometric center of the antenna array can be regarded as the position of each antenna element included in the antenna array. Therefore, the space where the base station and the target object are located can be regarded as a Cartesian coordinate system, with the position of the geometric center of the antenna array as the origin of the coordinate system. By selecting an appropriate scale, the coordinates in the Cartesian coordinate system can be corresponding to the positions in the space where the base station and the target object are located. Among them, the position of the geometric center of the antenna array can be the average value of the position coordinates of all antenna elements in the antenna array.

[0082] Based on this, the first position information of the target object at the first sensing moment can be represented by the coordinates in the Cartesian coordinate system; the velocity information of the target object at the first sensing moment can be the velocities of the target object in the Cartesian coordinate system along the horizontal axis (x-axis), vertical axis (y-axis), and elevation axis (z-axis). The first position information of the target object at the first sensing moment can also be represented by the pitch angle, azimuth angle of the target object relative to the coordinate origin at the first sensing moment, and the distance between the target object and the coordinate origin.

[0083] Among them, the pitch angle, azimuth angle of the target object relative to the coordinate origin at the first sensing moment, and the distance between the target object and the coordinate origin included in the first position information of the target object can be mutually converted with the coordinates in the Cartesian coordinate system included in the first position information of the target object.

[0084] As a possible implementation manner, when representing the first position information of the target object at the first sensing moment by the coordinates in the Cartesian coordinate system, the geometric center of the antenna array is used as the coordinate origin, and the plane where the antenna array is located is the YOZ plane, that is, the plane determined by the y-axis and the z-axis, and the x-axis is perpendicular to the plane where the antenna array is located and passes through the geometric center of the antenna array. Among them, the y-axis is parallel to the horizontal plane. The pitch angle of the target object relative to the coordinate origin can be the angle between the projection of the connection line between the target object and the coordinate origin on the XOZ plane and the x-axis; the azimuth angle of the target object relative to the coordinate origin can be the angle between the projection of the connection line between the target object and the coordinate origin on the XOY plane and the x-axis.

[0085] In some embodiments, the above step S201 can be specifically implemented as the following steps S2011 - S2012.

[0086] S2011. Transmit a sensing signal including multiple OFDM symbols through the antenna array.

[0087] It can be understood that the sensing signal transmitted by the base station can be reflected by the target object. After being reflected by the target object at the first sensing moment, the sensing signal propagates in space as the first echo signal.

[0088] S2012. Obtain the first echo signal reflected by the target object at the first sensing moment, and based on the first echo signal, determine the first position information and the first velocity information of the target object at the first sensing moment.

[0089] In some embodiments, when the first position information includes the pitch angle, azimuth angle of the target object, and the distance between the target object and the base station, the base station can process the first echo signal and determine the first position information of the target object at the first sensing moment based on the MUSIC algorithm.

[0090] In some embodiments, the first velocity information of the target object can be determined by extracting the frequency change caused by the Doppler effect in the first echo signal. Since the antenna array of a single base station can only determine the velocity component of an object along the direction of its received signal, there may be errors in the first velocity information obtained only based on the first echo signal received by a single base station. The first velocity information of the target object at the first sensing moment can be determined based on the first echo signals received by the antenna arrays of multiple base stations.

[0091] S202. Determine the spatial constraint range of the target object based on the first position information and the first velocity information.

[0092] Among them, the spatial constraint range is used to reflect the possible spatial range where the target object may appear at the second sensing moment, and the first sensing moment is earlier than the second sensing moment.

[0093] In some embodiments, when the first position information includes the coordinates of the target object at the first sensing moment, and the first velocity information includes the velocities of the target object along the horizontal axis (x-axis), vertical axis (y-axis), and elevation axis (z-axis) directions at the first sensing moment, if the first position information of the target object is The first velocity information is Then the coordinates of the target object at the second sensing moment satisfy the following formula (1).

[0094]

[0095] Among them, represents the x-axis coordinate of the target object at the second sensing moment, represents the y-axis coordinate of the target object at the second sensing moment, represents the z-axis coordinate of the target object at the second sensing moment, represents the x-axis coordinate of the target object at the first sensing moment, Represents the y-axis coordinate of the target object at the first sensing moment, Represents the z-axis coordinate of the target object at the first sensing moment, Represents the velocity of the target object in the x-axis direction at the first sensing moment, Represents the velocity of the target object in the y-axis direction at the first sensing moment, Represents the velocity of the target object in the z-axis direction at the first sensing moment, t n Represents the difference between the second sensing moment and the first sensing moment, Represents the acceleration of the target object in the x-axis direction, Represents the acceleration of the target object in the y-axis direction, Represents the acceleration of the target object in the z-axis direction.

[0096] It can be seen from the above formula (1) that at and are both 0, the coordinates of the target object at the second sensing moment can be directly determined based on the first position information and the first velocity information of the target object. That is, when the target object maintains a uniform motion, the position information of the target object at the second sensing moment is determined. However, in practical applications, the target object generally does not maintain a uniform motion, and the coordinates of the target object at the second sensing moment need to be determined based on the first position information, the first velocity information, and the acceleration information of the target object.

