Multi-point cooperation data fusion positioning method, communication equipment, device and storage medium

Abstract

The invention provides a multi-point cooperation data fusion positioning method, communication equipment, a device and a storage medium. The method comprises the following steps: determining a plurality of position anchor points deployed in a coverage range of a multi-point cooperation sensing system; aiming at each position anchor point, periodically utilizing a plurality of different positioning measurement quantity combinations to respectively carry out position calculation on the position anchor point, and determining the positioning measurement quantity combination with the highest positioning precision corresponding to the position anchor point based on a position calculation result; under the condition that a to-be-sensed target in a sensing area needs to be positioned, a target position anchor point closest to the center position of the sensing area is determined, and the to-be-sensed target in the sensing area is positioned on the basis of a result obtained by performing position calculation on the target position anchor point most recently. And selecting the positioning measurement quantity combination with the highest positioning precision corresponding to the target position anchor point to position the to-be-sensed target.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology, and in particular to a multi-point collaborative data fusion positioning method, communication equipment, device and storage medium. Background Art

[0002] In an integrated synaesthesia system, multi-station collaborative data fusion is a method for improving positioning accuracy. Since the perception data obtained from sensing nodes at different locations is independent, utilizing multi-station collaborative sensing of the same target and fusing the resulting data can achieve higher perception performance. However, if the combination of positioning measurements is not appropriate, the final fused positioning accuracy may be suboptimal. Summary of the Invention

[0003] In response to the problems existing in the prior art, the present application provides a multi-point collaborative data fusion positioning method, communication equipment, device and storage medium.

[0004] In a first aspect, the present application provides a multi-point coordinated data fusion positioning method, comprising:

[0005] Determine multiple location anchor points deployed within the coverage area of ​​the multi-point cooperative sensing system;

[0006] For each position anchor point, periodically use a variety of different positioning measurement combinations to calculate the position of the position anchor point, and determine the positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point based on the position solution results;

[0007] When it is necessary to locate the target to be perceived within the perception area, determine the target position anchor point closest to the center of the perception area, and based on the result of the most recent position solution of the target position anchor point, select the positioning measurement combination with the highest positioning accuracy corresponding to the target position anchor point to locate the target to be perceived.

[0008] In some embodiments, the position anchor is a corner reflector.

[0009] In some embodiments, a plurality of different positioning measurement quantity combinations are obtained by combining all positioning measurement quantities that can be measured by the multi-point coordinated sensing system.

[0010] In some embodiments, when the coordinated multi-point sensing system performs sensing based on the first sensing device and the second sensing device, the multiple different positioning measurement quantity combinations include at least two of the following positioning measurement quantity combinations:

[0011] Positioning measurement combination 1: Positioning measurement R1 and positioning measurement combination of;

[0012] Positioning measurement combination 2: Positioning measurement R2 and positioning measurement combination of;

[0013] Positioning measurement combination 3: Positioning measurement R2 and positioning measurement combination of;

[0014] Positioning measurement combination 4: Positioning measurement R S and positioning measurements combination of;

[0015] Positioning measurement combination 5: Positioning measurement R S and positioning measurements combination of;

[0016] Positioning measurement combination 6: Positioning measurement R1 and positioning measurement R S combination of;

[0017] Positioning measurement combination 7: a combination of positioning measurement R1 and positioning measurement R2;

[0018] Positioning measurement combination 8: Positioning measurement R2 and positioning measurement R S combination of;

[0019] Positioning measurement combination 9: Positioning measurement R1 and positioning measurement combination of;

[0020] Positioning measurement combination 10: Positioning measurement and positioning measurements combination of;

[0021] Among them, the positioning measurement value R1 represents the distance from the first sensing device to the measured target, and the positioning measurement value The angle between the line connecting the first sensing device to the target and the baseline is represented by the positioning measurement quantity R2, which represents the distance from the second sensing device to the target. Indicates the angle between the line connecting the second sensing device to the target and the baseline, and the positioning measurement value R S It represents the sum of the distance from the first sensing device to the measured object and the distance from the measured object to the second sensing device. The baseline is the line connecting the first sensing device and the second sensing device.

[0022] In some embodiments, determining the combination of positioning measurement quantities with the highest positioning accuracy corresponding to the position anchor point based on the position solution result includes:

[0023] Based on the solution result of the position anchor point and the true coordinates of the position anchor point, the positioning accuracy of each positioning measurement combination for the position anchor point is determined, and the positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point is determined.

[0024] In some embodiments, the method further comprises:

[0025] The positioning measurement quantity combination selected for positioning the target to be perceived includes the positioning measurement quantity R S In the case of R, the R S Measurement value and R S The difference between the true values, correcting the R obtained by measuring the perceived target S Measurement value.

[0026] In a second aspect, the present application further provides a communication device, including a memory, a transceiver, and a processor;

[0027] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations:

[0028] Determine multiple location anchor points deployed within the coverage area of ​​the multi-point cooperative sensing system;

[0029] For each position anchor point, periodically use a variety of different positioning measurement combinations to calculate the position of the position anchor point, and determine the positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point based on the position solution results;

[0030] When it is necessary to locate the target to be perceived within the perception area, determine the target position anchor point closest to the center of the perception area, and based on the result of the most recent position solution of the target position anchor point, select the positioning measurement combination with the highest positioning accuracy corresponding to the target position anchor point to locate the target to be perceived.

[0031] In some embodiments, the position anchor is a corner reflector.

[0032] In some embodiments, a plurality of different positioning measurement quantity combinations are obtained by combining all positioning measurement quantities that can be measured by the multi-point coordinated sensing system.

[0033] In some embodiments, when the coordinated multi-point sensing system performs sensing based on the first sensing device and the second sensing device, the multiple different positioning measurement quantity combinations include at least two of the following positioning measurement quantity combinations:

[0034] Positioning measurement combination 1: Positioning measurement R1 and positioning measurement combination of;

[0035] Positioning measurement combination 2: Positioning measurement R2 and positioning measurement combination of;

[0036] Positioning measurement combination 3: Positioning measurement R2 and positioning measurement combination of;

[0037] Positioning measurement combination 4: Positioning measurement R S and positioning measurements combination of;

[0038] Positioning measurement combination 5: Positioning measurement R S and positioning measurements combination of;

[0039] Positioning measurement combination 6: Positioning measurement R1 and positioning measurement R S combination of;

[0040] Positioning measurement combination 7: a combination of positioning measurement R1 and positioning measurement R2;

[0041] Positioning measurement combination 8: Positioning measurement R2 and positioning measurement R S combination of;

[0042] Positioning measurement combination 9: Positioning measurement R1 and positioning measurement combination of;

[0043] Positioning measurement combination 10: Positioning measurement and positioning measurements combination of;

[0044] Among them, the positioning measurement value R1 represents the distance from the first sensing device to the measured target, and the positioning measurement value The angle between the line connecting the first sensing device to the target and the baseline is represented by the positioning measurement quantity R2, which represents the distance from the second sensing device to the target. Indicates the angle between the line connecting the second sensing device to the target and the baseline, and the positioning measurement value R S It represents the sum of the distance from the first sensing device to the measured object and the distance from the measured object to the second sensing device. The baseline is the line connecting the first sensing device and the second sensing device.

