Multi-band signal fusion positioning method and device based on ADMM

Abstract

The invention discloses a multi-band signal fusion positioning method and device based on ADMM. The method comprises the following steps: receiving echo signals corresponding to a plurality of frequency bands for positioning a target object; the echo signals corresponding to the plurality of frequency bands comprise a reference echo signal and a to-be-corrected echo signal; correcting the to-be-corrected echo signal based on the reference echo signal to obtain a corresponding correction signal; substituting a fusion result of the reference echo signal and the correction signal into a pre-constructed multi-band fusion positioning model, wherein the multi-band fusion positioning model comprises a to-be-solved target error parameter and a positioning result parameter; the target error parameters comprise a firmware phase error parameter, a phase difference parameter and a time delay error parameter; and based on an ADMM algorithm and a preset target function corresponding to the target error parameter, solving the multi-band fusion positioning model to obtain a positioning result of the target object. According to the invention, cascade loss caused by step-by-step phase error compensation is avoided, and the positioning precision is improved.

Description

Technical Field

[0001] The present invention belongs to the field of communication technology, and in particular relates to a multi-band signal fusion positioning method and device based on ADMM. Background Art

[0002] With the large-scale commercialization of fifth-generation wireless communication technology (5G), sixth-generation wireless communication technology (6G) is gradually becoming a research hotspot. Thanks to its higher transmission speeds, larger bandwidth, lower latency, and improved reliability, 6G technology is expected to play a significant role in various emerging fields such as holographic communication, intelligent interaction, and digital twins. Integrated Sensing and Communication (ISAC) technology, a key technology in 6G scenarios, has the ability to simultaneously implement wireless communication and environmental perception in the same system, while also improving spectrum efficiency with lower power consumption and hardware costs. However, traditional sensing methods have low bandwidth utilization. When higher resolution is required, while increasing bandwidth directly is possible, the hardware requirements are high and are not suitable for ISAC applications. Furthermore, the contradiction between the limited spectrum resources and the unlimited demand for wireless communication is becoming increasingly prominent. To address these challenges, multi-band signal fusion technology has emerged. It integrates spectrum resources from different bands and optimizes hardware architecture and data processing processes to achieve efficient spectrum utilization.

[0003] Existing positioning methods based on multi-band signal fusion technology are mainly divided into three steps: restoring inter-band coherence, multi-band signal fusion and positioning. Usually, step-by-step compensation is used for the phase error of the signal during the positioning process, which will cause cascade errors and affect the accuracy of each subsequent step, resulting in poor positioning accuracy. Summary of the Invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides a multi-band signal fusion positioning method and device based on ADMM.

[0005] The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0006] In a first aspect, the present invention provides a multi-band signal fusion positioning method based on ADMM, comprising:

[0007] Receiving echo signals corresponding to multiple frequency bands for locating a target object; the echo signals corresponding to the multiple frequency bands include a reference echo signal and an echo signal to be corrected;

[0008] Based on the reference echo signal, the echo signal to be corrected is corrected to obtain a corresponding correction signal; the correction signal includes the firmware phase error parameter of the reference echo signal, the phase difference parameter between the reference echo signal and the echo signal to be corrected, and the delay error parameter;

[0009] Substitute the fusion result of the reference echo signal and the correction signal into the pre-built multi-band fusion positioning model; the multi-band fusion positioning model contains the target error parameters to be solved and the positioning result parameters; the target error parameters include the firmware phase error parameter, phase difference parameter and delay error parameter;

[0010] Based on the preset objective function corresponding to the ADMM algorithm and the target error parameter, the multi-band fusion positioning model is solved to obtain the positioning result of the target object.

