Cooperative multi-point data fusion positioning method, communication device, apparatus and storage medium

Abstract

The application provides a multi-point cooperative data fusion positioning method, a communication device, an apparatus and a storage medium. The method comprises the following steps: determining a plurality of position anchors arranged in a multi-point cooperative sensing system coverage range; periodically performing position calculation on each position anchor by using a plurality of different positioning measurement quantity combinations respectively, and determining the positioning measurement quantity combination with the highest positioning accuracy corresponding to each position anchor based on the position calculation result; in the case that a to-be-sensed target in a sensing area needs to be positioned, determining a target position anchor closest to the center position of the sensing area, and selecting the positioning measurement quantity combination with the highest positioning accuracy corresponding to the target position anchor to position the to-be-sensed target based on the result of the last position calculation on the target position anchor.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to a multi-point cooperative data fusion positioning method, communication equipment, apparatus and storage medium. Background Technology

[0002] In integrated sensing systems, multi-station collaborative data fusion is a method to improve positioning accuracy. Since sensing data obtained from sensing nodes at different locations are independent, utilizing multi-station collaboration to sense the same target and then fusing the sensing data can achieve higher sensing performance. However, if the selected combination of positioning measurements is inappropriate, the final fused positioning accuracy may be unsatisfactory. Summary of the Invention

[0003] To address the problems existing in the prior art, this application provides a multi-point collaborative data fusion positioning method, communication equipment, apparatus, and storage medium.

[0004] Firstly, this application provides a multi-point collaborative data fusion positioning method, including:

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

[0006] For each location anchor point, the location is periodically calculated using multiple different combinations of positioning measurements, and the combination of positioning measurements with the highest positioning accuracy corresponding to the location anchor point is determined based on the results of the location calculation.

[0007] When it is necessary to locate the target to be sensed within the sensing area, determine the target location anchor point that is closest to the center of the sensing area, and select the combination of positioning measurements with the highest positioning accuracy corresponding to the target location anchor point based on the most recent position calculation result of the target location anchor point to locate the target to be sensed.

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

[0009] In some embodiments, a variety of different combinations of positioning measurements are obtained by combining all positioning measurements that can be measured by the multi-point cooperative sensing system.

[0010] In some embodiments, when the multi-point cooperative sensing system senses based on a first sensing device and a second sensing device, the various combinations of positioning measurements include at least two of the following combinations of positioning measurements:

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

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

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

[0014] Positioning measurement combination 4: Positioning measurement quantity R S and positioning measurement The combination;

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

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

[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 The combination;

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

[0020] Positioning Measurement Combination 10: Positioning Measurement and positioning measurement The combination;

[0021] Wherein, the positioning measurement R1 represents the distance from the first sensing device to the target being measured. R2 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. The angle between the line connecting the second sensing device to the target and the baseline is represented by the positioning measurement quantity R. S The distance from the first sensing device to the target being measured is the sum of the distance from the target being measured to the second sensing device, and the baseline is the line connecting the first sensing device and the second sensing device.

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

[0023] Based on the solution results of the location anchor points and the actual coordinates of the location anchor points, the positioning accuracy of each combination of positioning measurement quantities for the location anchor points is determined, and the positioning measurement quantity combination with the highest positioning accuracy corresponding to the location anchor points is determined.

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

[0025] The selected combination of localization measurements used to locate the target to be perceived includes the localization measurement R. S In the case of R obtained from measurements performed on the target anchor point S Measured value and R S The difference between the true values ​​is used to correct the R obtained from the measurement of the target to be perceived. S Measured value.

[0026] Secondly, this application also provides a communication device, including a memory, a transceiver, and a processor;

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

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

[0029] For each location anchor point, the location is periodically calculated using multiple different combinations of positioning measurements, and the combination of positioning measurements with the highest positioning accuracy corresponding to the location anchor point is determined based on the results of the location calculation.

[0030] When it is necessary to locate the target to be sensed within the sensing area, determine the target location anchor point that is closest to the center of the sensing area, and select the combination of positioning measurements with the highest positioning accuracy corresponding to the target location anchor point based on the most recent position calculation result of the target location anchor point to locate the target to be sensed.

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

[0032] In some embodiments, a variety of different combinations of positioning measurements are obtained by combining all positioning measurements that can be measured by the multi-point cooperative sensing system.

[0033] In some embodiments, when the multi-point cooperative sensing system senses based on a first sensing device and a second sensing device, the various combinations of positioning measurements include at least two of the following combinations of positioning measurements:

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

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

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

[0037] Positioning measurement combination 4: Positioning measurement quantity R S and positioning measurement The combination;

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

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

[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 The combination;

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

[0043] Positioning Measurement Combination 10: Positioning Measurement and positioning measurement The combination;

[0044] Wherein, the positioning measurement R1 represents the distance from the first sensing device to the target being measured. R2 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. The angle between the line connecting the second sensing device to the target and the baseline is represented by the positioning measurement quantity R. S The distance from the first sensing device to the target being measured is the sum of the distance from the target being measured to the second sensing device, and the baseline is the line connecting the first sensing device and the second sensing device.

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

[0046] Based on the solution results of the location anchor points and the actual coordinates of the location anchor points, the positioning accuracy of each combination of positioning measurement quantities for the location anchor points is determined, and the positioning measurement quantity combination with the highest positioning accuracy corresponding to the location anchor points is determined.

[0047] In some embodiments, the operation further includes:

[0048] The selected combination of localization measurements used to locate the target to be perceived includes the localization measurement R. S In the case of R obtained from measurements performed on the target anchor point S Measured value and R S The difference between the true values ​​is used to correct the R obtained from the measurement of the target to be perceived. S Measured value.

[0049] Thirdly, this application also provides a multi-point collaborative data fusion positioning device, comprising:

[0050] The first determining unit is used to determine multiple location anchor points deployed within the coverage area of ​​the multi-point collaborative sensing system;

[0051] The second determining unit is used to periodically calculate the position of each anchor point using a variety of different combinations of positioning measurements, and to determine the combination of positioning measurements with the highest positioning accuracy corresponding to the anchor point based on the result of the position calculation.

