Positioning environment perception identification method and device

Abstract

The embodiment of the invention provides a positioning environment perception identification method and device. The method comprises the following steps: receiving coordinate information of a positioning reference anchor point sent by a positioning server; measuring the positioning signal according to the positioning capability to obtain a measurement value of a supported positioning mode; processing the measured value of the positioning mode according to the positioning mode and the coordinate information of the positioning reference anchor point to obtain the current positioning space position and the positioning environment state; and determining a quality credible factor of the positioning position according to the current positioning spatial position, and sending the positioning mode, the current positioning spatial position, the positioning environment state and the quality credible factor to a positioning server, so that the problems of generalization, high complexity and divergence in an intelligent positioning technology in related technologies can be solved; intelligent positioning is realized based on environment perception identification, and generalization, high complexity and divergence in an intelligent positioning technology are avoided.

Description

Technical Field

[0001] This application relates to the field of communication technology, and more specifically, to a positioning environment perception and identification method and apparatus. Background Technology

[0002] Currently, most fusion technologies for various positioning modes in the industry require manually designed fusion logic. This customized fusion logic can only solve the fusion of multiple positioning modes in a specific scenario. How to design an intelligent fusion logic that can automatically adapt to changes in the scenario, automatically learn and adapt to changes in the scenario, and automatically adopt an appropriate fusion scheme has become a key issue in the field of spatial positioning. Deep learning-based intelligent positioning is only effective for scenarios that have already been trained on, and the generalization problem has not been well solved. Moreover, if there are large differences between training scenarios, there is also the problem of divergence.

[0003] No solutions have yet been proposed for the problems of generalization, high complexity, and divergence in intelligent positioning technology. Summary of the Invention

[0004] This application provides a positioning environment perception and recognition method and apparatus to at least solve the problems of generalization, high complexity and divergence in intelligent positioning technology in related technologies.

[0005] According to one embodiment of this application, a positioning environment perception and recognition method is provided, applied to a positioning signal receiver, the method comprising:

[0006] Receive the coordinate information of the positioning reference anchor point sent by the positioning server;

[0007] The positioning signal is measured based on the positioning capability to obtain the measurement values ​​of the supported positioning modes;

[0008] The measurement values ​​of the positioning mode are processed based on the positioning mode and the coordinate information of the positioning reference anchor point to obtain the spatial location and positioning environment status of the current positioning.

[0009] The quality reliability factor of the positioning location is determined based on the current spatial location, and the positioning mode, the current spatial location, the positioning environment state, and the quality reliability factor of the positioning location are sent to the positioning server.

[0010] According to another embodiment of this application, a positioning environment awareness and recognition method is also provided, applied to a positioning server, the method comprising:

[0011] Send the coordinate information of the positioning reference anchor point to the positioning signal receiver;

[0012] The system receives the supported positioning modes, measurement values ​​of the positioning modes, current spatial location, positioning environment status, and quality reliability factor of the positioning location sent by the positioning signal receiver. The measurement values ​​of the positioning modes are obtained by the positioning signal receiver through measurement of the positioning signal based on its positioning capabilities. The current spatial location and the positioning environment status are obtained by the positioning signal receiver through processing the measurement values ​​of the positioning modes based on the positioning modes and the coordinate information of the positioning reference anchor points. The quality reliability factor of the positioning location is determined by the positioning signal receiver based on the current spatial location.

[0013] According to another embodiment of this application, a positioning environment perception and identification device is also provided, applied to a positioning signal receiver, the device comprising:

[0014] The first receiving module is used to receive the coordinate information of the positioning reference anchor point sent by the positioning server;

[0015] The measurement module is used to measure the positioning signal according to the positioning capability to obtain the measurement values ​​of the supported positioning modes;

[0016] The calculation module is used to process the measurement values ​​of the positioning mode according to the positioning mode and the coordinate information of the positioning reference anchor point to obtain the current positioning spatial position and positioning environment status.

[0017] The determination module is used to determine the quality reliability factor of the positioning location based on the current spatial location, and send the positioning mode, the current spatial location, the positioning environment state, and the quality reliability factor of the positioning location to the positioning server.