[0011] Optionally, based on the ADMM algorithm and a preset objective function corresponding to the target error parameter, the multi-band fusion positioning model is solved to obtain a positioning result of the target object, including:

[0012] Based on the ADMM algorithm and the preset initial error results, the multi-band fusion positioning model is converted into multiple iterative sub-problems for solution to obtain the initial positioning results corresponding to the initial error results;

[0013] Based on the initial positioning results, the preset objective function corresponding to the target error parameter is solved to obtain the updated error result;

[0014] Based on the updated error result, multiple iterative sub-problems and the preset objective function are iteratively calculated until the preset termination condition is met to obtain the target error result;

[0015] Substitute the target error result into the multi-band fusion positioning model to obtain the positioning result of the target object. Optionally, the multi-band fusion positioning model is:

[0016] Y = EAX + M;

[0017] Among them, Y represents the fusion result of the reference echo signal and the correction signal, represents the target error parameter to be solved, represents the Fourier matrix, Indicates the positioning result parameters to be solved, Indicates noise, N1, N2, N mix Represent different matrix dimensions respectively;

[0018] The default objective function is:

[0019]

[0020] in, Represents the solution of the target error parameter, E is a diagonal matrix, expressed as:

[0021] E=E1E2;

[0022] in, Contains firmware phase error parameters, Contains the phase difference parameter.

[0023] Optionally, multiple iterative subproblems include:

[0024]

[0025] Where Z and D are auxiliary variables, i is the number of iterations, ρ is the penalty parameter, λ is the regularization coefficient, η is the Lagrange multiplier update rate, and H represents the conjugate transpose.

[0026] Optionally, correcting the echo signal to be corrected based on the reference echo signal to obtain a corresponding correction signal includes:

[0027] Demodulating the echo signals corresponding to the multiple frequency bands to obtain multiple sub-signals corresponding to each frequency band;

[0028] Superimposing multiple sub-signals corresponding to the same frequency band to obtain superimposed signals corresponding to each frequency band; the superimposed signals corresponding to each frequency band include a reference superimposed signal and a superimposed signal to be corrected;

[0029] Based on the reference superposition signal, the superposition signal to be corrected is corrected to obtain a corresponding correction signal;

[0030] Substitute the fusion result of the reference echo signal and the correction signal into the pre-built multi-band fusion positioning model, including:

[0031] The fusion result of the reference superposition signal and the correction signal is substituted into the pre-built multi-band fusion positioning model.

[0032] Optionally, the superimposed signal is represented as:

[0033]

[0034] Among them, Q is the number of sub-signals, σ k represents the gain of the corresponding signal transmission path, rect(·) is the rectangular pulse function, t is the time, T is the pulse width, τ is the delay error parameter, and f p is the carrier frequency, n is the number of sampling points, f s is the frequency, is the firmware phase error parameter introduced.

[0035] Optionally, correcting the superimposed signal to be corrected based on the reference superimposed signal to obtain a corresponding corrected signal includes:

[0036] Correcting the parameters of the superimposed signal to be corrected except the carrier frequency to be consistent with the reference superimposed signal to obtain a corresponding corrected superimposed signal; the carrier frequency includes the bandwidth parameter;

[0037] The correction superposition signal is transformed into the wavenumber domain to obtain the correction signal.

[0038] Optionally, the corrected superposition signal is expressed as:

[0039] y3=y2e jΔΦ

[0040] Among them, y3 represents the correction superposition signal, y2 represents the superposition signal to be corrected, and e jΔΦ Represents the phase difference parameter.

[0041] Optionally, the correction signal is expressed as:

[0042]

[0043] in, represents the overall envelope of the signal, c is the speed of light, and Φ(n) is and ΔΦ, K is the total number of scattering points contained in the target object.

[0044] In a second aspect, the present invention provides a multi-band signal fusion positioning device based on ADMM, comprising:

[0045] A receiving module, configured to receive echo signals corresponding to a plurality of frequency bands for locating a target object; the echo signals corresponding to the plurality of frequency bands include a reference echo signal and an echo signal to be corrected;

[0046] A correction module is used to correct the echo signal to be corrected based on the reference echo signal to obtain a corresponding correction signal; the correction signal includes a firmware phase error parameter of the reference echo signal, a phase difference parameter between the reference echo signal and the echo signal to be corrected, and a delay error parameter;

[0047] The fusion positioning module is used to substitute the fusion result of the reference echo signal and the correction signal into a pre-built multi-band fusion positioning model; the multi-band fusion positioning model contains the target error parameters to be solved and the positioning result parameters; the target error parameters include the firmware phase error parameter, phase difference parameter and delay error parameter;

[0048] The positioning solution module is used to solve the multi-band fusion positioning model based on the preset objective function corresponding to the ADMM algorithm and the target error parameter to obtain the positioning result of the target object.