[0045] In some embodiments, determining the combination of positioning measurement quantities with the highest positioning accuracy corresponding to the position anchor point based on the position solution result includes:

[0046] Based on the solution result of the position anchor point and the true coordinates of the position anchor point, the positioning accuracy of each positioning measurement combination for the position anchor point is determined, and the positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point is determined.

[0047] In some embodiments, the operations further include:

[0048] The positioning measurement quantity combination selected for positioning the target to be perceived includes the positioning measurement quantity R S In the case of R, the R S Measurement value and R S The difference between the true values, correcting the R obtained by measuring the perceived target S Measurement value.

[0049] In a third aspect, the present application further provides a multi-point coordinated data fusion positioning device, comprising:

[0050] A first determining unit is configured to determine a plurality of location anchor points deployed within the coverage area of ​​the multi-point cooperative sensing system;

[0051] A second determining unit is configured to periodically perform position calculations on each position anchor point using a plurality of different positioning measurement quantity combinations, and determine a positioning measurement quantity combination with the highest positioning accuracy corresponding to the position anchor point based on the position calculation results;

[0052] The selection unit is used to determine the target position anchor point closest to the center position of the perception area when it is necessary to locate the target to be perceived in the perception area, and based on the result of the most recent position solution of the target position anchor point, select the positioning measurement quantity combination with the highest positioning accuracy corresponding to the target position anchor point to locate the target to be perceived.

[0053] In some embodiments, the position anchor is a corner reflector.

[0054] In some embodiments, a plurality of different positioning measurement quantity combinations are obtained by combining all positioning measurement quantities that can be measured by the multi-point coordinated sensing system.

[0055] In some embodiments, when the coordinated multi-point sensing system performs sensing based on the first sensing device and the second sensing device, the multiple different positioning measurement quantity combinations include at least two of the following positioning measurement quantity combinations:

[0056] Positioning measurement combination 1: Positioning measurement R1 and positioning measurement combination of;

[0057] Positioning measurement combination 2: Positioning measurement R2 and positioning measurement combination of;

[0058] Positioning measurement combination 3: Positioning measurement R2 and positioning measurement combination of;

[0059] Positioning measurement combination 4: Positioning measurement R S and positioning measurements combination of;

[0060] Positioning measurement combination 5: Positioning measurement R S and positioning measurements combination of;

[0061] Positioning measurement combination 6: Positioning measurement R1 and positioning measurement R S combination of;

[0062] Positioning measurement combination 7: a combination of positioning measurement R1 and positioning measurement R2;

[0063] Positioning measurement combination 8: Positioning measurement R2 and positioning measurement R S combination of;

[0064] Positioning measurement combination 9: Positioning measurement R1 and positioning measurement combination of;

[0065] Positioning measurement combination 10: Positioning measurement and positioning measurements combination of;

[0066] Among them, the positioning measurement value R1 represents the distance from the first sensing device to the measured target, and the positioning measurement value The angle between the line connecting the first sensing device to the target and the baseline is represented by the positioning measurement quantity R2, which represents the distance from the second sensing device to the target. Indicates the angle between the line connecting the second sensing device to the target and the baseline, and the positioning measurement value R S It represents the sum of the distance from the first sensing device to the measured object and the distance from the measured object to the second sensing device. The baseline is the line connecting the first sensing device and the second sensing device.

[0067] In some embodiments, determining the combination of positioning measurement quantities with the highest positioning accuracy corresponding to the position anchor point based on the position solution result includes:

[0068] Based on the solution result of the position anchor point and the true coordinates of the position anchor point, the positioning accuracy of each positioning measurement combination for the position anchor point is determined, and the positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point is determined.

[0069] In some embodiments, the apparatus further comprises:

[0070] A correction unit is configured to include the positioning measurement quantity R in the positioning measurement quantity combination selected for positioning the target to be perceived S In the case of R, the R S Measurement value and R S The difference between the true values, correcting the R obtained by measuring the perceived targetS Measurement value.

[0071] In a fourth aspect, the present application further provides a non-transitory readable storage medium, which stores a computer program, and the computer program is used to enable a processor to execute the multi-point collaborative data fusion positioning method described in the first aspect above.

[0072] In a fifth aspect, the present application further provides a communication device, in which a computer program is stored, and the computer program is used to enable the communication device to execute the multi-point coordinated data fusion positioning method described in the first aspect above.

[0073] In a sixth aspect, the present application further provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the multi-point collaborative data fusion positioning method described in the first aspect above.

[0074] In a seventh aspect, the present application further provides a chip product, in which a computer program is stored, and the computer program is used to enable the chip product to execute the multi-point collaborative data fusion positioning method described in the first aspect above.

[0075] The multi-point collaborative data fusion positioning method, communication equipment, device and storage medium provided in the present application deploy multiple position anchor points within the coverage area of ​​the multi-point collaborative sensing system, and use the results of measuring and solving the position anchor points to determine a measurement quantity combination with high positioning accuracy. When positioning the target to be perceived in the sensing area, the target position anchor point closest to the center position of the sensing area is first determined, and then based on the result of the most recent position solution of the target position anchor point, the positioning measurement quantity combination with the highest positioning accuracy corresponding to the target position anchor point is selected to locate the target to be perceived. Under the condition that the time of measuring the anchor point and the time of measuring the target to be perceived are relatively close, since the channel characteristics between the target to be perceived near the anchor point and the sensing device maintain a high correlation with the channel characteristics from the anchor point to the sensing device, the measurement quantity combination with high positioning accuracy for the anchor point also has a high probability of maintaining high positioning accuracy when measuring and solving the target to be perceived, thereby improving the positioning accuracy of the target to be perceived. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following is a brief introduction to the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0077] Figure 1An example diagram of a synaesthesia integrated system including two base stations provided for related technologies;

[0078] Figure 2 A flowchart of a multi-point coordinated data fusion positioning method provided in an embodiment of the present application;

[0079] Figure 3 An example diagram of a multi-point collaborative sensing system with anchor points deployed according to an embodiment of the present application;

[0080] Figure 4 Flowchart of Example 1 provided for the embodiment of the present application;

[0081] Figure 5 Flowchart of Example 2 provided for the embodiment of this application;

[0082] Figure 6 A schematic diagram of the structure of a communication device provided in an embodiment of the present application;

[0083] Figure 7 This is a structural diagram of the multi-point collaborative data fusion positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0084] In the embodiments of this application, the term "and / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0085] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0086] In the embodiments of the present application, the terms "first," "second," and the like are used to distinguish similar objects, and are not used to describe a specific 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 application can be implemented in an order other than that illustrated or described herein. Furthermore, the objects distinguished by "first" and "second" are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more.

[0087] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0088] In order to facilitate a clearer understanding of the technical solutions of the various embodiments of the present application, some technical contents related to the various embodiments of the present application are first introduced.