[0097] It can be understood that the maximum acceleration of the target object can be obtained based on the calibration experiment of the target object. In the case where the maximum acceleration of the target object cannot be determined through experiments, it can be considered that the maximum acceleration of the target object is not greater than the gravitational acceleration. Therefore, the acceleration of the target object satisfies the following formula (2).

[0098]

[0099] Among them, Represents the acceleration of the target object in the x-axis direction, Represents the acceleration of the target object in the y-axis direction, Represents the acceleration of the target object in the z-axis direction, a max Represents the maximum acceleration of the target object.

[0100] Based on the above formula (1), it can be seen that the coordinates of the target object at the second sensing moment satisfy the following formula (3).

[0101]

[0102] Combining the above formula (2) and formula (3), it can be obtained that the coordinates of the target object at the second sensing moment satisfy the following formula (4).

[0103]

[0104] Based on the above formula (4), it can be seen that the possible spatial range of the target object at the second sensing moment is a spherical region, and the center coordinates of the sphere are The radius of the spherical region is

[0105] Based on this, as a possible implementation, the spatial constraint range used to reflect the possible spatial range of the target object at the second sensing moment is a spherical region. As Figure 4 shown, the above step S202 can be specifically implemented as the following steps S2021 - S2023.

[0106] S2021. Determine the distance between the center of the sphere of the spherical region and the geometric center of the antenna array based on the first position information, the first velocity information, and the time interval between the first sensing moment and the second sensing moment.

[0107] Exemplarily, the distance between the center of the sphere of the spherical region and the geometric center of the antenna array satisfies the following formula (5).

[0108]

[0109] where, represents the distance between the center of the sphere of the spherical region and the geometric center of the antenna array, represents the x - axis coordinate of the target object at the first sensing moment, represents the y - axis coordinate of the target object at the first sensing moment, represents the z - axis coordinate of the target object at the first sensing moment, represents the velocity of the target object along the x - axis direction at the first sensing moment, represents the velocity of the target object along the y - axis direction at the first sensing moment, represents the velocity of the target object along the z - axis direction at the first sensing moment, and t0 represents the difference between the second sensing moment and the first sensing moment.

[0110] S2022. Determine the radius of the spherical region based on the maximum acceleration of the target object during the movement.

[0111] Exemplarily, the radius of the spherical region satisfies the following formula (6).

[0112]

[0113] where, r0 represents the radius of the spherical region, t0 represents the difference between the second sensing moment and the first sensing moment, and a max represents the maximum acceleration of the target object.

[0114] S2023. Determine the spatial constraint range based on the distance between the center of the sphere region and the geometric center of the antenna array, and the radius of the sphere region.

[0115] Exemplarily, since the geometric center of the antenna array is the origin of coordinates, the distance between the center of the sphere region and the geometric center of the antenna array can be obtained from the coordinates of the center of the sphere region. Therefore, the distance between the center of the sphere region and the geometric center of the antenna array includes the coordinates of the center of the sphere region in the x-axis, y-axis, and z-axis under the Cartesian coordinate system, and the spatial constraint range satisfies the above formula (4).

[0116] It should be noted that the first sensing moment is the moment when the target object reflects the first echo signal based on the sensing signal transmitted by the base station, and the second sensing moment is the moment when the target object reflects the echo signal based on the sensing signal transmitted by the base station for the next time after reflecting the first echo signal. Since the speed of the radio signal is much greater than the moving speed of the target object, the time difference between two adjacent sensing signals transmitted by the base station or the time difference between two adjacent echo signals received by the base station can be used as the difference between the second sensing moment and the first sensing moment.

[0117] S203. When receiving the echo signal reflected by the target object at the second sensing moment, determine the position information of the target object at the second sensing moment based on the spatial constraint range and the echo signal reflected by the target object at the second sensing moment.

[0118] In some embodiments, as Figure 5 shown, the above step S203 can be specifically implemented as the following steps S2031 - S2032.

[0119] S2031. Determine the spatial spectrum range of the echo signal reflected by the target object at the second sensing moment based on the spatial constraint range.

[0120] In some embodiments, the spatial spectrum range is used to represent the spatial position or direction of the echo signal received by the antenna array of the base station, that is, the spatial position or direction of the target object. Based on this, the spatial spectrum range includes at least one of the following: distance spatial spectrum range, angle spatial spectrum range.

[0121] As a possible implementation, when the spatial spectrum range includes the distance spatial spectrum range, the above step S2031 can be specifically implemented as the following steps A1 - A2.

[0122] A1. Determine the value range of the distance between the target object and the geometric center of the antenna array at the second sensing moment based on the distance between the center of the sphere region and the geometric center of the antenna array, and the radius of the sphere region.

[0123] It is understandable that in the Cartesian coordinate system, the value range of the distance from the coordinate origin to any point inside the spherical region is: greater than or equal to the difference between the distance from the coordinate origin to the center of the sphere and the radius of the spherical region; less than or equal to the sum of the distance from the coordinate origin to the center of the sphere and the radius of the spherical region. Therefore, the value range of the distance between the target object and the geometric center of the antenna array at the second sensing moment is: greater than or equal to the difference between the distance from the center of the spherical region to the geometric center of the antenna array and the radius of the spherical region; less than or equal to the sum of the distance from the center of the spherical region to the geometric center of the antenna array and the radius of the spherical region.