[0049] The present invention provides a multi-band signal fusion positioning method based on ADMM, which first receives echo signals corresponding to multiple frequency bands for target object positioning, and the echo signals include a reference echo signal and an echo signal to be corrected; then, the echo signal to be corrected is corrected by using the reference echo signal, so that the obtained correction signal includes a firmware phase error parameter of the reference echo signal, a phase difference parameter between the reference echo signal and the echo signal to be corrected, and a time delay error parameter; then, by substituting the fusion result of the reference echo signal and the correction signal into a pre-constructed multi-band fusion positioning model, the multi-band fusion positioning model is solved based on the ADMM algorithm and a preset objective function corresponding to the target error parameter, and the target error parameter and the positioning result parameter can be directly solved, thereby obtaining the corresponding target error result and positioning result, avoiding the cascade loss caused by step-by-step compensation of the phase error, and comprehensively considering the time delay error and the phase error, thereby improving the positioning accuracy while achieving efficient utilization of spectrum resources.

[0050] The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 1 is a flow chart of a multi-band signal fusion positioning method based on ADMM provided by an embodiment of the present invention;

[0052] Figure 2 Schematic diagram of a scenario of a multi-band signal fusion positioning method based on ADMM provided by an embodiment of the present invention;

[0053] Figure 3 Schematic diagram of signal bandwidth of a multi-band signal fusion positioning method based on ADMM provided by an embodiment of the present invention;

[0054] Figure 4 2 is a schematic diagram comparing the positioning accuracy of a multi-band signal fusion positioning method based on ADMM provided by an embodiment of the present invention and an existing method;

[0055] Figure 5 It is a structural diagram of a multi-band signal fusion positioning device based on ADMM provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The present invention will be further described in detail below with reference to specific examples, but the embodiments of the present invention are not limited thereto.

[0057] In order to achieve efficient use of spectrum resources and make positioning results more accurate, the embodiment of the present invention provides a multi-band signal fusion positioning method based on ADMM, see Figure 1 , the method comprises the following steps:

[0058] S10: Receive echo signals corresponding to multiple frequency bands for locating a target object.

[0059] The echo signals corresponding to the multiple frequency bands include reference echo signals and echo signals to be corrected.

[0060] Exemplarily, each frequency band may correspond to at least one echo signal, and an echo signal corresponding to any frequency band among the echo signals corresponding to multiple frequency bands may be a reference echo signal, and the remaining echo signals are echo signals to be corrected.

[0061] S20 . Correct the echo signal to be corrected based on the reference echo signal to obtain a corresponding correction signal.

[0062] The correction signal includes a firmware phase error parameter of the reference echo signal, a phase difference parameter between the reference echo signal and the echo signal to be corrected, and a time delay error parameter.

[0063] Specifically, the firmware phase error parameter may represent the phase error caused by non-ideal factors, and the phase difference parameter may represent the phase error that needs to be corrected between different frequency bands.

[0064] S30: Substitute the fusion result of the reference echo signal and the correction signal into a pre-built multi-band fusion positioning model.

[0065] Among them, the multi-band fusion positioning model includes target error parameters and positioning result parameters to be solved; the target error parameters include firmware phase error parameters, phase difference parameters and delay error parameters.

[0066] Exemplarily, the reference echo signal and the correction signal may be spliced ​​together to obtain a fusion result.

[0067] Optionally, in step 20, correcting the echo signal to be corrected based on the reference echo signal to obtain a corresponding correction signal specifically includes:

[0068] S201 : Demodulate echo signals corresponding to multiple frequency bands to obtain multiple sub-signals corresponding to each frequency band.

[0069] Specifically, the echo signals corresponding to each frequency band may be mixed and demodulated to obtain a plurality of sub-signals corresponding to each frequency band. The plurality of sub-signals may be represented as Q sub-signals.

[0070] S202 : Superimpose multiple sub-signals corresponding to the same frequency band to obtain superimposed signals corresponding to each frequency band.

[0071] The superimposed signal corresponding to each frequency band includes a reference superimposed signal and a superimposed signal to be corrected.

[0072] Exemplarily, Q sub-signals corresponding to the same frequency band are coherently superimposed to obtain superimposed signals corresponding to each frequency band, wherein each frequency band can correspond to at least one superimposed signal, and a superimposed signal corresponding to any frequency band among the superimposed signals corresponding to multiple frequency bands can be a reference superimposed signal, and the remaining superimposed signals are superimposed signals to be corrected.