[0089] Communication-perception convergence (abbreviated as synaesthesia convergence, communication-perception integration, or simply synaesthesia integration) achieves unified design of communication and perception functions through joint air interface and protocol design, time-frequency and space resource reuse, and hardware device sharing. This allows wireless networks to simultaneously perform perception functions while performing communication interactions, thereby improving overall network performance and service capabilities. Wireless perception uses wireless signals to acquire characteristic information about the environment and / or objects within it (such as shape, size, direction, speed, position, distance between objects, or relative motion). Wireless perception services rely on analyzing the transmission, reflection, and scattering of wireless perception signals. As part of wireless communication networks, wireless perception services offer the potential to enhance the use of telecommunications infrastructure in areas such as object detection and tracking, environmental monitoring, and human motion monitoring. Wireless perception services provide input for various vertical sectors, including drones, smart homes, vehicle-to-everything (V2X), and factories. The most common use case for synaesthesia integration is positioning applications. Positioning refers to determining the location or coordinates of a target. For example, in Internet of Vehicles applications, it locates vehicles, pedestrians, and obstacles on the road; in smart transportation applications, it locates aerial drones; in smart factory applications, it locates self-driving cars in the factory; in gesture recognition applications, it locates the position of fingers, and so on.

[0090] In an integrated synaesthesia system, multi-station collaborative data fusion is a method for improving positioning accuracy. Because the perception data obtained from sensing nodes at different locations is independent, using multi-station collaborative sensing of the same target and fusing the data can achieve higher perception performance. This technology utilizes multiple samples obtained through measurements from multiple stations. Using averaging or clustering algorithms, unreliable samples and noise are removed from these samples, resulting in more accurate perception.

[0091] Taking positioning indicators as an example, the plane geometric model of a multi-station cooperative synaesthesia integrated positioning system including two base stations is as follows: Figure 1As shown. The synesthesia integrated base station T1 / R1 and the synesthesia integrated base station T2 / R2 are two base stations that can operate in single-base and dual-base modes respectively. The single-base mode means that the transmitter and receiver of the perception signal are in the same position in space. For example, a certain synesthesia integrated base station transmits a perception signal, and after the perception signal is reflected by the target, the echo signal is received by the base station and signal processing is performed. The dual-base mode refers to a perception working system composed of antennas at different positions in space that transmit and receive perception signals. For example, a certain synesthesia integrated base station transmits a perception signal, and after the perception signal is reflected by the target, the echo signal is received by a terminal within the coverage range of the base station (or by another synesthesia integrated base station) and signal processing is performed. The telepathy integrated base station can measure multiple parameters. For example, a dual-station T1 / R1-T2 / R2 system (T1 / R1 refers to a radar station or telepathy integrated base station, and T2 / R2 refers to another radar station or telepathy integrated base station. T means that the station has the function of sending perception signals, and R means that the station has the function of receiving perception signals) can measure parameters such as the departure angle of the departing wave, the arrival angle of the incoming wave, the distance from the base station T1 / R1 to the target, the distance from the base station T2 / R2 to the target, and the sum of the distance from the base station T1 / R1 to the target and the distance from the base station T2 / R2 to the target. Only some of these parameters are needed to calculate the coordinates of the target.

[0092] Figure 1 In the figure, L represents the baseline distance between the two base stations. The position of the synaesthesia base station T1 / R1 is set as the origin of the coordinate system. The synaesthesia base station T2 / R2 is on the x-axis, that is, the synaesthesia base station T1 / R1 is located at (0, 0), and the synaesthesia base station T2 / R2 is located at (L, 0). The coordinates of the perceived target are set to (x0, y0).

[0093] Figure 1 In the equation, R1 represents the distance from base station T1 / R1 to the perceived target, and R2 represents the distance from base station T2 / R2 to the perceived target. Indicates the angle between the line from base station T1 / R1 to the sensed target and the baseline, It represents the angle between the line from base station T2 / R2 to the sensed target and the baseline, R S It represents the sum of the distance from base station T1 / R1 to the sensed target and the distance from the sensed target to base station T2 / R2.

[0094] Figure 1 In the example synaesthesia integration system, the measurement quantities (in this application, the measurement quantities refer to positioning measurement quantities) that can be perceived by the synaesthesia integration base stations T1 / R1 and T2 / R2 can be composed of multiple measurement quantity combinations, each of which can calculate the position coordinates of the perceived target. Some examples of measurement quantity combinations are as follows:

[0095] (1) Measurement quantity combination {R1, R2}

[0096] The distance R1 from the integrated telepathic base station T1 / R1 to the perceived target is obtained by performing a single-base distance measurement. The distance R2 from the integrated telepathic base station T2 / R2 to the perceived target is obtained by performing a single-base distance measurement. The formula for calculating the coordinates (x0, y0) of the perceived target using measurement combination 1 is:

[0097]

[0098]

[0099] (2) Measurement combination

[0100] The telepathic integrated base station T1 / R1 performs single-base distance measurement and angle measurement to obtain R1. The formula for calculating the coordinates (x0, y0) of the perceived target by measurement combination 2 is:

[0101]

[0102]

[0103] (3) Measurement combination

[0104] The telepathic integrated base station T2 / R2 performs single-base distance measurement and angle measurement to obtain R2. The formula for calculating the coordinates (x0, y0) of the perceived target using measurement combination 3 is:

[0105]

[0106]

[0107] (4) Measurement quantity combination

[0108] The integrated base station T1 / R1 performs angle measurement to obtain the angle The integrated base station T2 / R2 performs dual-base distance measurement to obtain the distance R S , where R S = R1 + R2. The formula for calculating the coordinates (x0, y0) of the perceived target by measurement combination 4 is:

[0109]

[0110] (5) Measurement quantity combination {R1, R S}

[0111] The synaesthesia integrated base station T1 / R1 performs a single-base distance measurement to obtain the distance R1 from the base station T1 / R1 to the perceived target, and the synaesthesia integrated base station T2 / R2 performs a dual-base distance measurement to obtain the distance R S The formula for calculating the coordinates (x0, y0) of the perceived target using measurement combination 5 is:

[0112]

[0113]

[0114] (6) Measurement combination

[0115] The synaesthesia integrated base station T1 / R1 performs single-base distance measurement to obtain the distance R1 from the base station T1 / R1 to the perceived target, and the synaesthesia integrated base station T2 / R2 performs angle measurement to obtain the angle The formula for calculating the coordinates (x0, y0) of the perceived target using measurement combination 6 is:

[0116]

[0117]

[0118] (7) Measurement combination

[0119] The integrated base station T1 / R1 performs angle measurement to obtain the angle The integrated base station T2 / R2 performs angle measurement to obtain the angle The formula for calculating the coordinates (x0, y0) of the perceived target using measurement combination 7 is:

[0120]

[0121]

[0122] In related technologies, multi-station collaborative data fusion positioning is implemented by selecting one or more measurement quantity combinations from the various measurement quantity combinations that can be measured by the integrated synaesthesia system, using the measurement quantities in the measurement quantity combinations measured multiple times, and calculating multiple position coordinate samples of the perceived target. Then, through an averaging or clustering-based algorithm, unreliable samples and noise are eliminated from the coordinate samples, thereby achieving more accurate target positioning.