[0124] Exemplarily, the value range of the distance between the target object and the geometric center of the antenna array satisfies the following formula (7).

[0125]

[0126] where d n represents the distance between the target object and the geometric center of the antenna array, represents the distance between the center of the spherical region and the geometric center of the antenna array, and r0 represents the radius of the spherical region.

[0127] A2. Determine the distance spatial spectrum range based on the value range of the distance between the target object and the geometric center of the antenna array.

[0128] Exemplarily, the distance spatial spectrum range is the value range of the distance between the target object and the geometric center of the antenna array.

[0129] As another possible implementation, when the spatial spectrum range includes the angular spatial spectrum range, the above step S2031 can be specifically implemented as the following steps B1 - B2.

[0130] B1. Determine the value range of the angle between the target object and the geometric center of the antenna array at the second sensing moment based on the distance between the center of the spherical region and the geometric center of the antenna array, the radius of the spherical region, and the direction of the center of the spherical region relative to the geometric center of the antenna array.

[0131] In some embodiments, the distance between the center of the spherical region and the geometric center of the antenna array includes the distances of the projections of the center of the spherical region and the geometric center of the antenna array on the x-axis, y-axis, and z-axis in the Cartesian coordinate system. The direction of the center of the spherical region relative to the geometric center of the antenna array can be determined based on the coordinates of the center of the spherical region.

[0132] Exemplarily, the coordinates of the target object in the Cartesian coordinate system and the azimuth angle and elevation angle of the coordinates relative to the geometric center of the antenna array satisfy the following formula (8).

[0133]

[0134] wherein, represents the x-axis coordinate of the target object at the second sensing moment, represents the y-axis coordinate of the target object at the second sensing moment, represents the z-axis coordinate of the target object at the second sensing moment, d n represents the distance between the target object and the coordinate origin at the second sensing moment, represents the azimuth angle of the target object relative to the coordinate origin at the second sensing moment, represents the elevation angle of the target object relative to the coordinate origin at the second sensing moment.

[0135] Therefore, the azimuth angle of the center of the sphere region relative to the geometric center of the antenna array satisfies the following formula (9).

[0136]

[0137] wherein, represents the azimuth angle of the center of the sphere region relative to the geometric center of the antenna array, represents the x-axis coordinate of the target object at the first sensing moment, represents the y-axis coordinate of the target object at the first sensing moment, represents the velocity of the target object in the x-axis direction at the first sensing moment, represents the velocity of the target object in the y-axis direction at the first sensing moment, and t0 represents the difference between the second sensing moment and the first sensing moment.

[0138] The elevation angle of the center of the sphere region relative to the geometric center of the antenna array satisfies the following formula (10).

[0139]

[0140] wherein, represents the elevation angle of the center of the sphere region relative to the geometric center of the antenna array, represents the x-axis coordinate of the target object at the first sensing moment, represents the y-axis coordinate of the target object at the first sensing moment, represents the z-axis coordinate of the target object at the first sensing moment, represents the velocity of the target object in the x-axis direction at the first sensing moment, represents the velocity of the target object in the y-axis direction at the first sensing moment, represents the velocity of the target object in the z-axis direction at the first sensing moment, and t0 represents the difference between the second sensing moment and the first sensing moment.

[0141] It can be understood that in the Cartesian coordinate system, the sine function of the angle between any tangent line from the coordinate origin to the spherical region and the ray from the coordinate origin to the center of the sphere can be expressed as the quotient of the radius of the spherical region and the distance between the center of the sphere of the spherical region and the geometric center of the antenna array.

[0142] Furthermore, using the tangent angle to represent the angle between any tangent line from the coordinate origin to the spherical region and the ray from the coordinate origin to the center of the sphere, the range of the azimuth angle of any point inside the spherical region from the coordinate origin is: greater than or equal to the difference between the azimuth angle of the center of the sphere and the tangent angle, and less than or equal to the sum of the azimuth angle of the center of the sphere and the tangent angle; the range of the elevation angle of any point inside the spherical region from the coordinate origin is: greater than or equal to the difference between the elevation angle of the center of the sphere and the tangent angle, and less than or equal to the sum of the elevation angle of the center of the sphere and the tangent angle.

[0143] Exemplarily, the range of the angle between the target object and the geometric center of the antenna array includes the azimuth range; the azimuth range satisfies the following formula (11).

[0144]

[0145] where, Φ n represents the azimuth angle of the target object relative to the geometric center of the antenna array, represents the azimuth angle of the center of the sphere of the spherical region relative to the geometric center of the antenna array, represents the distance between the center of the sphere of the spherical region and the geometric center of the antenna array, and r0 represents the radius of the spherical region.

[0146] The range of the angle between the target object and the geometric center of the antenna array includes the elevation range, and the elevation range satisfies the following formula (12).