[0073] Optionally, the superimposed signal of this embodiment can be expressed as:

[0074]

[0075] Among them, Q is the number of sub-signals, σ k represents the gain of the corresponding signal transmission path, rect(·) is the rectangular pulse function, t is the time, T is the pulse width, τ is the delay error, and f p is the carrier frequency, n is the number of sampling points, f s is the frequency, is the firmware phase error parameter introduced.

[0076] S203 : Correct the superimposed signal to be corrected based on the reference superimposed signal to obtain a corresponding corrected signal.

[0077] Optionally, in step 203, correcting the superimposed signal to be corrected based on the reference superimposed signal to obtain a corresponding correction signal may specifically include:

[0078] S2031 , correcting parameters of the superimposed signal to be corrected except for the carrier frequency to be consistent with those of the reference superimposed signal, to obtain a corresponding corrected superimposed signal.

[0079] The carrier frequency may include bandwidth parameters.

[0080] Exemplarily, the reference superposition signal can be expressed as:

[0081]

[0082] The superimposed signal to be corrected can be expressed as:

[0083]

[0084] The target superposition signal to be corrected for the superposition signal to be corrected can be expressed as:

[0085]

[0086] According to equations (3) and (4), the phase difference parameter e between the superimposed signal to be corrected and the reference superimposed signal can be determined: jΔΦ , where ΔΦ can be expressed as:

[0087] ΔΦ=-2πfs2 (n1τ1-n2τ2)-2πf2(τ1-τ2)+(φ1-φ2) (5)

[0088] In equation (5), Δτ = τ1 - τ2 is a fixed value, and Δφ = φ1 - φ2 is an error caused by hardware, which is only related to the radar system itself and is also equivalent to a fixed value within a certain period of time. In summary, optionally, the superimposed signal to be corrected is corrected to obtain a corrected superimposed signal, which can be expressed as:

[0089] y3=y2e jΔΦ (6)

[0090] Among them, y3 represents the correction superposition signal, y2 represents the superposition signal to be corrected, and e jΔΦ Represents the phase difference parameter.

[0091] Here, a high-order phase error term, a polynomial phase error term, etc. may also be used to construct an expression for ΔΦ, which is not limited in this embodiment.

[0092] S2032: transform the corrected superposition signal into the wavenumber domain to obtain a corrected signal.

[0093] Specifically, the correction superposition signal may be a time domain signal, and the correction superposition signal may be converted from a time domain signal to a wave number domain signal to obtain a correction signal.

[0094] Optionally, the correction signal of this embodiment can be expressed as:

[0095]

[0096] in, represents the overall envelope of the signal, c is the speed of light, and Φ(n) is and ΔΦ, K is the total number of scattering points contained in the target object, k=1,2,3...K.

[0097] Here, the correction signal includes the parameter Φ(n), which includes the delay error τ and the firmware phase error parameter caused by non-ideal factors. and phase difference parameter ΔΦ, so that when the error compensation is performed subsequently according to the calculated Φ(n), the cascade loss caused by the delay error and the phase error can be comprehensively considered, avoiding the cascade error in the process of coherent compensation followed by multi-band signal fusion in the existing method, thereby improving the positioning accuracy.

[0098] Corresponding to the reference superposition signal obtained in the above steps, in step S30, the fusion result of the reference echo signal and the correction signal is substituted into a pre-built multi-band fusion positioning model, including:

[0099] Step S301: Substitute the fusion result of the reference superposition signal and the correction signal into a pre-built multi-band fusion positioning model.

[0100] Optionally, the multi-band fusion positioning model can be expressed as:

[0101] Y=EAX+M (8)

[0102] Among them, Y represents the fusion result of the reference echo signal and the correction signal, represents the target error parameter to be solved, represents the Fourier matrix, Indicates the positioning result parameters to be solved, Indicates noise, N1, N2, N mix Represent different matrix dimensions respectively;

[0103] Specifically, the positioning result parameters can be range images. N1, N2, N mix It can be determined according to the number n of sampling points of the echo signal.