[0123] However, in different situations, the positioning accuracy obtained by different measurement combinations may vary. For example, when there are co-frequency communication users between the integrated telepathic base station T1 / R1 and the sensed target, the co-frequency communication signal will interfere with the sensing signal. SThe perception accuracy will be greatly affected, which will in turn affect the target positioning accuracy of the above measurement combination (1), (2), (4), (5), and (6). If the positioning results calculated by the above measurement combination (1), (2), (4), (5), and (6) are selected for multi-station collaborative data fusion, the final fusion positioning accuracy will be unsatisfactory. For example, during a certain period of time, the clock synchronization between the synergistic integrated base station T1 / R1 and the synergistic integrated base station T2 / R2 is jittered. At this time, R S The perception accuracy will be greatly affected, which will in turn affect the target positioning accuracy calculated by (4) and (5) in the above measurement combination. If the positioning results calculated by (4) and (5) in the above measurement combination are selected for multi-station collaborative data fusion, the final fusion positioning accuracy will be unsatisfactory. For another example: in a certain period of time, the integrated telemetry base station T1 / R1 needs to perceive the perceived target and serve a communication user at the same time, and when the communication user requires more resources, a large number of antenna channels are occupied by the communication user, and the number of antenna channels available for perception is small, which will affect the angle. The perception accuracy of the above measurement combinations (2), (4), and (7) will be affected, which will in turn affect the target positioning accuracy. If the positioning results calculated by the above measurement combinations (2), (4), and (7) are selected for multi-station collaborative data fusion, the final fusion positioning accuracy will be unsatisfactory.

[0124] To address the above issues, the present application provides a solution for target positioning by deploying position anchor points to select an appropriate combination of measurement quantities to improve positioning accuracy.

[0125] Figure 2 A flowchart of the multi-point coordinated data fusion positioning method provided in the embodiment of the present application is shown as follows: Figure 2 As shown, the method includes the following steps:

[0126] Step 200: Determine multiple location anchor points deployed within the coverage of the multi-point cooperative sensing system.

[0127] Specifically, the execution subject of the method can be a perception device (such as a synesthesia integrated base station or terminal) in a multi-point collaborative perception system (or synesthesia integrated system), a perception server (or sensing function (SF)), or other devices.

[0128] This application proposes to deploy multiple position anchor points (referred to as anchor points, the positions of the anchor points are known) within the coverage area of ​​the multi-point collaborative sensing system, and use the measurement and solution of the anchor points with known positions to determine a measurement quantity combination with high positioning accuracy. Under the condition that the time of measuring the anchor point and the time of measuring the target to be sensed are relatively close, since the channel characteristics between the target to be sensed near the anchor point and the sensing device maintain a high correlation with the channel characteristics from the anchor point to the sensing device, the measurement quantity combination with high positioning accuracy for the anchor point also has a high probability of maintaining high positioning accuracy when measuring and solving the target to be sensed.

[0129] When deploying anchor points, the density of anchor points is related to the environment within the coverage area of ​​the multi-point cooperative sensing system and the required perception accuracy. If the channel environment within the coverage area varies significantly over time or location, or if the perception accuracy requirement is high, a denser anchor point deployment is recommended. Otherwise, a sparser anchor point deployment is acceptable.

[0130] In some embodiments, the position anchor point is a corner reflector, or simply a corner reflector. Corner reflectors are commonly used in radar and synaesthesia integration testing. They have a spherical shape, so they have the same geometric projected area in all directions. Furthermore, the right-angled metal structure of a corner reflector ensures that regardless of the direction the incoming wave comes from, it is always reflected back to its original direction. Furthermore, the reflection loss on the metal surface is extremely low. These characteristics make corner reflectors the optimal choice for anchor points.

[0131] Step 201: For each position anchor point, periodically use multiple different positioning measurement combinations to respectively perform position calculations on the position anchor point, and determine the positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point based on the position calculation results.

[0132] Specifically, for each anchor point, in order to determine the measurement quantity combination with the highest positioning accuracy for the anchor point, a variety of different measurement quantity combinations can be used to solve the position of the anchor point respectively. Each measurement quantity combination can independently solve the target position, that is, each measurement quantity combination can obtain an estimated value of the position coordinates of an anchor point through measurement and calculation, so that it can be determined which measurement quantity combination has the highest positioning accuracy.

[0133] In some embodiments, a plurality of different positioning measurement quantity combinations are obtained by combining all positioning measurement quantities that can be measured by the multi-point coordinated sensing system.

[0134] For example, you can first determine all positioning measurement quantities that can be measured by the multi-point cooperative perception system. The specific positioning measurement quantities that can be measured by the multi-point cooperative perception system are related to the specific deployment of the multi-point cooperative perception system, and this application does not make specific limitations on this.

[0135] Then, based on the principle that each positioning measurement combination can independently determine the target's position, all positioning measurements measurable by the multi-point cooperative sensing system can be combined to obtain a variety of different positioning measurement combinations. By combining all positioning measurements measurable by the multi-point cooperative sensing system, it is possible to select the most precise measurement combinations, thereby improving the positioning accuracy of the target being sensed.

[0136] In some embodiments, when the coordinated multi-point sensing system performs sensing based on the first sensing device and the second sensing device, the multiple different positioning measurement quantity combinations include at least two of the following positioning measurement quantity combinations:

[0137] Positioning measurement combination 1: Positioning measurement R1 and positioning measurement combination of;

[0138] Positioning measurement combination 2: Positioning measurement R2 and positioning measurement combination of;

[0139] Positioning measurement combination 3: Positioning measurement R2 and positioning measurement combination of;

[0140] Positioning measurement combination 4: Positioning measurement R S and positioning measurements combination of;

[0141] Positioning measurement combination 5: Positioning measurement R S and positioning measurements combination of;

[0142] Positioning measurement combination 6: Positioning measurement R1 and positioning measurement R S combination of;

[0143] Positioning measurement combination 7: a combination of positioning measurement R1 and positioning measurement R2;

[0144] Positioning measurement combination 8: Positioning measurement R2 and positioning measurement R s combination of;

[0145] Positioning measurement combination 9: Positioning measurement R1 and positioning measurement combination of;

[0146] Positioning measurement combination 10: Positioning measurement and positioning measurements combination of;

[0147] Among them, the positioning measurement value R1 represents the distance from the first sensing device to the measured target, and the positioning measurement value The angle between the line connecting the first sensing device to the target and the baseline is represented by the positioning measurement quantity R2, which represents the distance from the second sensing device to the target. Indicates the angle between the line connecting the second sensing device to the target and the baseline, and the positioning measurement value R S It represents the sum of the distance from the first sensing device to the measured object and the distance from the measured object to the second sensing device. The baseline is the line connecting the first sensing device and the second sensing device.

[0148] by Figure 1 Taking the multi-point cooperative sensing system including two base stations as an example, the multi-point cooperative sensing system performs sensing based on base stations T1 / R1 and T2 / R2, with base stations T1 / R1 and T2 / R2 acting as the first sensing device and the second sensing device, respectively. The measurement quantity combination formed by all measurement quantities that can be measured by the multi-point cooperative sensing system includes: {R1, R S}, {R1, R2}, {R2, R S}、 The position coordinates of the target can be calculated using the measurement results of each measurement combination. For example, the distance measurement in the measurement combination {R1, R2} can determine a circle with the T1 / R1 station as the center and R1 as the radius, and another circle with the T2 / R2 station as the center and R2 as the radius. The intersection of these two circles is the position coordinates of the target. For another example, the measurement combination {R1, R2} can determine the distance measurement in the T1 / R1 station as the center and R1 as the radius. The angle measurement in the figure can be determined by taking the T1 / R1 station as the starting point and A straight line with T2 / R2 as the starting point and The intersection of these two lines is the target's location coordinate. Similarly, other measurement combinations can be independently calculated to obtain the target's location coordinates. Using at least two of these measurement combinations to calculate the anchor point position increases flexibility in selecting measurement combinations and achieves a reasonable balance between positioning efficiency and accuracy.