[0018] According to another embodiment of this application, a positioning environment perception and recognition device is also provided, applied to a positioning server, the device comprising:

[0019] The transmitting module is used to send the coordinate information of the positioning reference anchor point to the positioning signal receiver;

[0020] The second receiving module is used to receive the supported positioning modes, the measured values ​​of the positioning modes, the current spatial location, the positioning environment status, and the quality reliability factor of the positioning location sent by the positioning signal receiver. The measured values ​​of the positioning modes are obtained by the positioning signal receiver measuring the positioning signal according to its positioning capabilities. The current spatial location and the positioning environment status are obtained by the positioning signal receiver processing the measured values ​​of the positioning modes according to the positioning modes and the coordinate information of the positioning reference anchor points. The quality reliability factor of the positioning location is determined by the positioning signal receiver based on the current spatial location.

[0021] According to yet another embodiment of this application, a computer program product is also provided, including computer program instructions, wherein the computer program instructions cause a computer to implement the steps in any of the above method embodiments.

[0022] According to yet another embodiment of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0023] According to yet another embodiment of this application, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0024] In this embodiment, the system receives coordinate information of a positioning reference anchor point sent by a positioning server; measures the positioning signal according to the positioning capability to obtain the measurement value of the supported positioning mode; processes the measurement value of the positioning mode according to the positioning mode and the coordinate information of the positioning reference anchor point to obtain the current positioning spatial location and positioning environment state; determines the quality reliability factor of the positioning location based on the current positioning spatial location; and sends the positioning mode, the current positioning spatial location, the positioning environment state, and the quality reliability factor of the positioning location to the positioning server. This can solve the problems of generalization, high complexity, and divergence in intelligent positioning technology in related technologies. It achieves intelligent positioning based on environmental perception and recognition, avoiding the generalization, high complexity, and divergence problems in intelligent positioning technology. Attached Figure Description

[0025] Figure 1 This is a hardware structure block diagram of a computer device for the positioning environment perception and recognition method according to an embodiment of this application;

[0026] Figure 2 This is a flowchart of the positioning environment perception and recognition method according to the embodiments of this application. Figure 1 ;

[0027] Figure 3 This is a flowchart of a positioning environment perception and recognition method according to an optional embodiment of this application;

[0028] Figure 4 This is a flowchart of the positioning environment perception and recognition method according to the embodiments of this application. Figure 2 ;

[0029] Figure 5 This is a flowchart of the location environment perception and recognition method in complex scenarios according to this embodiment;

[0030] Figure 6This is a flowchart illustrating the parameter interaction between the positioning signal receiver and the positioning server according to this embodiment;

[0031] Figure 7 This is a schematic diagram of the 5G and Bluetooth positioning system according to this embodiment;

[0032] Figure 8 This is a schematic diagram of satellite positioning and 5G positioning according to this embodiment;

[0033] Figure 9 This is a schematic diagram of 5G TDOA positioning according to this embodiment;

[0034] Figure 10 This is a block diagram of the location scene recognition according to this embodiment;

[0035] Figure 11 A frame of the positioning environment perception and recognition device according to an embodiment of this application Figure 1 ;

[0036] Figure 12 A frame of the positioning environment perception and recognition device according to an embodiment of this application Figure 2 . Detailed Implementation

[0037] The embodiments of this application will be described in detail below with reference to the accompanying drawings and examples.

[0038] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0039] The methods and embodiments provided in this application can be executed in a computer device or similar computing device. Taking running on a computer device as an example, Figure 1 This is a hardware structure block diagram of a computer device for the positioning environment perception and recognition method according to an embodiment of this application, such as... Figure 1 As shown, a computer device may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor (MCU) or programmable logic device, etc.) and a memory 104 for storing data are also shown. The computer device may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the computer device described above. For example, the computer device may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0040] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the positioning environment perception and recognition method in this embodiment. The processor 102 executes various functional applications and single-board matching by running the computer program stored in the memory 104, thus implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to computer devices via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0041] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider for the computer equipment. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0042] This embodiment provides a positioning environment perception and recognition method running on the aforementioned computer device. Figure 2 This is a flowchart of the positioning environment perception and recognition method according to the embodiments of this application. Figure 1 ,like Figure 2 As shown, this process, applied to a positioning signal receiver, includes the following steps:

[0043] Step S202: Receive the coordinate information of the positioning reference anchor point sent by the positioning server;

[0044] Step S204: Measure the positioning signal according to the positioning capability to obtain the measurement value of the supported positioning mode;

[0045] Step S206: Process the measurement values ​​of the positioning mode according to the positioning mode and the coordinate information of the positioning reference anchor point to obtain the current positioning spatial position and positioning environment status.