[0147]

[0148] where, θ n represents the elevation angle of the target object relative to the geometric center of the antenna array, represents the elevation angle of the center of the sphere of the spherical region relative to the geometric center of the antenna array, represents the distance between the center of the sphere of the spherical region and the geometric center of the antenna array, and r0 represents the radius of the spherical region.

[0149] B2. Determine the angular spatial spectrum range based on the range of the angle between the target object and the geometric center of the antenna array.

[0150] Exemplarily, the angular spatial spectrum range is the range of the angle between the target object and the geometric center of the antenna array.

[0151] S2032. Determine the position information of the target object based on the spatial spectral range and the echo signal reflected by the target object at the second sensing moment.

[0152] In some embodiments, when the spatial spectral range includes the angular spatial spectral range, step S2032 may be specifically implemented as the following steps C1 - C2.

[0153] C1. Determine the received signal matrix based on the echo signal reflected by the target object at the second sensing moment.

[0154] As a possible implementation, the echo signal received by each antenna element can be sampled and then converted into a complex signal, and arranged into a received signal matrix. Exemplarily, step C1 may be specifically implemented as the following steps C101 - C102.

[0155] C101. Sample the echo signal received by each antenna element and convert it into a complex signal to obtain a set of snapshot complex signals corresponding to each antenna element.

[0156] Exemplarily, the Hilbert transform can be used to convert the sampled snapshot signal into a snapshot complex signal.

[0157] C102. Arrange the multiple sets of snapshot complex signals corresponding to different antenna elements vertically to obtain the received signal matrix.

[0158] Exemplarily, the received signal matrix can be expressed as the following formula (13).

[0159]

[0160] Where X represents the received signal matrix, M represents the number of antenna elements in the geometric center of the antenna array, N represents the number of sampling points, that is, the number of complex signals included in a set of snapshot complex signals, and x m (t n ) represents the complex signal of the nth sampling point signal of the mth antenna element, m is a positive integer less than or equal to M, and n is a positive integer less than or equal to N.

[0161] C2. Determine the direction measurement result of the target object based on the received signal matrix and the angular spatial spectral range.

[0162] Exemplarily, the angular spatial spectrum range includes the azimuth range constrained by formula (11) and the elevation range constrained by formula (12). At a certain elevation sampling interval and azimuth sampling interval, the angular spatial spectrum defined by the angular spatial spectrum range is sampled. Based on the received signal matrix, the spatial spectrum value is calculated at each angular sampling point of the angular spatial spectrum through the MUSIC algorithm, and the direction measurement result of the target object is determined based on the angular sampling point corresponding to the peak value in the spatial spectrum value.

[0163] In some embodiments, when the spatial spectrum range includes the distance spatial spectrum range, step S2032 above can be specifically implemented as the following steps D1 - D3.

[0164] D1. Based on the direction measurement result, determine the single - path echo signal from the echo signals reflected by the target object at the second sensing moment.

[0165] In some embodiments, beamforming techniques, such as minimum variance distortion less response (MVDR) technique, delay - sum beamforming technique, etc., can be used to focus the received signal on the direction indicated by the direction measurement result of the target object.

[0166] Exemplarily, step D1 above can be specifically implemented as the following steps D101 - D103.

[0167] D101. Based on the direction measurement result of the target object, calculate the steering vector corresponding to each direction in the angular spatial spectrum defined by the angular spatial spectrum range.

[0168] D102. Extract the single - path echo signal from the echo signals reflected by the target object at the second sensing moment based on the MVDR technique.

[0169] Among them, the weight vector of the MVDR beamformer is determined based on the steering vector corresponding to each direction and the covariance matrix of the received signal.

[0170] D103. Use the weight vector of the beamformer to perform weighted calculation on the echo signal to obtain the single - path echo signal.

[0171] D2. Determine the observation matrix based on the single - path echo signal and the sensing signal transmitted by the antenna array.

[0172] In some embodiments, the sensing signal includes orthogonal frequency division multiplexing (OFDM) symbols; step D2 above can be specifically implemented as the following steps D201 - D202.

[0173] D201. Determine the phase offset of each resource element based on the OFDM symbols of each resource element on the single-path echo signal and the OFDM symbols of the corresponding resource elements in the sensing signal.

[0174] Exemplarily, divide the OFDM symbol of each resource element on the single-path echo signal by the OFDM symbol of the corresponding resource element in the sensing signal to obtain the phase offset of each resource element.

[0175] D202. Determine the observation matrix based on the phase offset of each resource element.

[0176] Exemplarily, the observation matrix satisfies the following formula (14).

[0177]

[0178] Where M represents the observation matrix, K represents the number of OFDM symbols, that is, the number of antenna elements in the antenna array, L represents the number of subcarriers, that is, the number of sampling points, represents the approximate Doppler frequency shift of the echo signal reflected by the target object at the second sensing moment, which can be determined based on the first velocity information of the target object, the direction measurement result of the target object, and the wavelength of the sensing signal transmitted by the antenna array, τ n represents the difference between the moment when the base station sends the sensing signal and the moment when the echo signal is received by the antenna matrix, T represents the duration of the OFDM symbol, Δf is the frequency interval of the subcarrier, and f0 is the starting frequency of the echo signal.