[0149] In some embodiments, determining the combination of positioning measurement quantities with the highest positioning accuracy corresponding to the position anchor point based on the position solution result includes:

[0150] Based on the solution result of the position anchor point and the true coordinates of the position anchor point, the positioning accuracy of each positioning measurement combination for the position anchor point is determined, and the positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point is determined.

[0151] For example, after calculating the position of an anchor point using multiple different measurement combinations, each measurement combination can generate an estimated position coordinate value for the anchor point. By comparing this estimated position coordinate value with the true coordinates of the anchor point, the positioning accuracy of each measurement combination can be determined. In some implementations, the distance between the estimated position coordinate value of the anchor point and the true coordinates of the anchor point can be used as a measure of positioning accuracy. A closer distance indicates a higher positioning accuracy for the corresponding measurement combination, thereby determining the measurement combination with the highest positioning accuracy for a particular anchor point.

[0152] By comparing the calculated results of the anchor points with the real coordinates of the anchor points, the positioning accuracy of each measurement combination for a certain anchor point can be determined. The known characteristics of the anchor point position can be fully utilized to most accurately select the measurement combination with high positioning accuracy, thereby improving the positioning accuracy of the target to be perceived.

[0153] Step 202: When it is necessary to locate the target to be sensed within the perception area, determine the target position anchor point closest to the center of the perception area, and based on the result of the most recent position solution of the target position anchor point, select the positioning measurement quantity combination with the highest positioning accuracy corresponding to the target position anchor point to locate the target to be sensed.

[0154] Specifically, when it is necessary to locate the target to be sensed in the sensing area, first determine the anchor point closest to the area, assuming it is anchor point 1, then the result of the most recent position solution of anchor point 1 using multiple different measurement combinations can be retrieved. Assuming that the measurement combination in the most recent solution result is The positioning accuracy is the highest, then the measurement combination can be used to locate the target to be perceived, that is, to measure R1 and These two measurements are then used to calculate the position coordinates of the target to be sensed.

[0155] The multi-point collaborative data fusion positioning method provided in the embodiment of the present application deploys multiple position anchor points within the coverage area of ​​the multi-point collaborative sensing system, and uses the results of measuring and solving the position anchor points to determine a measurement quantity combination with high positioning accuracy. When positioning the target to be perceived in the sensing area, the target position anchor point closest to the center position of the sensing area is first determined, and then based on the result of the most recent position solution of the target position anchor point, the positioning measurement quantity combination with the highest positioning accuracy corresponding to the target position anchor point is selected to locate the target to be perceived. Under the condition that the time of measuring the anchor point and the time of measuring the target to be perceived are relatively close, since the channel characteristics between the target to be perceived near the anchor point and the sensing device maintain a high correlation with the channel characteristics from the anchor point to the sensing device, the measurement quantity combination with high positioning accuracy for the anchor point also has a high probability of maintaining high positioning accuracy when measuring and solving the target to be perceived, thereby improving the positioning accuracy of the target to be perceived.

[0156] Figure 3 This is an example diagram of a multi-point collaborative sensing system with anchor points deployed in an embodiment of the present application. Figure 3 In, R 1B Indicates the distance from base station T1 / R1 to anchor point B, R 2B Indicates the distance from base station T2 / R2 to anchor point B, Indicates the angle between the line from base station T1 / R1 to the sensed target and the baseline, Indicates the angle between the line from base station T1 / R1 to anchor point B and the baseline. Indicates the angle between the line from base station T2 / R2 to the sensed target and the baseline, The angle between the line from base station T2 / R2 to anchor point B and the baseline, R SB Represents the sum of the distance from base station T1 / R1 to anchor point B and the distance from anchor point B to base station T2 / R2. Figure 3 Zhongyu Figure 2 The same parameters in Figure 2 The same as in , no repetition is given here.

[0157] Let's combine it with Example 1 Figure 3 、 Figure 4 The methods of the above embodiments are described with examples. Figure 4 The example 1 flow chart provided in the embodiment of the present application is as follows: Figure 4 As shown, the main steps of Example 1 include:

[0158] Step 401: Figure 3As shown in Figure 1, a certain number of fixed targets are deployed within the coverage of the multi-point cooperative sensing system, which are called anchor points. The density of anchor points is related to the environment within the coverage area and the perception accuracy requirements. When the channel environment within the coverage area changes greatly with time or location, or when the perception accuracy requirements are high, more dense anchor points should be deployed. Otherwise, more sparse anchor points can be deployed. For example, in Figure 3 In the example, the three locations within the sensing range of T1 / R1 station and T2 / R2 station, namely anchor point A, anchor point B, and anchor point C, can be installed at opposite angles as anchor points.

[0159] Step 402: Determine all measurement quantities that can be measured by the perception system. Figure 3 The sensor system shown includes two integrated inter-sensory base stations T1 / R1 and T2 / R2. All measurable parameters of the system include: the distance R1 from T1 / R1 to the target, the angle between the line connecting T1 / R1 to the target and the baseline between T1 / R1 and T2 / R2 The sum of the distance from station T1 / R1 to the target and the distance from the target to station T2 / R2 is R S , the distance R2 from T2 / R2 to the target, the angle between the line connecting T2 / R2 to the target and the baseline between T1 / R1 and T2 / R2

[0160] Step 403: All the measurement quantities determined in step 402 are combined into a set, so that the target coordinate position can be solved based on only the measurement quantities in one set. Figure 3 The sensory system shown includes two integrated base stations T1 / R1 and T2 / R2. All the sets include {R1, R S}, {R1, R2}, {R2, R S}、 The target coordinates can be calculated using the measurement results in each set. For example, the distance measurement in the measurement combination {R1, R2} can determine a circle with the T1 / R1 station as the center and R1 as the radius, and another circle with the T2 / R2 station as the center and R2 as the radius. The intersection of these two circles is the position coordinates of the measured target. For another example, the measurement combination {R1, R2} can determine the distance measurement in the T1 / R1 station as the center and R1 as the radius. The angle measurement in the figure can be determined by taking the T1 / R1 station as the starting point and A straight line with T2 / R2 as the starting point and The intersection of these two lines is the position coordinate of the target. Similarly, other measurement combinations can also be solved independently to obtain the position coordinate of the target.

[0161] Step 404: The synaesthesia system periodically measures all measurable quantities at each anchor point. Using the measurements in each set obtained in step 403, it calculates estimated anchor point coordinates. By comparing the estimated anchor point coordinates with the true anchor point coordinates, the positioning accuracy of each set in step 403 is determined. The sets are then sorted based on positioning accuracy.