[0046] Step S208: Determine the quality reliability factor of the positioning location based on the current spatial location, and send the positioning mode, the current spatial location, the positioning environment status, and the quality reliability factor of the positioning location to the positioning server.

[0047] Through the above steps S202 to S208, the problems of generalization, high complexity, and divergence in intelligent positioning technology can be solved. Intelligent positioning is realized based on environmental perception and recognition, avoiding the problems of generalization, high complexity, and divergence in intelligent positioning technology.

[0048] The positioning signal in this embodiment includes at least one of the following: 5G positioning signal, satellite positioning signal, Bluetooth signal, UWB signal, and sensor signal; the positioning mode includes Time Difference of Arrival (TDOA) positioning, Round Trip Time (RTT) positioning, Angle of Arrival (AOA) positioning, and motion model, with one positioning signal corresponding to one or more positioning modes.

[0049] In this embodiment, step S206 may specifically include:

[0050] If the positioning mode is TDOA positioning, the measurement values ​​of the positioning mode are calculated in the following way:

[0051]

[0052] Where i≥4, τ is the clock difference between the positioning signal transmitter and receiver, and P X P represents the current spatial location. i To locate the coordinates of the reference anchor point, d i The distance is obtained by converting the arrival time of the measured positioning signal, where c is the speed of light;

[0053] If the positioning mode is RTT positioning, the measurement values ​​of the positioning mode are calculated in the following way:

[0054]

[0055] Among them, b i The distance is obtained by converting the round-trip signal transmission time.

[0056] If the positioning mode is AOA positioning, the measurement values ​​of the positioning mode are calculated in the following way:

[0057]

[0058] Let α be the normal vector of the antenna array. i The angle of arrival of the positioning signal;

[0059] If the positioning mode is a motion model, the calculation of the measurement values ​​of the positioning mode includes:

[0060] The measurement values ​​of the positioning mode are calculated based on the relative position of the integral: The measurement value in positioning mode is the acceleration vector. For real-time acceleration vector; or

[0061] The measurement values ​​of the positioning mode are calculated based on the relative position of the step count: Let m be the direction vector of the i-th step, m be the average step size, and k be the number of steps relative to the reference point. The measurement value of the positioning mode is the direction vector of the current step and the number of steps relative to the reference point, which is the spatial location of the positioning with high reliability.

[0062] If the current spatial location is calculated, the positioning environment status is successful; if the current spatial location is not calculated, the current spatial location is empty, and the positioning environment status is failed.

[0063] Figure 3 This is a flowchart of a positioning environment perception and recognition method according to an optional embodiment of this application, such as... Figure 3 As shown, the quality reliability factor for determining the location based on the current spatial location in step S206 above may specifically include:

[0064] Step S302: If the positioning environment status is successful, determine the inversion distance or inversion angle between the current positioning location and the positioning reference anchor point based on the coordinate information of the current positioning location and the positioning reference anchor point.

[0065] Step S304: Determine the quality confidence factor of the positioning position based on the inversion distance or inversion angle between the coordinate information of the current positioning position and the positioning reference anchor point.

[0066] In this embodiment, step S304 may specifically include:

[0067] If the positioning mode is RTT positioning or TDOA positioning, the quality reliability factor of the positioning location is determined based on the distance obtained by converting the inverted distance with the arrival time of the measured positioning signal.

[0068] Furthermore, if the positioning mode is RTT positioning, in |b i -b r,i If the quality reliability factor of the location is less than or equal to a first preset threshold, the quality reliability factor of the location is determined to be at the first level. i -b r,i If the value is greater than the first preset threshold, the quality reliability factor of the location is determined to be level two. r,i The inversion distance is the distance mentioned above.

[0069] If the positioning mode is TDOA positioning, in ||d i -d i+l |-|d r,i -d r,i+l If || is less than or equal to the second preset threshold, the quality reliability factor of the location is determined to be level one, and ||d i -d i+l |-|d r,i -d r,i+l If the value is greater than the second preset threshold, the quality reliability factor of the location is determined to be the second level, where i and i+l represent any two equations in the system of equations, and d r,i For inversion distance, the confidence level of the first level is higher than that of the second level.

[0070] If the positioning mode is AOA positioning, the quality reliability factor of the positioning location is determined based on the inversion angle and the arrival angle of the positioning signal.