[0104] Here, this embodiment converts the practical problem of multi-band fusion of echo signals into a mathematical model for solving the inverse problem by constructing a multi-band fusion positioning model, thereby avoiding the problem in the existing technology of directly estimating the missing data amplitude and phase by mathematical deduction or designing the corresponding objective function for adaptive iteration, where the prior information does not conform to reality or the lack of prior information affects the accuracy of the algorithm.

[0105] S40. Based on the ADMM algorithm and a preset objective function corresponding to the target error parameter, the multi-band fusion positioning model is solved to obtain a positioning result of the target object.

[0106] Among them, the ADMM (Alternating Direction Method of Multipliers) algorithm is a method for efficiently solving constrained convex optimization problems. It combines the decomposition capability of the dual ascent method with the convergence advantage of the augmented Lagrangian algorithm. The ADMM algorithm can decompose complex problems into easily solvable sub-problems and solve them through alternating optimization of the sub-problems.

[0107] Optionally, in step S40, based on the ADMM algorithm and a preset objective function corresponding to the target error parameter, the multi-band fusion positioning model is solved to obtain a positioning result of the target object, including:

[0108] S401: Based on the ADMM algorithm and the preset initial error result, the multi-band fusion positioning model is converted into multiple iterative sub-problems for solution to obtain the initial positioning result corresponding to the initial error result.

[0109] Exemplarily, the initial error result is an initial value set for the target error parameter to be solved. The initial error result can be flexibly set by those skilled in the art according to actual conditions. For example, the initial error result can be 0, and this embodiment does not limit this.

[0110] Optionally, when the initial value of E (i.e., the initial error result) is known, according to the principle of the ADMM algorithm, since noise is a linear term and is independent of X, the problem of solving X can be converted into solving multiple iterative subproblems. In this embodiment, there are three multiple iterative subproblems. Then, using the operational properties of the Kronecker product, the simplified multiple iterative subproblems can be obtained, including:

[0111]

[0112] Where Z and D are auxiliary variables, i is the number of iterations, ρ is the penalty parameter, H represents the conjugate transpose, λ is the regularization coefficient, η is the Lagrange multiplier update rate, and H represents the conjugate transpose.

[0113] Substituting the initial error result into the above multiple iterative sub-problems for solution, the initial positioning result corresponding to the initial error result can be obtained.

[0114] S402: Based on the initial positioning result, solve the preset objective function corresponding to the target error parameter to obtain an updated error result.

[0115] Optionally, the preset objective function may be:

[0116]

[0117] in, Represents the solution result of the target error parameter.

[0118] In formula (10), substitute the initial positioning result into X and solve the calculation formula in {} The minimum value of E that reaches the minimum value is the updated error result corresponding to the initial positioning result

[0119] E can be expressed as:

[0120] E=E1E2 (11)

[0121] in, Contains firmware phase error parameters, Contains the phase difference parameter.

[0122] Specifically, E can be a diagonal matrix, and the elements on the diagonal are represented by Specifically, it can be expressed as:

[0123]

[0124] Combining equations (10) and (12), we can obtain:

[0125]

[0126] in, Represents Φ n The solution result of The minimum value of Φ n , Φ(n) and Φ n The relationship is: Φ(n)=[Φ1,Φ2...Φ n ].

[0127] Find Φ n It can be simplified to:

[0128]

[0129] Here, H represents conjugate transpose, Im(·) represents taking the imaginary part of a complex number, and Re(·) represents taking the real part of a complex number.

[0130] In summary, after obtaining the initial positioning result, the initial positioning result is substituted into the preset objective function corresponding to the target error parameter for solution, and the Φ corresponding to the initial positioning result obtained is n , the obtained Φ n Substituting into formula (12), we can get the updated error result.

[0131] S403: Based on the updated error result, iterative calculations are performed on multiple iterative sub-problems and a preset objective function until a preset termination condition is met to obtain a target error result.

[0132] For example, the updated error result is substituted into formula (9) to obtain the updated positioning result, and then the updated positioning result is substituted into the preset objective function corresponding to the target error parameter for solution, and a new updated error result can be obtained again. The above process is repeated until the preset termination condition is met, and the updated positioning result of the last iteration is substituted into X in formula (10) to solve the calculation formula in {} The minimum value of E that reaches the minimum value is the target error result During the iteration process, the updated error result is the intermediate solution of the target error parameter during the iterative calculation process, and the target error result is the final solution of the target error parameter. The preset termination condition can be the total number of iterations I set in advance. When i in equation (9) reaches the total number of iterations I, the iteration ends.