[0162] Step 405: When the perception system needs to scan a target within a perception area, it first determines the anchor point closest to the area and then determines the set of measurements that achieve the highest positioning accuracy for that anchor point in step 404. For example, assume that the anchor point closest to the perception area is anchor point B. Since anchor point B is spatially very close to the perceived target within the perception area, if the time of perception of the perceived target is close to the time of perception of anchor point B in step 404, the channel between station T1 / R1 and anchor point B will maintain a high correlation with the channel between station T1 / R1 and the perceived target. The channel between station T2 / R2 and anchor point B will also maintain a high correlation with the channel between station T2 / R2 and the perceived target. Simultaneously, the clock state between station T1 / R1 and station T2 / R2 will remain stable over a short period of time. That is, the clock state between station T1 / R1 and station T2 / R2 at the time of measuring anchor point B will maintain a high correlation with the clock state between station T1 / R1 and station T2 / R2 at the time of measuring the perceived target. Using the measurement values ​​from the set of high positioning accuracy obtained by sensing anchor point B in step 404 to resolve the sensed target in the sensing area will also have a high probability of ensuring high positioning accuracy. For example, assuming that the anchor point closest to the sensing area is anchor point B, when sensing the sensed target in the sensing area, the last sensing result of anchor point B is retrieved, where If the positioning accuracy of the set is the best, the target perception will measure R1. And use R1 and Calculate the perception results.

[0163] In some embodiments, the method further comprises:

[0164] The positioning measurement quantity combination selected for positioning the target to be perceived includes the positioning measurement quantity R S In the case of R, the R S Measurement value and R S The difference between the true values, correcting the R obtained by measuring the perceived target S Measurement value.

[0165] Specifically, in the dual-base sensing mode, the clock error between the transmitter and receiver of the sensing signal will seriously affect the accuracy of the dual-base mode distance sensing. Since the anchor point position within the sensing range is accurately positioned in advance, performing a dual-base distance measurement on the anchor point can obtain a distance measurement value including the clock error. The dual-base distance measurement value of the anchor point (i.e., R S By comparing the measured value) with the true value of the bistatic distance of the anchor point, the clock error between the transmitter and receiver of the perception signal can be obtained. Therefore, when performing bistatic distance measurement on the target to be perceived, the bistatic distance measurement of the target to be perceived can be corrected based on the difference between the bistatic distance measurement value of the anchor point and the true value, thereby further improving the positioning accuracy.

[0166] For example, in Figure 3 In the example, it is assumed that the bi-base distance measurement result R of the inter-sensory base stations T1 / R1 and T2 / R2 to the anchor point B is SB This is 1.5 meters longer than the true value of the bistatic distance from anchor point B (the sum of the true distances from T1 / R1 to anchor point B and from anchor point B to T2 / R2). Since electromagnetic waves take 10 nanoseconds to propagate 1.5 meters in free space, it can be determined that the clock error between the telepathic integrated base stations T1 / R1 and T2 / R2 is 10 nanoseconds. This clock error can be used to correct the measurement results when performing bistatic distance measurements on the target to be sensed, thereby improving the accuracy of bistatic distance measurements.

[0167] The following example 2 is combined with example 1 to illustrate the method of correcting the bistatic distance measurement result of the target to be sensed. Figure 5 The example 2 flow chart provided in the embodiment of this application is as follows: Figure 5 As shown, the main steps of Example 2 include:

[0168] Step 501: Determine the measurement quantity R used in the set obtained in step 403 of Example 1 S A collection of Figure 3 As an example of the dual-station sensing system shown in the figure, the measurement quantity R S The collection includes: {R1, R S}, {R2, R S}.

[0169] Step 502: When executing step 404 of Example 1, use the set {R1, R S}, {R2, R S When the positioning accuracy obtained by the measurement of a set in} is the highest, the R of the anchor point solved by the set is calculated. S Measurement value and R S The difference between the true values.

[0170] Step 503: When executing step 405 of Example 1, the target is sensed and the R of the sensed target is obtained. S After measuring the value, according to the R of the anchor point S The difference between the measured value and the true value is used to correct the R of the perceived target. S For example, when the anchor point R S When the measured value is 1.5 meters smaller than the true value, the R S The measurements were also reduced by 1.5 meters to eliminate the effects of clock errors, further improving positioning accuracy.

[0171] The methods and devices provided in the various embodiments of the present application are based on the same application concept. Since the methods and devices solve problems based on similar principles, the implementation of the devices and methods can refer to each other, and the repeated parts will not be repeated.

[0172] Figure 6 A schematic diagram of the structure of the communication device provided in the embodiment of the present application is shown in FIG. Figure 6 As shown, the communication device includes a memory 620, a transceiver 610 and a processor 600; wherein the processor 600 and the memory 620 may also be physically arranged separately.

[0173] The memory 620 is used to store computer programs; the transceiver 610 is used to send and receive data under the control of the processor 600.

[0174] Specifically, the transceiver 610 is configured to receive and send data under the control of the processor 600 .

[0175] Among them, Figure 6 In the embodiment of the present invention, the bus architecture can include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 600 and memory represented by memory 620. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be further described in this application. The bus interface provides an interface. The transceiver 610 can be a plurality of components, that is, including a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium, such as a wireless channel, a wired channel, an optical cable, and the like.

[0176] The processor 600 is responsible for managing the bus architecture and general processing, and the memory 620 can store data used by the processor 600 when performing operations.

[0177] The processor 600 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0178] The processor 600 calls the computer program stored in the memory 620 to execute any of the methods provided in the embodiments of the present application according to the obtained executable instructions, for example: determining multiple position anchor points deployed within the coverage area of ​​the multi-point cooperative sensing system; for each position anchor point, periodically using multiple different positioning measurement quantity combinations to respectively solve the position of the position anchor point, and determining the positioning measurement quantity combination with the highest positioning accuracy corresponding to the position anchor point based on the result of the position solution; when it is necessary to locate the target to be perceived within the perception area, determine the target position anchor point closest to the center position of the perception area, and based on the result of the most recent position solution of the target position anchor point, select the positioning measurement quantity combination with the highest positioning accuracy corresponding to the target position anchor point to locate the target to be perceived.

[0179] In some embodiments, the position anchor is a corner reflector.

[0180] In some embodiments, a plurality of different positioning measurement quantity combinations are obtained by combining all positioning measurement quantities that can be measured by the multi-point coordinated sensing system.

[0181] In some embodiments, when the coordinated multi-point sensing system performs sensing based on the first sensing device and the second sensing device, the multiple different positioning measurement quantity combinations include at least two of the following positioning measurement quantity combinations:

[0182] Positioning measurement combination 1: Positioning measurement R1 and positioning measurement combination of;

[0183] Positioning measurement combination 2: Positioning measurement R2 and positioning measurement combination of;

[0184] Positioning measurement combination 3: Positioning measurement R2 and positioning measurement combination of;

[0185] Positioning measurement combination 4: Positioning measurement R S and positioning measurements combination of;

[0186] Positioning measurement combination 5: Positioning measurement R S and positioning measurements combination of;

[0187] Positioning measurement combination 6: Positioning measurement R1 and positioning measurement R S combination of;

[0188] Positioning measurement combination 7: a combination of positioning measurement R1 and positioning measurement R2;

[0189] Positioning measurement combination 8: Positioning measurement R2 and positioning measurement R S combination of;

[0190] Positioning measurement combination 9: Positioning measurement R1 and positioning measurement combination of;

[0191] Positioning measurement combination 10: Positioning measurement and positioning measurements combination of;

[0192] Among them, the positioning measurement value R1 represents the distance from the first sensing device to the measured target, and the positioning measurement value The angle between the line connecting the first sensing device to the target and the baseline is represented by the positioning measurement quantity R2, which represents the distance from the second sensing device to the target. Indicates the angle between the line connecting the second sensing device to the target and the baseline, and the positioning measurement value R S It represents the sum of the distance from the first sensing device to the measured object and the distance from the measured object to the second sensing device. The baseline is the line connecting the first sensing device and the second sensing device.