[0052] The selection unit is used to determine the target location anchor point closest to the center of the sensing area when it is necessary to locate the target to be sensed within the sensing area, and select the combination of positioning measurements with the highest positioning accuracy corresponding to the target location anchor point to locate the target to be sensed based on the result of the most recent position calculation of the target location anchor point.

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

[0054] In some embodiments, a variety of different combinations of positioning measurements are obtained by combining all positioning measurements that can be measured by the multi-point cooperative sensing system.

[0055] In some embodiments, when the multi-point cooperative sensing system senses based on a first sensing device and a second sensing device, the various combinations of positioning measurements include at least two of the following combinations of positioning measurements:

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

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

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

[0059] Positioning measurement combination 4: Positioning measurement quantity R S and positioning measurement The combination;

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

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

[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 The combination;

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

[0065] Positioning Measurement Combination 10: Positioning Measurement and positioning measurement The combination;

[0066] Wherein, the positioning measurement R1 represents the distance from the first sensing device to the target being measured. R2 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. The angle between the line connecting the second sensing device to the target and the baseline is represented by the positioning measurement quantity R. S The distance from the first sensing device to the target being measured is the sum of the distance from the target being measured to the second sensing device, and the baseline is the line connecting the first sensing device and the second sensing device.

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

[0068] Based on the solution results of the location anchor points and the actual coordinates of the location anchor points, the positioning accuracy of each combination of positioning measurement quantities for the location anchor points is determined, and the positioning measurement quantity combination with the highest positioning accuracy corresponding to the location anchor points is determined.

[0069] In some embodiments, the device further includes:

[0070] The correction unit is used to include the positioning measurement R in the selected combination of positioning measurements used to locate the target to be perceived. S In the case of R obtained from measurements performed on the target anchor point S Measured value and R S The difference between the true values ​​is used to correct the R obtained from the measurement of the target to be perceived.S Measured value.

[0071] Fourthly, this application also provides a non-transiently readable storage medium storing a computer program for causing a processor to execute the multi-point cooperative data fusion positioning method described in the first aspect above.

[0072] Fifthly, this application also provides a communication device, wherein the communication device stores a computer program, the computer program being used to cause the communication device to execute the multi-point cooperative data fusion positioning method described in the first aspect above.

[0073] In a sixth aspect, this application also provides a processor-readable storage medium storing a computer program for causing a processor to execute the multi-point cooperative data fusion positioning method described in the first aspect above.

[0074] In a seventh aspect, this application also provides a chip product, wherein the chip product stores a computer program, the computer program being used to cause the chip product to perform the multi-point cooperative data fusion positioning method described in the first aspect above.

[0075] The multi-point cooperative data fusion positioning method, communication equipment, apparatus, and storage medium provided in this application deploy multiple location anchors within the coverage area of ​​a multi-point cooperative sensing system. The results of measuring and calculating the location anchors are used to determine a combination of measurement quantities with high positioning accuracy. When positioning a target within the sensing area, the system first determines the target location anchor closest to the center of the sensing area. Then, based on the most recent location calculation result for the target location anchor, the system selects the positioning measurement quantity combination with the highest positioning accuracy corresponding to the target location anchor for positioning the target. When the time of measuring the anchor is relatively close to the time of measuring the target, the channel characteristics between the target and the sensing device near the anchor are highly correlated with the channel characteristics from the anchor to the sensing device. Therefore, a measurement quantity combination with high positioning accuracy for the anchor is also highly likely to maintain high positioning accuracy when measuring and calculating the target, thereby improving the positioning accuracy of the target. Attached Figure Description

[0076] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0077] Figure 1An example diagram of a sensing-integrated system comprising two base stations, provided for related technologies;

[0078] Figure 2 A flowchart illustrating the multi-point collaborative data fusion positioning method provided in this application embodiment;

[0079] Figure 3 Example diagram of a multi-point collaborative sensing system with anchor points deployed, provided in an embodiment of this application;

[0080] Figure 4 Example 1 flowchart provided for embodiments of this application;

[0081] Figure 5 Example 2 flowchart provided for embodiments of this application;

[0082] Figure 6 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0083] Figure 7 This is a schematic diagram of the structure of the multi-point collaborative data fusion positioning device provided in the embodiments of this application. Detailed Implementation

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

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

[0086] In the embodiments of this application, the terms "first," "second," etc., are used to distinguish similar objects, and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, and the number of objects is not limited; for example, the first object can be one or more.

[0087] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0088] To facilitate a clearer understanding of the technical solutions of the various embodiments of this application, some technical content related to the various embodiments of this application will be introduced first.

[0089] Communication-sensing fusion (also known as communication-sensing integration or communication-sensing integration) refers to the unified design of communication and sensing functions through joint design of air interface and protocols, multiplexing of time-frequency-space resources, and sharing of hardware devices. This enables wireless networks to perform sensing functions while conducting communication interactions, thereby improving overall network performance and service capabilities. Wireless sensing is a technology that uses wireless signals to acquire characteristic information (such as shape, size, direction, speed, position, distance between objects, or relative motion) of the environment and / or objects within it. Wireless sensing services rely on the analysis of the transmission, reflection, and scattering of wireless sensing signals. As part of wireless communication networks, wireless sensing services provide the possibility of enhancing the use of telecommunications infrastructure in areas such as object detection and tracking, environmental monitoring, and human motion monitoring. Wireless sensing services provide input for various vertical industries, including drones, smart homes, vehicle-to-everything (V2X), and factories. The most common use case for sensor integration is location-related applications. Location refers to determining the position or coordinates of a target. For example, in vehicle-to-everything (V2X) applications, it is used to locate vehicles, pedestrians, and obstacles on the road; in smart transportation applications, it is used to locate drones in the air; in smart factory applications, it is used to locate autonomous vehicles in the factory; and in gesture recognition applications, it is used to locate the position of fingers, and so on.