[0133] S404: Substitute the target error result into the multi-band fusion positioning model to obtain the positioning result of the target object.

[0134] Specifically, the target error result is substituted into formula (8) to obtain the positioning result of the target object.

[0135] Here, this embodiment uses the ADMM algorithm to solve the multi-band fusion positioning model, which can ensure that the computational complexity is relatively small while making up for the defect of insufficient accuracy of the greedy pursuit algorithm used in the prior art.

[0136] The present invention provides a multi-band signal fusion positioning method based on ADMM, which first receives echo signals corresponding to multiple frequency bands for target object positioning, the echo signals including a reference echo signal and an echo signal to be corrected; then, the echo signal to be corrected is corrected by using the reference echo signal, so that the obtained correction signal contains the firmware phase error parameter of the reference echo signal, the phase difference parameter between the reference echo signal and the echo signal to be corrected, and the time delay error; then, by substituting the fusion result of the reference echo signal and the correction signal into a pre-constructed multi-band fusion positioning model, the multi-band fusion positioning model is solved based on the ADMM algorithm and the preset objective function corresponding to the target error parameter, and the target error parameter and the positioning result parameter can be directly solved, thereby obtaining the corresponding target error result and positioning result, avoiding the cascade loss caused by the step-by-step compensation of the phase error, and comprehensively considering the time delay error and the phase error, thereby improving the positioning accuracy while achieving efficient utilization of spectrum resources.

[0137] The following simulation experiment further illustrates the multi-band signal fusion positioning method based on ADMM provided by the present invention.

[0138] Figure 2 A schematic diagram of the scenario showing the multi-band signal fusion positioning method based on ADMM, where f1, f2, ..., f m They represent signals of different frequency bands, and m represents different frequency bands.

[0139] Figure 3 A schematic diagram of the signal bandwidth in the multi-band signal fusion positioning method based on ADMM is shown. The 25 MHz corresponding to Band-1 and Band-2 are both the bandwidths of single-band signals, and the bandwidth of multi-band signal fusion can be 25 MHz + 200 MHz + 25 MHz.

[0140] Figure 4 This figure shows a comparison of the positioning accuracy of a multi-band signal fusion positioning method based on ADMM, provided by an embodiment of the present invention, and existing methods. In the figure, curve a shows the positioning result corresponding to a single-band signal, curve b shows the positioning result of multi-band signal fusion after adding noise, curve c shows the positioning result of multi-band signal fusion, and curve d shows the positioning result obtained by the multi-band signal fusion positioning method based on ADMM of the present invention.

[0141] From the comparison results of the four curves in the figure, it can be seen that the bandwidth of the selected single-band signal is eight times different from the bandwidth of the multi-band signal fusion. After processing, the positioning result of the single-band signal we obtained (curve a) is eight times different from the main lobe width corresponding to the positioning result (curve d) using the method of the present invention. The results show that the method of the present invention improves the signal bandwidth and enhances the positioning perception resolution. In addition, the normalized positioning result (curve b) obtained after directly adding noise to the entire frequency band has a side lobe with an amplitude of 0.7, which will seriously affect the accurate positioning of the target object. The positioning result of the multi-band signal fusion (curve c) has improved this to a certain extent, but there are some false points within a certain range to the left and right of the target object, which will also interfere with the accurate positioning of the target object. The positioning result (curve d) using the method of the present invention not only reduces the sidelobe amplitude caused by the phase error to 0.1 or below, but also accurately reconstructs the position of the target object. The true position is marked by a red circle in the figure, further illustrating the accuracy of positioning using the method of the present invention.