[0193] In some embodiments, determining the combination of positioning measurement quantities with the highest positioning accuracy corresponding to the position anchor point based on the position solution result includes:

[0194] Based on the solution result of the position anchor point and the true coordinates of the position anchor point, the positioning accuracy of each positioning measurement combination for the position anchor point is determined, and the positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point is determined.

[0195] In some embodiments, the method further comprises:

[0196] The positioning measurement quantity combination selected for positioning the target to be perceived includes the positioning measurement quantity R S In the case of R, the R S Measurement value and R S The difference between the true values, correcting the R obtained by measuring the perceived target S Measurement value.

[0197] It should be noted here that the above-mentioned communication equipment provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0198] Figure 7 This is a structural diagram of the multi-point coordinated data fusion positioning device provided in the embodiment of the present application, as shown in FIG. Figure 7 As shown, the device includes:

[0199] The first determining unit 700 is configured to determine a plurality of location anchor points deployed within the coverage area of ​​the multi-point coordinated sensing system;

[0200] The second determining unit 710 is configured to periodically perform position calculations on each position anchor point using a plurality of different positioning measurement combinations, and determine the positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point based on the position calculation results;

[0201] The selection unit 720 is used to determine the target position anchor point closest to the center position of the perception area when it is necessary to locate the target to be perceived in the perception area, and based on the result of the most recent position solution of the target position anchor point, select the positioning measurement quantity combination with the highest positioning accuracy corresponding to the target position anchor point to locate the target to be perceived.

[0202] In some embodiments, the position anchor is a corner reflector.

[0203] In some embodiments, a plurality of different positioning measurement quantity combinations are obtained by combining all positioning measurement quantities that can be measured by the multi-point coordinated sensing system.

[0204] In some embodiments, when the coordinated multi-point sensing system performs sensing based on the first sensing device and the second sensing device, the multiple different positioning measurement quantity combinations include at least two of the following positioning measurement quantity combinations:

[0205] Positioning measurement combination 1: Positioning measurement R1 and positioning measurement combination of;

[0206] Positioning measurement combination 2: Positioning measurement R2 and positioning measurement combination of;

[0207] Positioning measurement combination 3: Positioning measurement R2 and positioning measurement combination of;

[0208] Positioning measurement combination 4: Positioning measurement R S and positioning measurements combination of;

[0209] Positioning measurement combination 5: Positioning measurement R S and positioning measurements combination of;

[0210] Positioning measurement combination 6: Positioning measurement R1 and positioning measurement R S combination of;

[0211] Positioning measurement combination 7: a combination of positioning measurement R1 and positioning measurement R2;

[0212] Positioning measurement combination 8: Positioning measurement R2 and positioning measurement R S combination of;

[0213] Positioning measurement combination 9: Positioning measurement R1 and positioning measurement combination of;

[0214] Positioning measurement combination 10: Positioning measurement and positioning measurements combination of;

[0215] Among them, the positioning measurement value R1 represents the distance from the first sensing device to the measured target, and the positioning measurement value The angle between the line connecting the first sensing device to the target and the baseline is represented by the positioning measurement quantity R2, which represents the distance from the second sensing device to the target. Indicates the angle between the line connecting the second sensing device to the target and the baseline, and the positioning measurement value R S It represents the sum of the distance from the first sensing device to the measured object and the distance from the measured object to the second sensing device. The baseline is the line connecting the first sensing device and the second sensing device.

[0216] In some embodiments, determining the combination of positioning measurement quantities with the highest positioning accuracy corresponding to the position anchor point based on the position solution result includes:

[0217] Based on the solution result of the position anchor point and the true coordinates of the position anchor point, the positioning accuracy of each positioning measurement combination for the position anchor point is determined, and the positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point is determined.

[0218] In some embodiments, the apparatus further comprises:

[0219] A correction unit is configured to include the positioning measurement quantity R in the positioning measurement quantity combination selected for positioning the target to be perceived S In the case of R, the R S Measurement value and R SThe difference between the true values, correcting the R obtained by measuring the perceived target S Measurement value.

[0220] It should be noted that the division of units in the embodiments of the present application is schematic and is merely a logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0221] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0222] It should be noted here that the above-mentioned device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0223] On the other hand, an embodiment of the present application further provides a non-transitory readable storage medium, which stores a computer program, and the computer program is used to enable a processor to execute the multi-point coordinated data fusion positioning method provided by the above embodiments.

[0224] It should be noted here that the non-transitory readable storage medium provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0225] The non-transitory readable storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memories (NANDFLASH), solid-state drives (SSDs)), etc.

[0226] The technical solution provided in the embodiments of the present application can be applicable to a variety of systems, especially 5G systems. For example, applicable systems may be global system of mobile communication (GSM) systems, code division multiple access (CDMA) systems, wideband code division multiple access (WCDMA) general packet radio service (GPRS) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, long term evolution advanced (LTE-A) systems, universal mobile telecommunication systems (UMTS), worldwide interoperability for microwave access (WiMAX) systems, 5G new radio (NR) systems, etc. These various systems include terminal devices and network equipment. The system may also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0227] The terminal involved in the embodiments of the present application may be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connection function, or other processing devices connected to a wireless modem. In different systems, the name of the terminal may also be different. For example, in a 5G system, the terminal may be called a user equipment (UE). A wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device. For example, it can be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges voice and / or data with a radio access network. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), and other devices. The wireless terminal device may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal device, an access terminal device, a user terminal device, a user agent, or a user device, but is not limited in the embodiments of the present application.

[0228] The network device involved in the embodiments of the present application may be a base station, which may include multiple cells providing services to terminals. Depending on the specific application scenario, the base station may also be called an access point, or may be a device in an access network that communicates with a wireless terminal device through one or more sectors on an air interface, or may be named otherwise. The network device may be used to interchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, wherein the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate attribute management of the air interface. For example, the network device involved in the embodiments of the present application may be a network device (Base Transceiver Station, BTS) in the Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA), or a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or an evolutionary network device (eNB or e-NodeB) in the Long Term Evolution (LTE) system, a 5G base station (gNB) in the 5G network architecture (next generation system), or a home evolved Node B (HeNB), a relay node, a home base station (femto), a pico base station (pico), etc., and is not limited in the embodiments of the present application. In some network structures, the network device may include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit may also be geographically separated.

[0229] Network devices and terminals can each use one or more antennas for Multiple Input Multiple Output (MIMO) transmission. MIMO transmission can be single-user MIMO (SU-MIMO) or multi-user MIMO (MU-MIMO). Depending on the form and number of antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO. It can also be diversity transmission, precoded transmission, or beamforming transmission.

[0230] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) that contain computer-usable program code.