[0090] In integrated sensing systems, multi-station collaborative data fusion is a method to improve positioning accuracy. Since sensing data obtained from sensing nodes at different locations are independent, utilizing multi-station collaboration to sense the same target and then fusing the sensing data can achieve higher sensing performance. The related technology involves using multiple stations to measure and calculate multiple samples, and then using algorithms based on averaging or clustering to remove unreliable samples and noise, thereby achieving more accurate sensing.

[0091] Taking positioning metrics as an example, the planar geometric model of a multi-station cooperative sensing integrated positioning system containing two base stations is as follows: Figure 1As shown, the integrated sensing base station T1 / R1 and integrated sensing base station T2 / R2 are two base stations that can operate in single-base and dual-base modes, respectively. Single-base mode refers to a sensing signal transmitter and receiver being located in the same spatial position. For example, an integrated sensing base station transmits a sensing signal, which is reflected by a target, and the echo signal is received and processed by the base station. Dual-base mode refers to a sensing operation system consisting of antennas located in different spatial positions transmitting and receiving sensing signals. For example, an integrated sensing base station transmits a sensing signal, which is reflected by a target, and the echo signal is received and processed by a terminal within the base station's coverage area (or by another integrated sensing base station). A sensor-integrated base station can measure multiple parameters. For example, a dual-station T1 / R1-T2 / R2 system (T1 / R1 refers to one radar station or sensor-integrated base station, and T2 / R2 refers to another radar station or sensor-integrated base station. T indicates that the station has the function of transmitting sensing signals, and R indicates that the station has the function of receiving sensing signals) can measure parameters such as the departure angle, the arrival angle, the distance from base station T1 / R1 to the target, the distance from base station T2 / R2 to the target, and the sum of the distances from base station T1 / R1 to the target and the distances from 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 diagram, L represents the baseline distance between the two base stations. The position of the integrated sensing base station T1 / R1 is set as the origin of the coordinate system. The integrated sensing base station T2 / R2 is on the x-axis, that is, the integrated sensing base station T1 / R1 is located at (0, 0), and the integrated sensing base station T2 / R2 is located at (L, 0). The coordinates of the sensed target are set as (x0, y0).

[0093] Figure 1 In the diagram, R1 represents the distance from base station T1 / R1 to the sensed target, and R2 represents the distance from base station T2 / R2 to the sensed target. This represents the angle between the line connecting base station T1 / R1 to the sensed target and the baseline. R represents the angle between the line connecting base station T2 / R2 to the sensed target and the baseline. S This 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 of the integrated sensing system, the measurable quantities (referred to as positional measurable quantities in this application) of the integrated sensing base stations T1 / R1 and T2 / R2 can be combined into various measurement quantity combinations, and the position coordinates of the sensed target can be calculated for each measurement quantity combination. Some examples of measurement quantity combinations are as follows:

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

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

[0097]

[0098]

[0099] (2) Combination of measurement quantities

[0100] R1 is obtained by performing single-base distance and angle measurements using the integrated inductive base station T1 / R1. The formula for calculating the coordinates (x0, y0) of the sensed target using measurement combination 2 is as follows:

[0101]

[0102]

[0103] (3) Measurement quantity combination

[0104] R2 is obtained by performing single-base distance and angle measurements using the integrated inductive base station T2 / R2. The formula for calculating the coordinates (x0, y0) of the sensed target using measurement combination 3 is as follows:

[0105]

[0106]

[0107] (4) Combination of measurement quantities

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

[0109]

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

[0111] The distance R1 from the sensing target is obtained by single-base distance measurement performed by the integrated sensing base station T1 / R1, and the distance R is obtained by bibase distance measurement performed by the integrated sensing base station T2 / R2. S The formula for calculating the coordinates (x0, y0) of the sensed target using measurement combination 5 is as follows:

[0112]

[0113]

[0114] (6) Measurement quantity combination

[0115] The distance R1 from the sensing target is obtained by single-base distance measurement performed by the integrated sensing base station T1 / R1, and the angle is obtained by angle measurement performed by the integrated sensing base station T2 / R2. The formula for calculating the coordinates (x0, y0) of the sensed target using measurement combination 6 is as follows:

[0116]

[0117]

[0118] (7) Combination of measurement quantities

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

[0120]

[0121]

[0122] In related technologies, the multi-station collaborative data fusion positioning is achieved by selecting one or more combinations of measurement quantities from the various combinations of measurable measurement quantities in the integrated sensing system, using the measurement quantities in the combination of measurement quantities multiple times, and calculating multiple position coordinate samples of the sensed target. Then, through algorithms based on averaging or clustering, unreliable samples and noise are removed from the coordinate samples, thereby achieving more accurate target positioning.

[0123] However, the positioning accuracy obtained from different combinations of measurements will vary depending on the circumstances. For example, when there are co-frequency communication users between the integrated sensing base station T1 / R1 and the sensed target, the co-frequency communication signal will interfere with the sensing signal. In this case, R1 and R... SThe perception accuracy will be greatly affected, which in turn will affect the target positioning accuracy of (1), (2), (4), (5), and (6) in the above measurement combination. If the positioning results calculated by (1), (2), (4), (5), and (6) in the above measurement combination are selected for multi-station collaborative data fusion, the final fusion positioning accuracy will be unsatisfactory. For example, if the clock synchronization between the integrated sensing base station T1 / R1 and the integrated sensing base station T2 / R2 experiences jitter during a certain period, at this time R S The sensing accuracy will be greatly affected, which in turn will affect the target positioning accuracy calculated in (4) and (5) of the above measurement combination. If the positioning results calculated in (4) and (5) of the above measurement combination are selected for multi-station cooperative data fusion, the final fusion positioning accuracy will be unsatisfactory. For example, if the integrated sensing base station T1 / R1 needs to sense the sensed target and serve a certain communication user at the same time, and the communication user needs a lot of resources, a large number of antenna channels will be occupied by the communication user. When the number of antenna channels available for sensing is small, it will affect the angle. The perception accuracy will affect the target positioning accuracy of (2), (4), and (7) in the above measurement combination. If the positioning results calculated by (2), (4), and (7) in the above measurement combination are selected for multi-station collaborative data fusion, the final fusion positioning accuracy will be unsatisfactory.