[0071] Furthermore, in |α i -α r,i If the quality reliability factor of the location is less than or equal to the third preset threshold, then the location is determined to be at level one, α. r,i For the inversion angle;

[0072] In |α i -α r,i If the value is greater than the third preset threshold, the quality reliability factor of the location is determined to be the second level, and the reliability of the first level is higher than that of the second level.

[0073] In this embodiment, sending the positioning mode, current spatial location, positioning environment status, and positioning location quality reliability factor to the positioning server in step S206 above may specifically include:

[0074] If the environmental positioning status is successful, based on the system's preset requirements, it is determined whether to report the measurement value of the positioning mode. If the result is yes, the positioning mode, the measurement value of the positioning mode, the current spatial location, the positioning environment status, and the quality reliability factor of the positioning location are sent to the positioning server. If the result is no, the positioning mode, the current spatial location, the positioning environment status, and the quality reliability factor of the positioning location are sent to the positioning server. If the environmental positioning status fails, the positioning mode, the measurement value of the positioning mode, and the positioning environment status are sent to the positioning server.

[0075] In this embodiment of the application, step S202 may specifically include: sending a positioning parameter request to the positioning server; receiving positioning parameters issued by the positioning server, wherein the positioning parameters include the coordinate information of the positioning reference anchor point.

[0076] In one embodiment, prior to step S202 above, the method further includes: receiving a positioning capability request sent by a positioning server; and feeding back the positioning capability to the positioning server, wherein the positioning capability includes supported positioning modes.

[0077] This application also provides a method for location environment perception and recognition. Figure 4 This is a flowchart of the positioning environment perception and recognition method according to the embodiments of this application. Figure 2 ,like Figure 4 As shown, this process, applied to a location server, includes the following steps:

[0078] Step S402: Send the coordinate information of the positioning reference anchor point to the positioning signal receiver;

[0079] Step S404: Receive the supported positioning mode, the measurement value of the positioning mode, the current spatial location, the positioning environment state, and the quality reliability factor of the positioning location sent by the positioning signal receiver. The measurement value of the positioning mode is obtained by the positioning signal receiver measuring the positioning signal based on its positioning capabilities. The current spatial location and positioning environment state are obtained by the positioning signal receiver processing the measurement value of the positioning mode based on the positioning mode and the coordinate information of the positioning reference anchor point. The quality reliability factor of the positioning location is determined by the positioning signal receiver based on the current spatial location.

[0080] Through the above steps S402 to S404, the problems of generalization, high complexity, and divergence in intelligent positioning technology can be solved. Intelligent positioning is realized based on environmental perception and recognition, avoiding the problems of generalization, high complexity, and divergence in intelligent positioning technology.

[0081] In one embodiment, the method further includes: if the environmental positioning status is successful, assigning the positioning mode to an independent parsed positioning set; if the environmental positioning status fails, assigning the positioning mode to a non-independent parsed positioning set.

[0082] In this embodiment of the application, step S402 may specifically include: receiving a positioning parameter request sent by a positioning signal receiver; and sending positioning parameters to the positioning signal receiver according to the positioning parameter request, wherein the positioning parameters include the coordinate information of the positioning reference anchor point.

[0083] In another embodiment, prior to step S402 above, the method further includes: sending a positioning capability request to a positioning signal receiver; and receiving the positioning capability fed back by the positioning signal receiver, the positioning capability including supported positioning modes.

[0084] The positioning signal in this embodiment includes at least one of the following: 5G positioning signal, satellite positioning signal, Bluetooth signal, UWB signal, and sensor signal; the positioning mode may include Time Difference of Arrival (TDOA) positioning, Round Trip Time (RTT) positioning, Angle of Arrival (AOA) positioning, and motion model, with one positioning signal corresponding to one or more positioning modes.

[0085] Figure 5 This is a flowchart of the location environment perception and recognition method in complex scenarios according to this embodiment, such as... Figure 5 As shown, it includes:

[0086] Step S501: The positioning signal receiver reports its positioning capability to the positioning server and receives the positioning reference anchor point coordinate information from the positioning server.

[0087] Step S502: Measure the positioning signal according to the positioning capability to obtain the measurement value of each positioning mode in the positioning capability;

[0088] Step S503: The positioning signal receiver calculates the measurement values ​​of the positioning mode into observation equations or motion models based on the positioning mode and the coordinate information of the positioning reference anchor point, and determines the current spatial position of the positioning receiver and the positioning environment status.