[0179] It should be noted that the observation matrix can also be expressed as the product of a column vector and a row vector, that is Where

[0180] D3. Determine the position information of the target object based on the observation matrix and the distance spatial spectrum range.

[0181] In some embodiments, the position information of the target object includes the direction measurement result of the target object and the distance measurement result of the target object. The distance spatial spectrum range includes the distance range constrained by formula (7). Sampling the distance spatial spectrum defined by the distance spatial spectrum range at a certain distance sampling interval, calculating the spatial spectrum value at each distance sampling point of the distance spatial spectrum based on the received signal matrix, and determining the distance measurement result of the target object based on the distance sampling point corresponding to the peak value in the spatial spectrum value.

[0182] Exemplarily, in the case where the observation matrix can be expressed as the product of a column vector and a row vector, the row vector of the factor constituting the observation matrix can be regarded as the steering vector, and the MUSIC algorithm is used for the conjugate transpose of the observation matrix to obtain the position information of the target object.

[0183] It should be noted that each distance sampling point corresponds to a possible time delay τ n , and the relationship between the distance sampling point and the echo signal time delay τ n can be expressed by the following formula (15).

[0184]

[0185] Wherein, d n represents the distance sampling point, that is, the distance between the target object and the geometric center of the antenna array at the second sensing moment, c represents the speed of light, and τ n represents the difference between the moment when the base station sends the sensing signal and the moment when the echo signal is received by the antenna matrix.

[0186] Therefore, in some embodiments, the above step D3 can also be implemented as: determining the position information of the target object based on the observation matrix and the echo signal time delay range corresponding to the distance spatial spectrum range.

[0187] It can be understood that in the case where there are multiple target objects, the total complexity of the MUSIC algorithm used to determine the position information of at least one target object in the traditional method can be expressed by the following formula (16).

[0188]

[0189] Wherein, S1 represents the total complexity of the MUSIC algorithm used to determine the position information of the target object in the prior art, P represents the number of antenna elements in the antenna array, Q represents the number of signals included in a set of snapshot signals, N represents the number of target objects, and s θ represents the spatial spectrum sampling interval of the azimuth angle, represents the spatial spectrum sampling interval of the elevation angle, K represents the number of signal sources, L represents the number of angle sampling points when using the MUSIC algorithm for spatial spectrum estimation, d max represents the maximum value of the distance between the possible position of the target object at the second sensing moment and the geometric center of the antenna array, and d min represents the minimum value of the distance between the possible position of the target object at the second sensing moment and the geometric center of the antenna array, and s d represents the distance spatial spectrum sampling interval.

[0190] The total complexity of the MUSIC algorithm used in this application to determine the position information of at least one target object can be expressed by the following formula (17).

[0191]

[0192] Among them, S2 represents the total complexity of the MUSIC algorithm for determining the position information of the target object in this application, P represents the number of antenna elements in the antenna array, Q represents the number of signals included in a set of snapshot signals, N represents the number of target objects, and s θ represents the spatial spectrum sampling interval of the azimuth angle. represents the spatial spectrum sampling interval of the elevation angle, K represents the number of signal sources, and L represents the number of angle sampling points when using the MUSIC algorithm for spatial spectrum estimation. represents the distance between the center of the sphere region and the geometric center of the antenna array, r0 represents the radius of the sphere region, and s d represents the distance spatial spectrum sampling interval.

[0193] Since the perception of the position information of the target object in this application is continuous, the time interval between two adjacent perceptions is generally sub-second level. The target objects generally do not distribute in the entire angular range where the elevation angle is not less than -90° and not greater than 90°, and the azimuth angle is not less than -90 and not greater than 90°. And the object acceleration generally does not exceed the gravitational acceleration, and the coverage range that a single base station can cover is generally in the order of hundreds of meters.

[0194] Therefore, for the distance between the center of the sphere region and the geometric center of the antenna array and the radius of the sphere region, there is and 2r0 < d max -d min .

[0195] From the above explanations of the total complexity of the MUSIC algorithm for determining the position information of the target object in the traditional method and the total complexity of the MUSIC algorithm for determining the position information of the target object in this application, it can be seen that the total complexity of the MUSIC algorithm for determining the position information of the target object in this application is less than that in the traditional method. Therefore, the positioning method provided by this application can improve the response speed of object positioning.

[0196] The technical solutions provided by the above embodiments at least bring the following beneficial effects. The positioning method provided by the embodiments of the present application can determine the spatial range where the target object may appear at the second sensing moment; based on the spatial range where the target object may appear at the second sensing moment and the echo signal reflected by the target object, the position information of the target object at the second sensing moment is determined. By determining the spatial range where the target object may appear at the second sensing moment, the amount of data to be processed can be reduced, the algorithm complexity of calculating the position information of the target object at the second sensing moment can be reduced, thereby improving the speed of positioning the target object, and the position can also be restricted to the area where the target object may appear when calculating the position information of the target object at the second sensing moment, improving the accuracy of the position information detection result.