[0124] To address the aforementioned issues, this application provides a scheme for target localization by deploying location anchor points and selecting appropriate combinations of measurements, thereby improving positioning accuracy.

[0125] Figure 2 This is a flowchart illustrating the multi-point collaborative data fusion positioning method provided in the embodiments of this application, as shown below. Figure 2 As shown, the method includes the following steps:

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

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

[0128] This application proposes deploying multiple location anchor points (hereinafter referred to as anchor points, the locations of which are known) within the coverage area of ​​a multi-point cooperative sensing system. By measuring and calculating the anchor points at known locations, a combination of measurement quantities with high positioning accuracy is determined. Under the condition that the time for measuring the anchor points and the time for measuring the target to be sensed are relatively close, since the channel characteristics between the target to be sensed and the sensing device near the anchor points are highly correlated with the channel characteristics from the anchor points to the sensing devices, a combination of measurement quantities with high positioning accuracy for the anchor points is also highly likely to maintain high positioning accuracy when measuring and calculating 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 sensing accuracy. When the channel environment within the coverage area changes significantly over time or location, or when high sensing accuracy is required, denser anchor points should be deployed; otherwise, sparser anchor points can be deployed.

[0130] In some embodiments, the anchor point is a corner reflector, or simply corner reflector. Corner reflectors are commonly used target objects in radar and integrated sensing testing. They have a spherical shape, thus having the same geometrical projected area in any direction. Furthermore, the right-angled metal structure of the corner reflector ensures that regardless of the direction of the incoming wave, it is always reflected back to its original direction, and the reflection loss of the metal surface is extremely low. These characteristics make corner reflectors the optimal choice for anchor points.

[0131] Step 201: For each location anchor point, periodically use multiple different combinations of positioning measurements to calculate the location of the anchor point, and determine the combination of positioning measurements with the highest positioning accuracy corresponding to the anchor point based on the results of the location calculation.

[0132] Specifically, for each anchor point, in order to determine the combination of measurement quantities that provides the highest positioning accuracy for the anchor point, multiple different combinations of measurement quantities can be used to calculate the position of the anchor point. Each combination of measurement quantities can independently calculate the target position, that is, each combination of measurement quantities can obtain an estimated position coordinate value of the anchor point through measurement and calculation, thereby determining which combination of measurement quantities has the highest positioning accuracy.

[0133] In some embodiments, a variety of different combinations of positioning measurements are obtained by combining all positioning measurements that can be measured by the multi-point cooperative sensing system.

[0134] For example, all the positioning measurements that the multi-point cooperative sensing system can measure can be determined first. The specific positioning measurements that the multi-point cooperative sensing system can measure are related to the specific deployment of the multi-point cooperative sensing system, and this application does not make specific limitations on this.

[0135] Then, based on the principle that each combination of positioning measurements can independently calculate the target 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, the combination of measurements with high positioning accuracy can be selected to the greatest extent, thereby improving the positioning accuracy of the target to be sensed.

[0136] In some embodiments, when the multi-point cooperative sensing system senses based on a first sensing device and a second sensing device, the various combinations of positioning measurements include at least two of the following combinations of positioning measurements:

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

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

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

[0140] Positioning measurement combination 4: Positioning measurement quantity R S and positioning measurement The combination;

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

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

[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 The combination;

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

[0146] Positioning Measurement Combination 10: Positioning Measurement and positioning measurement The combination;

[0147] Wherein, the positioning measurement R1 represents the distance from the first sensing device to the target being measured. R2 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. The angle between the line connecting the second sensing device to the target and the baseline is represented by the positioning measurement quantity R. S The distance from the first sensing device to the target being measured is the sum of the distance from the target being measured to the second sensing device, and the baseline is the line connecting the first sensing device and the second sensing device.

[0148] by Figure 1 Taking a multi-point cooperative sensing system comprising two base stations as an example, this system performs sensing based on base station T1 / R1 and base station T2 / R2, where base station T1 / R1 and base station T2 / R2 are respectively equivalent to the first and second sensing devices. The combination of all measurable quantities formed by this 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 T1 / R1 as the center and R1 as the radius, and another circle with T2 / R2 as the center and R2 as the radius. The intersection of these two circles is the position coordinate of the target. Another example is the measurement combination... The angle measurement in the middle can be determined with station T1 / R1 as the starting point, and with A straight line in the direction of T2 / R2 station can also be used to determine the starting point. Another straight line pointing in the direction of the target is the point where these two lines intersect; this intersection point is the position coordinate of the target. Similarly, other combinations of measurements can also be used to independently calculate the position coordinates of the target. By using at least two of the above combinations of measurements to calculate the position of the anchor point, the flexibility in selecting the combination of measurements can be improved, achieving a reasonable balance between positioning efficiency and positioning accuracy.

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

[0150] Based on the solution results of the location anchor points and the actual coordinates of the location anchor points, the positioning accuracy of each combination of positioning measurement quantities for the location anchor points is determined, and the positioning measurement quantity combination with the highest positioning accuracy corresponding to the location anchor points is determined.

[0151] For example, after calculating the position of an anchor point using various combinations of measurements, each combination yields an estimated position coordinate value for the anchor point. By comparing this estimated value with the actual coordinates of the anchor point, the positioning accuracy of each measurement combination can be determined. In some implementations, the distance between the estimated position coordinates and the actual coordinates of the anchor point can be used as a measure of positioning accuracy; the closer the distance, the higher the positioning accuracy of the corresponding measurement combination. This allows us to determine the measurement combination with the highest positioning accuracy for a given anchor point.