[0231] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0232] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor-readable memory produce an article of manufacture comprising an instruction device that implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0233] These processor-executable instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0234] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A multi-point coordinated data fusion positioning method, characterized in that: include: Determine multiple location anchor points deployed within the coverage area of ​​the multi-point cooperative sensing system; For each of the position anchor points, periodically using a plurality of different positioning measurement combinations to respectively perform position calculations on the position anchor points, and determining, based on the position calculation results, a positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point; When it is necessary to locate the target to be perceived within the perception area, determine the target position anchor point closest to the center position of the perception area, and based on the result of the most recent position solution of the target position anchor point, select the positioning measurement combination with the highest positioning accuracy corresponding to the target position anchor point to locate the target to be perceived.

2. The multi-point coordinated data fusion positioning method according to claim 1, characterized in that: The position anchor point is a corner reflector.

3. The multi-point coordinated data fusion positioning method according to claim 1, characterized in that: The multiple different positioning measurement quantity combinations are obtained by combining all positioning measurement quantities that can be measured by the multi-point coordinated sensing system.

4. The multi-point coordinated data fusion positioning method according to claim 1 or 3, characterized in that: In a case where the coordinated multi-point sensing system performs sensing based on a first sensing device and a second sensing device, the multiple different positioning measurement quantity combinations include at least two of the following positioning measurement quantity combinations: Positioning measurement combination 1: Positioning measurement R1 and positioning measurement combination of; Positioning measurement combination 2: Positioning measurement R2 and positioning measurement combination of; Positioning measurement combination 3: Positioning measurement R2 and positioning measurement combination of; Positioning measurement combination 4: Positioning measurement R S and positioning measurements combination of; Positioning measurement combination 5: Positioning measurement R S and positioning measurements combination of; Positioning measurement combination 6: Positioning measurement R1 and positioning measurement R S combination of; Positioning measurement combination 7: a combination of positioning measurement R1 and positioning measurement R2; Positioning measurement combination 8: Positioning measurement R2 and positioning measurement R S combination of; Positioning measurement combination 9: Positioning measurement R1 and positioning measurement combination of; Positioning measurement combination 10: Positioning measurement and positioning measurements combination of; The positioning measurement value R1 represents the distance from the first sensing device to the measured target, and the positioning measurement value represents the angle between the line connecting the first sensing device to the target and the baseline, the positioning measurement R2 represents the distance from the second sensing device to the target, and the positioning measurement represents the angle between the line connecting the second sensing device to the target and the baseline, and the positioning measurement value R S It represents the sum of the distance from the first sensing device to the measured target and the distance from the measured target to the second sensing device. The baseline is the line connecting the first sensing device and the second sensing device.

5. The multi-point coordinated data fusion positioning method according to claim 1 or 2, characterized in that: The determining, based on the result of the position solution, a combination of positioning measurement quantities with the highest positioning accuracy corresponding to the position anchor point, includes: Based on the solution result of the position anchor point and the real coordinates of the position anchor point, the positioning accuracy of each positioning measurement combination for the position anchor point is determined, and the positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point is determined.

6. The multi-point coordinated data fusion positioning method according to claim 4, characterized in that: The method further comprises: The positioning measurement quantity combination selected for positioning the target to be sensed includes the positioning measurement quantity R S In the case of R S Measurement value and R S The difference between the true values ​​is used to correct the R obtained by measuring the target to be sensed. S Measurement value.

7. A communication device, characterized in that: Including memory, transceiver, processor; A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Determine multiple location anchor points deployed within the coverage area of ​​the multi-point cooperative sensing system; For each of the position anchor points, periodically using a plurality of different positioning measurement combinations to respectively perform position calculations on the position anchor points, and determining, based on the position calculation results, a positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point; When it is necessary to locate the target to be perceived within the perception area, determine the target position anchor point closest to the center position of the perception area, and based on the result of the most recent position solution of the target position anchor point, select the positioning measurement combination with the highest positioning accuracy corresponding to the target position anchor point to locate the target to be perceived.

8. The communication device according to claim 7, wherein: The position anchor point is a corner reflector.

9. The communication device according to claim 7, wherein: The multiple different positioning measurement quantity combinations are obtained by combining all positioning measurement quantities that can be measured by the multi-point coordinated sensing system.

10. The communication device according to claim 7 or 9, characterized in that In a case where the coordinated multi-point sensing system performs sensing based on a first sensing device and a second sensing device, the multiple different positioning measurement quantity combinations include at least two of the following positioning measurement quantity combinations: Positioning measurement combination 1: Positioning measurement R1 and positioning measurement combination of; Positioning measurement combination 2: Positioning measurement R2 and positioning measurement combination of; Positioning measurement combination 3: Positioning measurement R2 and positioning measurement combination of; Positioning measurement combination 4: Positioning measurement R S and positioning measurements combination of; Positioning measurement combination 5: Positioning measurement R S and positioning measurements combination of; Positioning measurement combination 6: Positioning measurement R1 and positioning measurement R S combination of; Positioning measurement combination 7: a combination of positioning measurement R1 and positioning measurement R2; Positioning measurement combination 8: Positioning measurement R2 and positioning measurement R s combination of; Positioning measurement combination 9: Positioning measurement R1 and positioning measurement combination of; Positioning measurement combination 10: Positioning measurement and positioning measurements combination of; The positioning measurement value R1 represents the distance from the first sensing device to the measured target, and the positioning measurement value represents the angle between the line connecting the first sensing device to the target and the baseline, the positioning measurement R2 represents the distance from the second sensing device to the target, and the positioning measurement represents the angle between the line connecting the second sensing device to the target and the baseline, and the positioning measurement value R s It represents the sum of the distance from the first sensing device to the measured target and the distance from the measured target to the second sensing device. The baseline is the line connecting the first sensing device and the second sensing device.

11. The communication device according to claim 7, wherein: The determining, based on the result of the position solution, a combination of positioning measurement quantities with the highest positioning accuracy corresponding to the position anchor point, includes: Based on the solution result of the position anchor point and the real coordinates of the position anchor point, the positioning accuracy of each positioning measurement combination for the position anchor point is determined, and the positioning measurement combination with the highest positioning accuracy corresponding to the position anchor point is determined.

12. The communication device according to claim 10, wherein: The operations further include: The positioning measurement quantity combination selected for positioning the target to be sensed includes the positioning measurement quantity R S In the case of R S Measurement value and R S The difference between the true values ​​is used to correct the R obtained by measuring the target to be sensed. S Measurement value.

13. A multi-point coordinated data fusion positioning device, characterized in that: include: A first determining unit is configured to determine a plurality of location anchor points deployed within the coverage area of ​​the multi-point cooperative sensing system; a second determining unit, configured to periodically perform position calculations on each of the position anchor points using a plurality of different positioning measurement quantity combinations, and determine, based on the position calculation results, a positioning measurement quantity combination with the highest positioning accuracy corresponding to the position anchor point; The selection unit is used to determine the target position anchor point closest to the center position of the perception area when it is necessary to locate the target to be perceived in the perception area, and based on the result of the most recent position solution of the target position anchor point, select the positioning measurement quantity combination with the highest positioning accuracy corresponding to the target position anchor point to locate the target to be perceived.

14. A non-transitory readable storage medium, characterized in that The non-transitory readable storage medium stores a computer program, and the computer program is used to enable a processor to execute the method according to any one of claims 1 to 6.

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