[0197] Next, a specific embodiment will be used to introduce the positioning method of the embodiments of the present application. As Figure 6 shown, the specific implementation process of this method includes the following steps S301 - S310.

[0198] S301. Obtain the first position information and the first speed information of the target object at the first sensing moment.

[0199] S302. Based on the first position information and the first speed information of the target object, determine the spatial constraint range of the target object.

[0200] Among them, the spatial constraint range is used to reflect the spatial range where the target object may appear at the second sensing moment, and the first sensing moment is earlier than the second sensing moment.

[0201] S303. Transmit OFDM sensing signals through the antenna array.

[0202] Exemplarily, the sensing signals transmitted by the base station can be reflected by the target object. After being reflected by the target object at the second sensing moment, the sensing signals propagate in space as echo signals, and the antenna array can obtain the echo signals in space.

[0203] S304. Receive the echo signal reflected by the target object at the second sensing moment.

[0204] S305. Based on the spatial constraint range, determine the spatial spectrum range of the echo signal reflected by the target object at the second sensing moment.

[0205] Exemplarily, the spatial spectrum range includes at least one of the following: distance spatial spectrum range, angle spatial spectrum range.

[0206] S306. Based on the echo signal reflected by the target object at the second sensing moment, determine the received signal matrix.

[0207] S307. Based on the received signal matrix and the angle spatial spectrum range, determine the direction measurement result of the target object.

[0208] S308. Determine the single-path echo signal from the echo signal reflected by the target object at the second sensing moment based on the direction measurement result.

[0209] Exemplarily, beamforming techniques such as the minimum variance distortionless response (MVDR) technique and the delay-and-sum beamforming technique can be used to focus the received signal on the direction indicated by the direction measurement result of the target object.

[0210] S309. Determine the observation matrix based on the single-path echo signal and the sensing signal transmitted by the antenna array.

[0211] S310. Determine the position information of the target object based on the observation matrix and the distance spatial spectrum range.

[0212] It can be seen that the above mainly introduces the solution provided in the embodiments of the present application from the perspective of the method. To implement the above functions, the embodiments of the present application provide the corresponding hardware structure and / or software module for each function. Those skilled in the art should easily realize that, in combination with the modules and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving the 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 invention.

[0213] The embodiments of the present application can divide the function modules of the object positioning device according to the above method examples. For example, each function module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software function module. Optionally, the division of modules in the embodiments of the present application is illustrative, merely a logical function division, and there can be other division methods in actual implementation.

[0214] In some embodiments, the present application further provides an object positioning device. The object positioning device can include one or more function modules for implementing the positioning method in the above method embodiments.

[0215] For example, Figure 7 is a schematic diagram of the composition of an object positioning device provided in the embodiments of the present application. As Figure 7 shown, the object positioning device 800 includes: a communication module 801 and a determination module 802.

[0216] A communication module 801 is configured to obtain the first position information and the first velocity information of a target object at a first sensing moment. A determination module 802 is configured to determine a spatial constraint range of the target object based on the first position information and the first velocity information; the spatial constraint range is used to reflect the spatial range where the target object may appear at a second sensing moment; the first sensing moment is earlier than the second sensing moment; in the case of receiving an echo signal reflected by the target object at the second sensing moment, determine the position information of the target object at the second sensing moment based on the spatial constraint range and the echo signal reflected by the target object at the second sensing moment.

[0217] In some embodiments, the spatial constraint range is a spherical region; the determination module 802 is specifically configured to determine the distance between the center of the spherical region and the geometric center of the antenna array based on the first position information, the first velocity information, and the time interval between the first sensing moment and the second sensing moment; determine the radius of the spherical region based on the maximum acceleration of the target object during movement; determine the spatial constraint range based on the distance between the center of the spherical region and the geometric center of the antenna array and the radius of the spherical region.

[0218] In some other embodiments, the determination module 802 is specifically configured to determine the spatial spectrum range of the echo signal reflected by the target object at the second sensing moment based on the spatial constraint range; determine the position information of the target object based on the spatial spectrum range and the echo signal reflected by the target object at the second sensing moment.

[0219] In some other embodiments, the spatial spectrum range includes at least one of the following: a distance spatial spectrum range, an angle spatial spectrum range.

[0220] In some other embodiments, the spatial constraint range is a spherical region. In the case where the spatial spectrum range includes a distance spatial spectrum range, the determination module 802 is specifically configured to determine the value range of the distance between the target object and the geometric center of the antenna array at the second sensing moment based on the distance between the center of the spherical region and the geometric center of the antenna array and the radius of the spherical region; determine the distance spatial spectrum range based on the value range of the distance between the target object and the geometric center of the antenna array.

[0221] In some other embodiments, the value range of the distance between the target object and the geometric center of the antenna array satisfies the following formula:

[0222]

[0223] where d n represents the distance between the target object and the geometric center of the antenna array, represents the distance between the center of the spherical region and the geometric center of the antenna array, and r0 represents the radius of the spherical region.