[0089] In step S504, the positioning receiver performs inversion calculation on the spatial position to obtain the positioning position quality reliability factor, and sends the positioning mode, current measurement value, current position (corresponding to the spatial position of the current positioning mentioned above), positioning environment status, and quality reliability factor to the positioning server.

[0090] Figure 6 This is a flowchart illustrating the parameter interaction between the positioning signal receiver and the positioning server according to this embodiment, as follows: Figure 6 As shown, it includes:

[0091] S601, The positioning server sends a positioning capability request to the positioning receiver;

[0092] S602, the positioning receiver provides feedback on positioning capabilities, including supported positioning modes, etc.

[0093] S603, The positioning receiver sends a positioning parameter request to the positioning server;

[0094] S604, the positioning server sends out positioning parameters including wireless time and frequency resources, frequency band, positioning frequency, base station anchor point coordinates, etc.

[0095] The positioning signals include, but are not limited to: 5G positioning signals, satellite positioning signals, Bluetooth signals, UWB signals, etc., as well as sensor signals from accelerometers, gyroscopes, magnetometers, barometers, etc.

[0096] Positioning modes include modes based on a certain positioning signal. A signal may have multiple positioning modes. For example, the positioning modes of 5G positioning signals include TDOA positioning, RTT positioning, AOA positioning, motion model, etc. Among them, TDOA positioning includes downlink time difference of arrival (DLTDOA) positioning and uplink time difference of arrival (ULTDOA) positioning.

[0097] In this embodiment, the positioning receiver performs inversion calculation on the spatial position to obtain the positioning position quality reliability factor. It sends the positioning mode, current measurement value, current position, positioning environment state, and quality reliability factor to the positioning server. Through positioning environment perception and recognition, it provides a practical basis for the adaptation of intelligent positioning methods, solves the problem of fusion positioning in complex environments, and solves the problems of poor scene generalization ability and training set divergence of deep learning positioning methods, thereby improving the availability of positioning in complex environments.

[0098] Figure 7 This is a schematic diagram of the 5G and Bluetooth positioning system according to this embodiment, as shown below. Figure 7 As shown, when a positioning terminal requests location services, the positioning server sends a positioning capability request to the terminal. The terminal then provides its positioning capabilities, including supported positioning modes. The terminal also sends a positioning parameter request to the positioning server, which then distributes the parameters. These parameters include wireless time-frequency resources, frequency bands, positioning frequency, and base station anchor coordinates.

[0099] When the terminal is located in, for example Figure 7 When in location 1 (as shown), the positioning terminal measures the positioning signal based on its sensing capabilities, obtaining relevant measurement values ​​for the 5G positioning mode within the sensing capabilities. Based on the 5G positioning mode and the coordinate information of the positioning reference anchor point, the positioning signal terminal uses observation equations or motion models to calculate the positioning results from the measured values ​​of the positioning mode, such as the position of the TDOA. This allows the determination of the current spatial location of the positioning terminal and the positioning environment status.

[0100]

[0101] Where i≥4, τ is the clock difference between the positioning signal transmitter and receiver, and P X P represents the current spatial location. i To locate the coordinates of the reference anchor point, d i The distance is obtained by converting the arrival time of the measured positioning signal, where c is the speed of light.

[0102] If the spatial location can be obtained through the above calculation, then the current positioning environment status is successful. At this time, the positioning environment can be classified as a positioning mode where the 5G positioning signal can be independently resolved.

[0103] When the terminal is located in, for example Figure 7 When in location 2 as shown, the positioning terminal measures the positioning signal based on its sensing capabilities, obtaining relevant measurement values ​​for the 5G positioning mode and Bluetooth positioning mode. Based on the coordinate information of the 5G positioning mode and the positioning reference anchor point, the positioning signal terminal sets up observation equations or motion models for the measured values ​​of the positioning mode. For example, if the position calculation of TDOA is insufficient to calculate the positioning result, the positioning signal terminal sets up observation equations or motion models for the measured values ​​of the positioning mode based on the coordinate information of the Bluetooth positioning mode and the positioning reference anchor point. For example, if the position calculation of AOA is insufficient to calculate the positioning result, the positioning signal terminal sets up observation equations or motion models for the measured values ​​of the positioning mode.

[0104] If the current positioning environment status is "failed", the positioning environment can be classified as a non-independent and resolvable positioning mode.