[0152] By comparing the calculated results of the anchor points with their actual coordinates, the positioning accuracy of each combination of measurements for a given anchor point can be determined. This allows for the most accurate selection of high-precision measurement combinations by fully utilizing the known anchor point location, thereby improving the positioning accuracy of the target to be sensed.

[0153] Step 202: When it is necessary to locate the target to be sensed within the sensing area, determine the target location anchor point that is closest to the center of the sensing area, and based on the result of the most recent location calculation of the target location anchor point, select the combination of positioning measurements with the highest positioning accuracy corresponding to the target location anchor point to locate the target to be sensed.

[0154] Specifically, when it is necessary to locate the target to be sensed within the sensing area, the nearest anchor point to the area is first determined, let's say anchor point 1. Then, the result of the most recent position calculation of anchor point 1 using multiple different combinations of measurements can be retrieved. Let's assume that the most recent calculation result includes the combination of measurement measurements... If the positioning accuracy is the highest, then this combination of measurements can be used to locate the target to be sensed, that is, measuring R1 and R2 for the target to be sensed. These two measurements are used to calculate the position coordinates of the target to be sensed.

[0155] The multi-point cooperative data fusion positioning method provided in this application deploys multiple location anchors within the coverage area of ​​a multi-point cooperative sensing system. It uses the results of measuring and calculating these anchors to determine a high-precision combination of measurement quantities. When positioning a target within the sensing area, it first determines the target location anchor closest to the center of the sensing area. Then, based on the most recent location calculation of the target location anchor, it selects the positioning measurement quantity combination with the highest positioning accuracy corresponding to the target location anchor for positioning the target. When the time of measuring the anchor is close to the time of measuring the target, the channel characteristics between the target and the sensing device near the anchor are highly correlated with the channel characteristics from the anchor to the sensing device. Therefore, a high-precision measurement quantity combination for the anchor is also highly likely to maintain high positioning accuracy when measuring and calculating the target, thereby improving the positioning accuracy of the target.

[0156] Figure 3 This is an example diagram of a multi-point collaborative sensing system with anchor points deployed, provided in an embodiment of this application. Figure 3 In the middle, R 1B R represents the distance from base station T1 / R1 to anchor point B. 2B This represents the distance from base station T2 / R2 to anchor point B. This represents the angle between the line connecting base station T1 / R1 to the sensed target and the baseline. This represents the angle between the line connecting base station T1 / R1 to anchor point B and the baseline. This represents the angle between the line connecting base station T2 / R2 to the sensed target and the baseline. R represents the angle between the line connecting base station T2 / R2 to anchor point B and the baseline. SB This 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 [the text] have the same meaning as [the text]. Figure 2 The same applies here, so I will not repeat it here.

[0157] The following example, combined with Example 1, demonstrates this approach. Figure 3 , Figure 4 The methods of the above embodiments are illustrated by examples. Figure 4 Example 1 flowchart provided for embodiments of this application, such as Figure 4 As shown, the main steps of Example 1 include:

[0158] Step 401: As Figure 3As shown, a certain number of fixed targets deployed within the coverage area of ​​a multi-point cooperative sensing system are called anchor points. The density of anchor points is related to the environment within the coverage area and the required sensing accuracy. When the channel environment within the coverage area changes significantly with time or location, or when high sensing accuracy is required, denser anchor points should be deployed; otherwise, sparser anchor points can be deployed. For example, in... Figure 3 In this process, the three location anchor points A, B, and C within the sensing range of stations T1 / R1 and T2 / R2 can be installed at opposite angles as anchor points.

[0159] Step 402: Determine all the measurements that the sensing system can measure. Figure 3 The diagram shows a sensing system comprising two integrated sensing base stations, T1 / R1 and T2 / R2. All measurable parameters of this system include: the distance R1 from T1 / R1 to the target, and the angle between the line connecting T1 / R1 to the target and the baseline between T1 / R1 and T2 / R2. The sum of the distances from stations T1 / R1 to the target and the distances from the target to stations T2 / R2 is R. S The distance R2 from T2 / R2 to the target being measured, and the angle between the line connecting T2 / R2 to the target being measured and the baseline between T1 / R1 and T2 / R2.

[0160] Step 403: Combine all the measurements determined in step 402 into a set, so that the target coordinate position can be calculated based on only the measurements in one set. Figure 3 The diagram shows a sensing system comprising two integrated sensing base stations, T1 / R1 and T2 / R2. All components include... {R1, R S}、{R1,R2}、{R2,R S}、 The target's coordinates can be calculated using the measurement results from each set. For example, the distance measurements in the measurement set {R1, R2} can determine a circle with station T1 / R1 as the center and R1 as the radius, and another circle with station T2 / R2 as the center and R2 as the radius. The intersection of these two circles is the position coordinate of the measured target. Another example is the measurement set... The angle measurement in the middle can be determined with station T1 / R1 as the starting point, and with A straight line in the direction of T2 / R2 station can also be used to determine the starting point. Another straight line pointing in the direction of measurement intersects at the point where the two lines meet, and this intersection gives the position coordinates of the target. Similarly, other combinations of measurements can also be independently calculated to obtain the position coordinates of the target.

[0161] Step 404: The sensing system periodically measures all measurable quantities at each anchor point. Using the quantities obtained in step 403 for each set, the estimated anchor point coordinates are calculated. By comparing the estimated anchor point coordinates with the actual anchor point coordinates, the positioning accuracy of each set in step 403 can be obtained, and the sets are sorted according to their positioning accuracy.