[0142] Corresponding to the above-mentioned multi-band signal fusion positioning method based on ADMM, the embodiment of the present invention also provides a multi-band signal fusion positioning device based on ADMM; Figure 5 As shown, the device may include:

[0143] The receiving module 501 is configured to receive echo signals corresponding to multiple frequency bands for locating a target object; the echo signals corresponding to the multiple frequency bands include reference echo signals and echo signals to be corrected;

[0144] The correction module 502 is configured to correct the echo signal to be corrected based on the reference echo signal to obtain a corresponding correction signal; the correction signal includes a firmware phase error parameter of the reference echo signal, a phase difference parameter between the reference echo signal and the echo signal to be corrected, and a delay error;

[0145] The fusion positioning module 503 is used to substitute the fusion result of the reference echo signal and the correction signal into a pre-built multi-band fusion positioning model, where the multi-band fusion positioning model includes target error parameters to be solved and positioning result parameters; the target error parameters include firmware phase error parameters, phase difference parameters, and delay error;

[0146] The positioning solution module 504 is used to solve the multi-band fusion positioning model based on the ADMM algorithm and a preset objective function corresponding to the target error parameter to obtain a positioning result of the target object.

[0147] For the specific content of the device, please refer to the steps of the multi-band signal fusion positioning method based on ADMM provided in the first aspect, which will not be repeated here.

[0148] The present invention provides a multi-band signal fusion positioning device based on ADMM, which first receives echo signals corresponding to multiple frequency bands for target object positioning, the echo signals including a reference echo signal and an echo signal to be corrected; then, the echo signal to be corrected is corrected by using the reference echo signal, so that the obtained correction signal contains the firmware phase error parameter of the reference echo signal, the phase difference parameter between the reference echo signal and the echo signal to be corrected, and the time delay error; then, by substituting the fusion result of the reference echo signal and the correction signal into a pre-constructed multi-band fusion positioning model, the multi-band fusion positioning model is solved based on the ADMM algorithm and the preset objective function corresponding to the target error parameter, and the target error parameter and the positioning result parameter can be directly solved, thereby obtaining the corresponding target error result and positioning result, avoiding the cascade loss caused by the step-by-step compensation of the phase error, and comprehensively considering the time delay error and the phase error, thereby improving the positioning accuracy while achieving efficient utilization of spectrum resources.

[0149] It should be noted that, as for the device, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0150] It should be noted that the terms "first," "second," and the like are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in sequences other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention.

[0151] In the description of this specification, the reference terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0152] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art can understand and implement other variations of the disclosed embodiments by viewing the drawings and the disclosed content. In the description of the present invention, the word "comprising" does not exclude other components or steps, "one" or "a" does not exclude multiple situations, and "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, certain measures are recorded in different embodiments, but this does not mean that these measures cannot be combined to produce good results.

[0153] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all of these should be considered to fall within the scope of protection of the present invention.

Claims

1. A multi-band signal fusion positioning method based on ADMM, characterized in that: include: Receiving echo signals corresponding to a plurality of frequency bands for locating a target object; the echo signals corresponding to the plurality of frequency bands include a reference echo signal and an echo signal to be corrected; Based on the reference echo signal, the echo signal to be corrected is corrected to obtain a corresponding correction signal; the correction signal includes a firmware phase error parameter of the reference echo signal, a phase difference parameter between the reference echo signal and the echo signal to be corrected, and a delay error parameter; Substituting the fusion result of the reference echo signal and the correction signal into a pre-built multi-band fusion positioning model; the multi-band fusion positioning model includes target error parameters and positioning result parameters to be solved; the target error parameters include the firmware phase error parameter, the phase difference parameter and the delay error parameter; Based on the ADMM algorithm and a preset objective function corresponding to the target error parameter, the multi-band fusion positioning model is solved to obtain a positioning result of the target object.

2. The multi-band signal fusion positioning method based on ADMM according to claim 1 is characterized in that: Solving the multi-band fusion positioning model based on the ADMM algorithm and a preset objective function corresponding to the target error parameter to obtain a positioning result of the target object includes: Based on the ADMM algorithm and the preset initial error result, the multi-band fusion positioning model is converted into multiple iterative sub-problems for solution to obtain the initial positioning result corresponding to the initial error result; Based on the initial positioning result, solving a preset objective function corresponding to the target error parameter to obtain an updated error result; Based on the updated error result, iteratively calculating the multiple iterative subproblems and the preset objective function until a preset termination condition is met, thereby obtaining a target error result; Substitute the target error result into the multi-band fusion positioning model to obtain the positioning result of the target object.