[0105] When the terminal is located in, for example Figure 7 When the location is in area 3 as shown, the positioning terminal measures the positioning signal based on its sensing capabilities, obtaining the relevant measurement values ​​of the Bluetooth positioning mode within the sensing capabilities. Based on the Bluetooth positioning mode and the coordinate information of the positioning reference anchor point, the positioning signal terminal sets up observation equations or motion models for the measured values ​​of the positioning mode, such as solving for the position of the AOA (Optical Location Area) to obtain the positioning result.

[0106]

[0107] Let α be the normal vector of the antenna array. i This is the angle of arrival of the positioning signal.

[0108] If the spatial location can be obtained through the above calculation, then the current positioning environment status is successful. At this time, the positioning environment can be classified as a positioning mode where the Bluetooth positioning signal can be independently resolved.

[0109] Figure 8 This is a schematic diagram of satellite positioning and 5G positioning according to this embodiment, as shown below. Figure 8 As shown, when a positioning terminal needs location services, the positioning server sends a positioning capability request to the terminal. The terminal then provides its positioning capabilities, including supported positioning modes. The terminal also sends a positioning parameter request to the positioning server, which then distributes the parameters. These parameters include wireless time-frequency resources, frequency bands, positioning frequency, and base station anchor coordinates.

[0110] When the terminal is located in, for example Figure 8When in location 1 (as shown), the positioning terminal measures the positioning signal based on its sensing capabilities, obtaining relevant measurement values ​​of the satellite positioning mode within the sensing capabilities. Based on the satellite positioning mode and the coordinate information of the positioning reference anchor point, the positioning signal terminal sets up observation equations or motion models for the measured values ​​of the positioning mode, such as using TDOA positioning to calculate the positioning result, thereby determining the current spatial location of the positioning terminal and the positioning environment status.

[0111]

[0112] i≥4, τ is the clock difference between the positioning signal transmitter and receiver, P X P represents the current spatial location. i To locate the coordinates of the reference anchor point, d i The distance is obtained by converting the arrival time of the measured positioning signal, where c is the speed of light.

[0113] If the spatial location can be obtained through the above calculation, then the current positioning environment status is successful. At this time, the positioning environment can be classified as a positioning mode in which the satellite positioning signal can be independently resolved.

[0114] When the terminal is located in, for example Figure 8 When in location 2 as shown, the positioning terminal measures the positioning signal based on its sensing capabilities, obtaining relevant measurement values ​​for both the 5G positioning mode and the satellite positioning mode. Based on the coordinate information of the 5G positioning mode and the positioning reference anchor point, the positioning signal terminal sets up observation equations or motion models for the measured values ​​of the positioning mode. For example, if the TDOA position calculation is insufficient to obtain the positioning result, the positioning signal terminal will also set up observation equations or motion models for the measured values ​​of the positioning mode based on the coordinate information of the satellite positioning mode and the positioning reference anchor point. If the TDOA positioning position calculation is insufficient to obtain the positioning result, the positioning signal terminal will also set up observation equations or motion models for the measured values ​​of the positioning mode.

[0115] If the current positioning environment status is "failed", the positioning environment can be classified as a non-independent and resolvable positioning mode.

[0116] When the terminal is located in, for example Figure 8 When in location 3 of the area shown, the positioning terminal measures the positioning signal based on its sensing capabilities, obtaining relevant measurement values ​​of the 5G positioning mode within the sensing capabilities. Based on the 5G positioning mode and the coordinate information of the positioning reference anchor point, the positioning signal terminal sets up observation equations or motion models for the measured values ​​of the positioning mode, such as using TDOA position calculation to solve for the positioning result, thereby determining the current spatial location of the positioning terminal and the positioning environment status.

[0117]

[0118] i≥4, τ is the clock difference between the positioning signal transmitter and receiver, P XP represents the current spatial location. i To locate the coordinates of the reference anchor point, d i The distance is obtained by converting the arrival time of the measured positioning signal, where c is the speed of light.

[0119] If the spatial location can be obtained through the above calculation, then the current positioning environment status is successful. At this time, the positioning environment can be classified as a positioning mode where the 5G positioning signal can be independently resolved.

[0120] Figure 9 This is a schematic diagram of 5G TDOA positioning according to this embodiment, as shown below. Figure 9 As shown, when a positioning terminal requests location services, the positioning server sends a positioning capability request to the terminal. The terminal then provides its positioning capabilities, including supported positioning modes. The terminal also sends a positioning parameter request to the positioning server, which then distributes the parameters. These parameters include wireless time-frequency resources, frequency bands, positioning frequency, and base station anchor coordinates.