[0162] Step 405: When the sensing system needs to scan a target within a certain sensing area, it first determines the nearest anchor point to that area and then determines the set of measurements from step 404 that provides the highest positioning accuracy for that anchor point. For example, assume that the nearest anchor point to the sensing area is anchor point B. Since anchor point B is spatially close to the target being sensed within the sensing area, if the time of sensing the target is very close to the time of sensing anchor point B in step 404, the channel between stations T1 / R1 and anchor point B will maintain a high correlation with the channel between stations T1 / R1 and the target, and the channel between stations T2 / R2 and anchor point B will also maintain a high correlation with the channel between stations T2 / R2 and the target. Simultaneously, the clock states between stations T1 / R1 and T2 / R2 will remain stable for a short period. That is, the clock states between stations T1 / R1 and T2 / R2 at the time of measuring anchor point B are highly correlated with the clock states between stations T1 / R1 and T2 / R2 at the time of measuring the target. Using the measurements from the set of high-precision positioning data obtained from sensing anchor point B in step 404 to calculate the perceived 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 perceived target in the sensing area, the sensing result of the previous sensing at anchor point B is retrieved, where... If the set has the best positioning accuracy, then the target perception will measure R1 in this instance. And using R1 and Calculate the perceived results.

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

[0164] The selected combination of localization measurements used to locate the target to be perceived includes the localization measurement R. S In the case of R obtained from measurements performed on the target anchor point S Measured value and R S The difference between the true values ​​is used to correct the R obtained from the measurement of the target to be perceived. S Measured value.

[0165] Specifically, in bistatic sensing mode, clock errors at the transmitting and receiving ends of the sensing signal significantly affect the accuracy of bistatic distance sensing. Since the anchor point positions within the sensing range are precisely pre-positioned, performing bistatic distance measurements on these anchor points yields distance measurements that include clock errors. The bistatic distance measurement value of the anchor point (i.e., R...) S By comparing the measured value with the true value of the bistatic distance at the anchor point, the clock error between the transmitting and receiving ends of the sensing signal can be obtained. Therefore, when measuring the bistatic distance of the target to be sensed, the bistatic distance measurement value of the target to be sensed can be corrected based on the difference between the measured value and the true value of the bistatic distance at the anchor point, thereby further improving the positioning accuracy.

[0166] For example, in Figure 3 In the above, assume that the bistatic distance measurement result R of the integrated inductive base stations T1 / R1 and T2 / R2 at anchor point B in a certain instance is... SB The distance between anchor point B and the actual bistatic distance (the sum of the actual distances from T1 / R1 to anchor point B and from anchor point B to T2 / R2) is 1.5 meters longer. Since electromagnetic waves require 10 nanoseconds to propagate 1.5 meters in free space, the clock error between the integrated sensing base stations T1 / R1 and T2 / R2 can be determined to be 10 nanoseconds. When measuring the bistatic distance to the target, this clock error can be used to correct the measurement results, thereby improving the accuracy of the bistatic distance measurement.

[0167] The following example, combining Example 2 and Example 1, illustrates the method for correcting bibase distance measurement results of the target to be sensed. Figure 5 Example 2 flowchart provided for embodiments of this application, such as 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 set. With Figure 3 Taking the dual-station sensing system shown as an example, the measured quantity R is used. S The set includes: {R1, R S}、{R2,R S}

[0169] Step 502: When performing step 404 of Example 1, utilize the set {R1, R S}、{R2,R S If the positioning accuracy obtained by solving the measurement quantities in a certain set of the equation is the highest, then the R value of the anchor point solved by that set is calculated. S Measured value and R S The difference between the true values.

[0170] Step 503: When executing step 405 of Example 1, when the target is perceived and the R of the perceived target is obtained... S After measuring the value, based on 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 Measured value. For example, when the R value of the anchor point... S When the measured value is 1.5 meters smaller than the true value, the R of the sensed target... S The measurement value was also reduced by 1.5 meters to eliminate the influence of clock error, thereby further improving positioning accuracy.

[0171] The methods and apparatuses provided in the various embodiments of this application are based on the same concept. Since the methods and apparatuses solve problems in similar ways, the implementations of the apparatuses and methods can refer to each other, and repeated details will not be repeated.

[0172] Figure 6 This is a schematic diagram of the structure of the communication device provided in the embodiments of this application, such as... 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 can 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 used to receive and send data under the control of the processor 600.

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

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

[0177] The processor 600 can 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 can also adopt a multi-core architecture.

[0178] The processor 600 calls a computer program stored in the memory 620 to execute any of the methods provided in the embodiments of this application according to the obtained executable instructions. For example, it determines multiple location anchors deployed within the coverage area of ​​the multi-point cooperative sensing system; for each location anchor, it periodically calculates the location of the location anchor using multiple different combinations of positioning measurements, and determines the combination of positioning measurements with the highest positioning accuracy corresponding to the location anchor based on the result of the location calculation; when it is necessary to locate the target to be sensed within the sensing area, it determines the target location anchor closest to the center of the sensing area, and selects the combination of positioning measurements with the highest positioning accuracy corresponding to the target location anchor based on the result of the most recent location calculation of the target location anchor to locate the target to be sensed.

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

[0180] In some embodiments, a variety of different combinations of positioning measurements are obtained by combining all positioning measurements that can be measured by the multi-point cooperative sensing system.

[0181] In some embodiments, when the multi-point cooperative sensing system senses based on a first sensing device and a second sensing device, the various combinations of positioning measurements include at least two of the following combinations of positioning measurements:

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

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

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

[0185] Positioning measurement combination 4: Positioning measurement quantity R S and positioning measurement The combination;

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

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

[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 The combination;

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

[0191] Positioning Measurement Combination 10: Positioning Measurement and positioning measurement The combination;

[0192] Wherein, the positioning measurement R1 represents the distance from the first sensing device to the target being measured. R2 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. The angle between the line connecting the second sensing device to the target and the baseline is represented by the positioning measurement quantity R. S The distance from the first sensing device to the target being measured is the sum of the distance from the target being measured to the second sensing device, and the baseline is the line connecting the first sensing device and the second sensing device.

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

[0194] Based on the solution results of the location anchor points and the actual coordinates of the location anchor points, the positioning accuracy of each combination of positioning measurement quantities for the location anchor points is determined, and the positioning measurement quantity combination with the highest positioning accuracy corresponding to the location anchor points is determined.

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

[0196] The selected combination of localization measurements used to locate the target to be perceived includes the localization measurement R. S In the case of R obtained from measurements performed on the target anchor point S Measured value and R S The difference between the true values ​​is used to correct the R obtained from the measurement of the target to be perceived. S Measured value.