[0224] In still some other embodiments, the spatial constraint range is a spherical region. When the spatial spectrum range includes an angular spatial spectrum range, the determining module 802 is specifically configured to determine the value range of the angle between the target object and the geometric center of the antenna array at the second sensing moment based on the distance between the center of the spherical region and the geometric center of the antenna array, the radius of the spherical region, and the direction of the center of the spherical region relative to the geometric center of the antenna array; and determine the angular spatial spectrum range based on the value range of the angle between the target object and the geometric center of the antenna array.

[0225] In still some other embodiments, the value range of the angle between the target object and the geometric center of the antenna array includes an azimuth range; the azimuth range satisfies the following formula:

[0226]

[0227] where Φ n represents the azimuth angle of the target object relative to the geometric center of the antenna array, represents the azimuth angle of the center of the spherical region relative to the geometric center of the antenna array, represents the distance between the center of the spherical region and the geometric center of the antenna array, and r0 represents the radius of the spherical region.

[0228] In still some other embodiments, the value range of the angle between the target object and the geometric center of the antenna array includes an elevation range; the elevation range satisfies the following formula:

[0229]

[0230] where θ n represents the elevation angle of the target object relative to the geometric center of the antenna array, represents the elevation angle of the center of the spherical region relative to the geometric center of the antenna array, represents the distance between the center of the spherical region and the geometric center of the antenna array, and r0 represents the radius of the spherical region.

[0231] In still some other embodiments, when the spatial spectrum range includes an angular spatial spectrum range, the determining module 802 is specifically configured to determine a received signal matrix based on the echo signal reflected by the target object at the second sensing moment; and determine the direction measurement result of the target object based on the received signal matrix and the angular spatial spectrum range.

[0232] In still other embodiments, in a case where the spatial spectrum range includes a distance spatial spectrum range, the determining module 802 is specifically configured to determine a single-path echo signal from the echo signals reflected by the target object at the second sensing moment based on the direction measurement result; determine an observation matrix based on the single-path echo signal and the sensing signal transmitted by the antenna array; and determine the position information of the target object based on the observation matrix and the distance spatial spectrum range.

[0233] In still other embodiments, the sensing signal includes orthogonal frequency division multiplexing (OFDM) symbols; the determining module 802 is specifically configured to determine the phase offset of each resource unit based on the OFDM symbols of each resource unit on the single-path echo signal and the OFDM symbols of the corresponding resource units at the corresponding positions in the sensing signal; and determine the observation matrix based on the phase offset of each resource unit.

[0234] In a case where the functions of the above integrated modules are implemented in the form of hardware, an exemplary structural diagram of the electronic device involved in the above embodiments is provided in an embodiment of the present invention. As Figure 8 shown, the electronic device 900 includes: a processor 902, a communication interface 903, and a bus 904. Optionally, the electronic device 900 may further include a memory 901.

[0235] The processor 902 may be configured to implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of the present application. The processor 902 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 may implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of the present application. The processor 902 may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0236] The communication interface 903 is configured to connect to other devices through a communication network. The communication network may be an Ethernet, a wireless access network, a wireless local area network (WLAN), etc.

[0237] The memory 901 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or can also be an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium, or other magnetic storage devices, or 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.

[0238] As a possible implementation, the memory 901 can exist independently of the processor 902. The memory 901 can be connected to the processor 902 through the bus 904 for storing instructions or program codes. When the processor 902 calls and executes the instructions or program codes stored in the memory 901, the positioning method provided by the embodiments of the present invention can be implemented.

[0239] In another possible implementation, the memory 901 can also be integrated with the processor 902.

[0240] The bus 904 can be an extended industry standard architecture (EISA) bus, etc. The bus 904 can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 8 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.

[0241] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used for illustration. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the service call device is divided into different functional modules to complete all or part of the functions described above.

[0242] The embodiments of the present application also provide a computer-readable storage medium. All or part of the processes in the above method embodiments can be completed by computer instructions instructing relevant hardware. The program can be stored in the above computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be the memory in any of the foregoing embodiments. The above computer-readable storage medium can also be an external storage device of the above service call device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the above service call device. Further, the above computer-readable storage medium can also include both the internal storage unit of the above service call device and the external storage device. The above computer-readable storage medium is used to store the above computer program and other programs and data required by the above service call device. The above computer-readable storage medium can also be used to temporarily store the data that has been output or will be output.

[0243] The embodiments of the present application also provide a computer program product. The computer product includes a computer program. When the computer program product runs on a computer, the computer is caused to execute any one of the positioning methods provided in the above embodiments.

[0244] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A positioning method, characterized in that, The method includes: Obtaining first position information and first velocity information of a target object at a first sensing moment; Based on the first position information and the first velocity information, determining a spatial constraint range of the target object; the spatial constraint range is used to reflect a spatial range where the target object may appear at a second sensing moment; the first sensing moment is earlier than the second sensing moment; When an echo signal reflected by the target object at the second sensing moment is received, based on the spatial constraint range and the echo signal reflected by the target object at the second sensing moment, determining position information of the target object at the second sensing moment.