[0121] When the terminal is located in, for example Figure 9 When the area is shown, the positioning terminal measures the positioning signal based on its sensing capabilities to obtain the relevant measurement values ​​of the 5G positioning mode within the sensing capabilities. Based on the 5G positioning mode and the coordinate information of the positioning reference anchor point, the positioning signal terminal sets up an observation equation or motion model for the measurement values ​​of the positioning mode, such as the position of the TDOA, to calculate the positioning result, thereby determining the current spatial location of the positioning terminal and the positioning environment status.

[0122]

[0123] i = 4, P X For the estimated terminal position coordinates, such as Figure 9 As shown, d i ' is the measured signal arrival time, corresponding to Figure 9 The four blue line segments d1', d2', d3', and d4' are shown in the figure, where c represents the speed of light.

[0124] If the spatial location can be obtained through the above calculation, then the current positioning environment status is successful. This positioning environment can be categorized as a 5G positioning signal independent and resolvable positioning mode. Finally, the positioning terminal performs inversion calculation on the current spatial location and calculates the positioning location quality reliability factor. Based on the solution, the current spatial location P is obtained. X And the coordinate information P of the positioning reference anchor point. i , find d r,i ,correspond Figure 9 The dashed line segments d1, d2, d3, and d4 in the diagram represent the TDOA positioning, where ||d i -d i+l |-|d r,i-d r,i+l The second preset threshold indicates that the reliability of the quality reliability factor for the location is poor. For example... Figure 9 As shown, there is a deviation between the actual terminal location and the estimated terminal location. Finally, the current positioning mode, current spatial location, positioning environment status, and positioning location quality reliability factor are sent to the positioning server.

[0125] Figure 10 This is a block diagram of the location scene recognition according to this embodiment, such as... Figure 10 As shown, if the environmental positioning status is successful, the positioning signal receiver, based on system preset requirements, determines whether to report the measurement value of the positioning mode. If the result is yes, it sends the positioning mode, the measurement value of the positioning mode, the current spatial location, the positioning environmental status, and the quality reliability factor of the positioning location to the positioning server. If the positioning environmental status of a positioning mode (or positioning modality) is successful, the positioning server assigns the positioning mode to the independent parsing positioning set; otherwise, it assigns the positioning mode to the non-independent parsing positioning set. The quality reliability factor and the positioning environmental status can be used as conditional factors.

[0126] This application also provides a positioning environment perception and recognition device. Figure 11 This is a frame of a positioning environment perception and recognition device according to an embodiment of this application. Figure 1 ,like Figure 11 As shown, the device is applied to a positioning signal receiver and includes:

[0127] The first receiving module 112 is used to receive the coordinate information of the positioning reference anchor point sent by the positioning server;

[0128] The measurement module 114 is used to measure the positioning signal according to the positioning capability to obtain the measurement value of the supported positioning mode;

[0129] The processing module 116 is used to process the measurement values ​​of the positioning mode according to the positioning mode and the coordinate information of the positioning reference anchor point to obtain the current positioning spatial position and positioning environment status.

[0130] The determination module 118 is used to determine the quality reliability factor of the positioning location based on the current positioning spatial location, and send the positioning mode, the current positioning spatial location, the positioning environment state, and the quality reliability factor of the positioning location to the positioning server.

[0131] In one embodiment, the positioning signal includes at least one of the following: 5G positioning signal, satellite positioning signal, Bluetooth signal, UWB signal, and sensor signal;

[0132] The positioning modes include Time Difference of Arrival (TDOA) positioning, Round Trip Time (RTT) positioning, Angle of Arrival (AOA) positioning, and motion models. One positioning signal corresponds to one or more positioning modes.

[0133] In one embodiment, the processing module 116 is further configured to, if the positioning mode is TDOA positioning, calculate the measurement value of the positioning mode in the following manner:

[0134]

[0135] Where i≥4, τ is the clock difference between the positioning signal transmitter and receiver, and P X P represents the current spatial location. i To locate the coordinates of the reference anchor point, d i The distance is obtained by converting the arrival time of the measured positioning signal, where c is the speed of light;

[0136] If the positioning mode is RTT positioning, the measurement values ​​of the positioning mode are calculated in the following way:

[0137]

[0138] Among them, b i The distance is obtained by converting the round-trip signal transmission time.