[0197] It should be noted that the communication device provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0198] Figure 7 This is a schematic diagram of the structure of the multi-point collaborative data fusion positioning device provided in the embodiments of this application, as shown below. Figure 7 As shown, the device includes:

[0199] The first determining unit 700 is used to determine multiple location anchor points deployed within the coverage area of ​​the multi-point collaborative sensing system;

[0200] The second determining unit 710 is used to periodically calculate the position of each anchor point using a variety of different combinations of positioning measurements, and to determine the combination of positioning measurements with the highest positioning accuracy corresponding to the anchor point based on the result of the position calculation.

[0201] Selection unit 720 is used to determine the target position anchor point closest to the center of the sensing area when it is necessary to locate the target to be sensed within the sensing area, and select the combination of positioning measurements with the highest positioning accuracy corresponding to the target position anchor point to locate the target to be sensed based on the result of the most recent position calculation of the target position anchor point.

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

[0203] In some embodiments, a variety of different combinations of positioning measurements are obtained by combining all positioning measurements that can be measured by the multi-point cooperative sensing system.

[0204] In some embodiments, when the multi-point cooperative sensing system senses based on a first sensing device and a second sensing device, the various combinations of positioning measurements include at least two of the following combinations of positioning measurements:

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

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

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

[0208] Positioning measurement combination 4: Positioning measurement quantity R S and positioning measurement The combination;

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

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

[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 The combination;

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

[0214] Positioning Measurement Combination 10: Positioning Measurement and positioning measurement The combination;

[0215] Wherein, the positioning measurement R1 represents the distance from the first sensing device to the target being measured. R2 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. The angle between the line connecting the second sensing device to the target and the baseline is represented by the positioning measurement quantity R. S The distance from the first sensing device to the target being measured is the sum of the distance from the target being measured to the second sensing device, and the baseline is the line connecting the first sensing device and the second sensing device.

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

[0217] Based on the solution results of the location anchor points and the actual coordinates of the location anchor points, the positioning accuracy of each combination of positioning measurement quantities for the location anchor points is determined, and the positioning measurement quantity combination with the highest positioning accuracy corresponding to the location anchor points is determined.

[0218] In some embodiments, the device further includes:

[0219] The correction unit is used to include the positioning measurement R in the selected combination of positioning measurements used to locate the target to be perceived. S In the case of R obtained from measurements performed on the target anchor point S Measured value and R SThe difference between the true values ​​is used to correct the R obtained from the measurement of the target to be perceived. S Measured value.

[0220] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0221] If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0222] It should be noted that the apparatus provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0223] On the other hand, embodiments of this application also provide a non-transiently readable storage medium storing a computer program, the computer program being used to cause a processor to execute the multi-point cooperative data fusion positioning method provided in the above embodiments.

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

[0225] The non-transiently readable storage medium can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0226] The technical solutions provided in this application can be applied to various systems, especially 5G systems. For example, applicable systems include Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA) General Packet Radio Service (GPRS), Long Term Evolution (LTE), LTE Frequency Division Duplex (FDD), LTE Time Division Duplex (TDD), Long Term Evolution Advanced (LTE-A), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX), and 5G New Radio (NR). All of these systems include terminal equipment and network equipment. The systems may also include a core network component, such as Evolved Packet System (EPS) and 5G systems (5GS).

[0227] The terminal involved in the embodiments of this application can be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. The name of the terminal may differ in different systems; for example, in a 5G system, the terminal can be called a User Equipment (UE). The wireless terminal device can communicate with one or more core networks (CNs) 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, a portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile device. They exchange voice and / or data with the radio access network. Examples include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, and Personal Digital Assistants (PDAs). Wireless terminal equipment can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point, remote terminal, access terminal, user terminal, user agent, or user device, but is not limited to these terms in the embodiments of this application.

[0228] The network device involved in this application embodiment can be a base station, which may include multiple cells providing services to terminals. Depending on the specific application, a base station may also be called an access point, or a device in an access network that communicates with a wireless terminal device through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network equipment involved in the embodiments of this application can be a base transceiver station (BTS) in a Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA), a NodeB in a Wide-band Code Division Multiple Access (WCDMA) system, an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in the embodiments of this application. In some network structures, the network equipment may include centralized unit (CU) nodes and distributed unit (DU) nodes, and the centralized unit and distributed unit may 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 multiple-user MIMO (MU-MIMO). Depending on the configuration and number of antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, and can also be diversity transmission, precoding transmission, or beamforming transmission, etc.

[0230] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0231] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[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 particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

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

[0234] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method of multi-point cooperative data fusion positioning, characterized in that, include: Identify multiple location anchor points deployed within the coverage area of ​​the multi-point collaborative sensing system; For each of the aforementioned location anchor points, the location of the location anchor point is periodically calculated using multiple different combinations of positioning measurements, and the combination of positioning measurements with the highest positioning accuracy corresponding to the location anchor point is determined based on the results of the location calculation. When it is necessary to locate the target to be sensed within the sensing area, determine the target location anchor point that is closest to the center of the sensing area, and based on the result of the most recent location calculation of the target location anchor point, select the combination of positioning measurements with the highest positioning accuracy corresponding to the target location anchor point to locate the target to be sensed. When the multi-point cooperative sensing system performs sensing based on the first sensing device and the second sensing device, the various combinations of positioning measurements include at least two of the following combinations of positioning measurements: Positioning measurement quantity combination 1 : positioning measurement quantity and positioning measurement quantity combination; Positioning measurement quantity combination 2: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 3: positioning measurement quantities and positioning measurement quantities in combination; Positioning measurement quantity combination 4: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 5: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 6: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 7: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 8: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 9: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 10: positioning measurement quantity and a combination of positioning measurement quantities ​ Among them, the positioning measurement quantity The distance from the first sensing device to the target being measured is represented by the positioning measurement quantity. The positioning measurement quantity represents the angle between the line connecting the first sensing device to the target and the baseline. The distance from the second sensing device to the target being measured is represented by the positioning measurement quantity. The positioning measurement quantity represents the angle between the line connecting the second sensing device to the target and the baseline. The baseline represents the sum of the distance from the first sensing device to the target being measured and the distance from the target being measured to the second sensing device, and the baseline is the line connecting the first sensing device and the second sensing device.