2. The method according to claim 1, characterized in that, The spatial constraint range is a spherical region; the determining the spatial constraint range of the target object based on the first position information and the first velocity information includes: Based on the first position information, the first velocity information, and a time interval between the first sensing moment and the second sensing moment, determining a distance between the center of the spherical region and the geometric center of the antenna array; Based on a maximum acceleration during the movement of the target object, determining a radius of the spherical region; Based on the distance between the center of the spherical region and the geometric center of the antenna array, and the radius of the spherical region, determining the spatial constraint range.

3. The method according to claim 1, wherein The determining the position information of the target object based on the spatial constraint range and the echo signal reflected by the target object at the second sensing moment includes: Based on the spatial constraint range, determining a spatial spectrum range of the echo signal reflected by the target object at the second sensing moment; Based on the spatial spectrum range and the echo signal reflected by the target object at the second sensing moment, determining the position information of the target object.

4. The method according to claim 3, wherein The spatial spectrum range includes at least one of the following: a distance spatial spectrum range, an angle spatial spectrum range.

5. The method according to claim 4, wherein The spatial constraint range is a spherical region, and when the spatial spectrum range includes the distance spatial spectrum range, the determining the spatial spectrum range of the echo signal reflected by the target object at the second sensing moment based on the spatial constraint range includes: Based on the distance between the center of the spherical region and the geometric center of the antenna array, and the radius of the spherical region, determining a value range of a distance between the target object and the antenna array at the second sensing moment; Based on the value range of the distance between the target object and the geometric center of the antenna array, determining the distance spatial spectrum range.

6. The method according to claim 5, wherein The value range of the distance between the target object and the geometric center of the antenna array satisfies the following formula: where, the d n represents the distance between the target object and the geometric center of the antenna array, and the represents the distance between the center of the sphere region and the geometric center of the antenna array, and r0 represents the radius of the sphere region.

7. The method according to claim 4, wherein The spatial constraint range is a spherical region, and when the spatial spectrum range includes the angle spatial spectrum range, the determining the spatial spectrum range of the echo signal reflected by the target object at the second sensing moment based on the spatial constraint range includes: Determine the value range of the angle between the target object and the geometric center of the antenna array at the second sensing moment based on the distance between the center of the sphere region and the geometric center of the antenna array, the radius of the sphere region, and the direction of the center of the sphere region relative to the geometric center of the antenna array; Determine the angle spatial spectrum range based on the value range of the angle between the target object and the geometric center of the antenna array.

8. The method according to claim 7, wherein The value range of the angle between the target object and the geometric center of the antenna array includes an azimuth range; the azimuth range satisfies the following formula: wherein, the Φ n represents the azimuth angle of the target object relative to the geometric center of the antenna array, and the represents the azimuth angle of the center of the spherical region relative to the geometric center of the antenna array, and the represents the distance between the center of the spherical region and the geometric center of the antenna array, and r0 represents the radius of the spherical region.

9. The method according to claim 7, wherein The value range of the angle between the target object and the geometric center of the antenna array includes an elevation range; the elevation range satisfies the following formula: wherein, the θ n represents the elevation angle of the target object relative to the geometric center of the antenna array, and the represents the elevation angle of the center of the spherical region relative to the geometric center of the antenna array, and the represents the distance between the center of the spherical region and the geometric center of the antenna array, and r0 represents the radius of the spherical region.

10. The method according to claim 3, wherein When the spatial spectrum range includes the angle spatial spectrum range, determining the position information of the target object based on the spatial spectrum range and the echo signal reflected by the target object at the second sensing moment includes: Determine the received signal matrix based on the echo signal reflected by the target object at the second sensing moment. Determine the direction measurement result of the target object based on the received signal matrix and the angle spatial spectrum range.

11. The method according to claim 10, characterized in that, When the spatial spectrum range includes the distance spatial spectrum range, determining the position information of the target object based on the spatial spectrum range and the echo signal reflected by the target object at the second sensing moment includes: Determine the single-path echo signal from the echo signal reflected by the target object at the second sensing moment based on the direction measurement result. Determine the observation matrix based on the single-path echo signal and the sensing signal transmitted by the antenna array. Determine the position information of the target object based on the observation matrix and the distance spatial spectrum range.

12. The method according to claim 11, wherein The sensing signal includes orthogonal frequency division multiplexing (OFDM) symbols; determining the observation matrix based on the single-path echo signal and the sensing signal transmitted by the antenna array includes: Determine the phase offset of each resource unit based on the OFDM symbols of each resource unit on the single-path echo signal and the OFDM symbols of the corresponding positions of each resource unit in the sensing signal. Determine the observation matrix based on the phase offset of each resource unit.

13. An electronic device, characterized in that, It includes a processor and a memory, and the processor is coupled to the memory; the memory is used to store computer instructions, and the computer instructions are loaded and executed by the processor to enable the computer device to implement the positioning method according to any one of claims 1 to 12.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes computer-executable instructions, and when the computer-executable instructions run on a computer, the computer is enabled to execute the positioning method according to any one of claims 1 to 12.

15. A computer program product, characterized in that, The computer program product includes a computer program, and when the computer program runs on an electronic device, the electronic device is enabled to execute the positioning method according to any one of claims 1 to 12.

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