3. The multi-band signal fusion positioning method based on ADMM according to claim 2 is characterized in that: The multi-band fusion positioning model is: Y = EAX + M; Wherein, Y represents the fusion result of the reference echo signal and the correction signal, represents the target error parameter to be solved, represents the Fourier matrix, represents the positioning result parameter to be solved, Indicates noise, N1, N2, N mix Represent different matrix dimensions respectively; The preset objective function is: in, Represents the solution of the target error parameter, E is a diagonal matrix, expressed as: E=E1E2; in, Contains the firmware phase error parameter, Contains the phase difference parameter.

4. The multi-band signal fusion positioning method based on ADMM according to claim 3 is characterized in that: The multiple iterative sub-problems include: Where Z and D are auxiliary variables, i is the number of iterations, ρ is the penalty parameter, λ is the regularization coefficient, η is the Lagrange multiplier update rate, and H represents the conjugate transpose.

5. The multi-band signal fusion positioning method based on ADMM according to claim 1 is characterized in that: The correcting the echo signal to be corrected based on the reference echo signal to obtain a corresponding corrected signal includes: Demodulating the echo signals corresponding to the multiple frequency bands to obtain multiple sub-signals corresponding to each frequency band; Superimposing multiple sub-signals corresponding to the same frequency band to obtain superimposed signals corresponding to each frequency band; the superimposed signals corresponding to each frequency band include a reference superimposed signal and a superimposed signal to be corrected; Correcting the superimposed signal to be corrected based on the reference superimposed signal to obtain a corresponding corrected signal; Substituting the fusion result of the reference echo signal and the correction signal into a pre-built multi-band fusion positioning model includes: The fusion result of the reference superposition signal and the correction signal is substituted into a pre-built multi-band fusion positioning model.

6. The multi-band signal fusion positioning method based on ADMM according to claim 5, characterized in that: The superimposed signal is expressed as: Among them, Q is the number of sub-signals, σ k represents the gain of the corresponding signal transmission path, rect(·) is the rectangular pulse function, t is the time, T is the pulse width, τ is the delay error parameter, and f p is the carrier frequency, n is the number of sampling points, f s is the frequency, is the firmware phase error parameter introduced.

7. The multi-band signal fusion positioning method based on ADMM according to claim 6, characterized in that: The correcting the superimposed signal to be corrected based on the reference superimposed signal to obtain a corresponding corrected signal includes: Correcting the parameters of the superimposed signal to be corrected except the carrier frequency to be consistent with the reference superimposed signal, thereby obtaining a corresponding corrected superimposed signal; wherein the carrier frequency includes a bandwidth parameter; The correction superposition signal is transformed into the wave number domain to obtain the correction signal.

8. The multi-band signal fusion positioning method based on ADMM according to claim 7, characterized in that: The correction superposition signal is expressed as: <h2 style=";text-align:left;direction:ltr">y3=y2e<h2 style=";text-align:left;direction:ltr"> jΔΦ Wherein, y3 represents the correction superposition signal, y2 represents the superposition signal to be corrected, and e jΔΦ represents the phase difference parameter.

9. The multi-band signal fusion positioning method based on ADMM according to claim 8, characterized in that: The correction signal is expressed as: in, represents the overall envelope of the signal, c is the speed of light, and Φ(n) is and ΔΦ, K is the total number of scattering points contained in the target object.

10. A multi-band signal fusion positioning device based on ADMM, characterized in that: include: A receiving module, configured to receive echo signals corresponding to a plurality of frequency bands for locating a target object; the echo signals corresponding to the plurality of frequency bands include a reference echo signal and an echo signal to be corrected; a correction module, configured to correct the echo signal to be corrected based on the reference echo signal to obtain a corresponding correction signal; the correction signal includes a firmware phase error parameter of the reference echo signal, a phase difference parameter between the reference echo signal and the echo signal to be corrected, and a delay error parameter; A fusion positioning module is used to substitute the fusion result of the reference echo signal and the correction signal into a pre-built multi-band fusion positioning model; the multi-band fusion positioning model includes a target error parameter to be solved and a positioning result parameter; the target error parameter includes the firmware phase error parameter, the phase difference parameter and the delay error parameter; The positioning solution module is used to solve the multi-band fusion positioning model based on the ADMM algorithm and a preset objective function corresponding to the target error parameter to obtain a positioning result of the target object.

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