2. The method of claim 1, wherein, The location anchor point is a corner reflector.

3. The method of claim 1, wherein, The various combinations of positioning measurements are obtained by combining all positioning measurements that can be measured by the multi-point cooperative sensing system.

4. The method of claim 1 or 2, wherein The step of determining the combination of positioning measurements with the highest positioning accuracy corresponding to the position anchor point based on the position calculation result includes: Based on the calculation results of the location anchor point and the actual coordinates of the location anchor point, the positioning accuracy of each combination of positioning measurements for the location anchor point is determined, and the positioning measurement combination with the highest positioning accuracy corresponding to the location anchor point is determined.

5. The method of claim 1, wherein, The method further includes: The selected combination of positioning measurements for locating the target to be sensed includes positioning measurements. In the case of, based on the measurements performed on the target anchor point Measured values ​​and The difference between the true values ​​is used to correct the measurement obtained from the target to be perceived. Measured value.

6. A communication device, characterized by Includes memory, transceiver, and processor; A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations: Identify multiple location anchor points deployed within the coverage area of ​​the multi-point collaborative sensing system; For each of the aforementioned location anchor points, the location of the location anchor point is periodically calculated using multiple different combinations of positioning measurements, and the combination of positioning measurements with the highest positioning accuracy corresponding to the location anchor point is determined based on the results of the location calculation. When it is necessary to locate the target to be sensed within the sensing area, determine the target location anchor point that is closest to the center of the sensing area, and based on the result of the most recent location calculation of the target location anchor point, select the combination of positioning measurements with the highest positioning accuracy corresponding to the target location anchor point to locate the target to be sensed. When the multi-point cooperative sensing system performs sensing based on the first sensing device and the second sensing device, the various combinations of positioning measurements include at least two of the following combinations of positioning measurements: Positioning measurement quantity combination 1 : positioning measurement quantity and positioning measurement quantity combination; Positioning measurement quantity combination 2: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 3: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 4: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 5: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 6: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 7: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 8: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 9: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 10: positioning measurement quantity and a combination of positioning measurement quantities ​ Among them, the positioning measurement quantity The distance from the first sensing device to the target being measured is represented by the positioning measurement quantity. The positioning measurement quantity represents the angle between the line connecting the first sensing device to the target and the baseline. The distance from the second sensing device to the target being measured is represented by the positioning measurement quantity. The positioning measurement quantity represents the angle between the line connecting the second sensing device to the target and the baseline. The baseline represents the sum of the distance from the first sensing device to the target being measured and the distance from the target being measured to the second sensing device, and the baseline is the line connecting the first sensing device and the second sensing device.

7. The communication device of claim 6, wherein, The location anchor point is a corner reflector.

8. The communication device of claim 6, wherein, The various combinations of positioning measurements are obtained by combining all positioning measurements that can be measured by the multi-point cooperative sensing system.

9. The communication device of claim 6, wherein, The step of determining the combination of positioning measurements with the highest positioning accuracy corresponding to the position anchor point based on the position calculation result includes: Based on the calculation results of the location anchor point and the actual coordinates of the location anchor point, the positioning accuracy of each combination of positioning measurements for the location anchor point is determined, and the positioning measurement combination with the highest positioning accuracy corresponding to the location anchor point is determined.

10. The communication device of claim 6, wherein, The operation also includes: The selected combination of positioning measurements for locating the target to be sensed includes positioning measurements. In the case of, based on the measurements performed on the target anchor point Measured values ​​and The difference between the true values ​​is used to correct the measurement obtained from the target to be perceived. Measured value.

11. A multi-point cooperative data fusion positioning apparatus, characterized by, include: The first determining unit is used to determine multiple location anchor points deployed within the coverage area of ​​the multi-point collaborative sensing system; The second determining unit is used to periodically calculate the position of each location anchor point using multiple different combinations of positioning measurements, and to determine the positioning measurement combination with the highest positioning accuracy corresponding to the location anchor point based on the result of the position calculation. The selection unit is used to determine the target location anchor point closest to the center of the sensing area when it is necessary to locate the target to be sensed within the sensing area, and select the combination of positioning measurements with the highest positioning accuracy corresponding to the target location anchor point to locate the target to be sensed based on the result of the most recent position calculation of the target location anchor point. When the multi-point cooperative sensing system performs sensing based on the first sensing device and the second sensing device, the various combinations of positioning measurements include at least two of the following combinations of positioning measurements: Positioning measurement quantity combination 1 : positioning measurement quantity and positioning measurement quantity combination; Positioning measurement quantity combination 2: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 3: positioning measurement quantities and combinations of positioning measurement quantities ​ Positioning measurement quantity combination 4: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 5: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 6: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 7: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 8: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 9: combination of positioning measurement quantities and positioning measurement quantities ​ Positioning measurement quantity combination 10: positioning measurement quantity and a combination of positioning measurement quantities ​ Among them, the positioning measurement quantity The distance from the first sensing device to the target being measured is represented by the positioning measurement quantity. The positioning measurement quantity represents the angle between the line connecting the first sensing device to the target and the baseline. The distance from the second sensing device to the target being measured is represented by the positioning measurement quantity. The positioning measurement quantity represents the angle between the line connecting the second sensing device to the target and the baseline. The baseline represents the sum of the distance from the first sensing device to the target being measured and the distance from the target being measured to the second sensing device, and the baseline is the line connecting the first sensing device and the second sensing device.

12. A non-transitory readable storage medium, characterized in that, The non-transiently readable storage medium stores a computer program that causes a processor to perform the method according to any one of claims 1 to 5.

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