[0139] If the positioning mode is AOA positioning, the measurement values ​​of the positioning mode are calculated in the following way:

[0140]

[0141] Let α be the normal vector of the antenna array. i The angle of arrival of the positioning signal;

[0142] If the positioning mode is a motion model, the calculation of the measurement values ​​of the positioning mode includes: calculating the measurement values ​​of the positioning mode based on the relative position of the integral. The measurement value of the positioning mode is an acceleration vector. This is a real-time acceleration vector; or the measured values ​​of the positioning mode are calculated based on the relative position of the steps count: Let m be the direction vector of the i-th step, m be the average step size, and k be the number of steps relative to the reference point. The measurement value of the positioning mode is the direction vector of the current step and the number of steps relative to the reference point, where the reference point is the spatial location of the positioning with high reliability.

[0143] If the current spatial location is calculated, the positioning environment status is successful; if the current spatial location is not calculated, the current spatial location is empty, and the positioning environment status is failed.

[0144] In one embodiment, the determining module 118 includes:

[0145] The first determining submodule is used to determine the inversion distance or inversion angle between the coordinate information of the current positioning location and the positioning reference anchor point based on the coordinate information of the current positioning location and the positioning reference anchor point when the positioning environment status is successful.

[0146] The second determining submodule is used to determine the quality confidence factor of the positioning position based on the inversion distance or inversion angle between the coordinate information of the current positioning position and the positioning reference anchor point.

[0147] In one embodiment, the second determining submodule includes:

[0148] The first determining unit is configured to determine the quality confidence factor of the positioning location based on the distance obtained by converting the inverted distance and the arrival time of the measured positioning signal if the positioning mode is RTT positioning or TDOA positioning.

[0149] The second determining unit is used to determine the quality reliability factor of the positioning location based on the inversion angle and the arrival angle of the positioning signal if the positioning mode is the AOA positioning.

[0150] In one embodiment, the first determining unit is further configured to, if the positioning mode is RTT positioning, in |b i -b r,i If the quality reliability factor of the location is less than or equal to a first preset threshold, the quality reliability factor of the location is determined to be at the first level. i -b r,i If the value is greater than the first preset threshold, the quality reliability factor of the location is determined to be level two. r,i The inversion distance is the distance mentioned above.

[0151] If the positioning mode is TDOA positioning, in ||d i -d i+l |-|d r,i -d r,i+l If || is less than or equal to the second preset threshold, the quality reliability factor of the positioning location is determined to be the first level, in ||d i -d i+l |-|d r,i -d r,i+lIf the value is greater than the second preset threshold, the quality confidence factor of the location is determined to be the second level, where i and i+l represent any two equations in the equation set, and the confidence level of the first level is higher than that of the second level.

[0152] In one embodiment, the second determining unit is further configured to determine |α i -α r,i If the quality reliability factor of the location is less than or equal to a third preset threshold, then the quality reliability factor of the location is determined to be at the first level, where α r,i The inversion angle is mentioned above;

[0153] In |α i -α r,i If the value is greater than the third preset threshold, the quality reliability factor of the location is determined to be the second level, wherein the reliability of the first level is higher than the reliability of the second level.

[0154] In one embodiment, the determining module 118 includes:

[0155] The third determining submodule is used to determine, based on system preset requirements, whether to report the measurement value of the positioning mode when the environmental positioning status is successful. If the determination result is yes, the positioning mode, the measurement value of the positioning mode, the current positioning spatial location, the positioning environmental status, and the quality reliability factor of the positioning location are sent to the positioning server; if the determination result is no, the positioning mode, the current positioning spatial location, the positioning environmental status, and the quality reliability factor of the positioning location are sent to the positioning server.

[0156] The fourth determination submodule is used to send the positioning mode, the measurement value of the positioning mode, and the positioning environment status to the positioning server when the environmental positioning status fails.

[0157] In one embodiment, the first receiving module 112 is further configured to send a positioning parameter request to the positioning server; and receive positioning parameters sent by the positioning server, wherein the positioning parameters include the coordinate information of the positioning reference anchor point.

[0158] In one embodiment, the device further includes:

[0159] The request receiving module is used to receive the location capability request sent by the location server;

[0160] A feedback module is used to provide feedback on the positioning capabilities to the positioning server, wherein the positioning capabilities include supported positioning modes.

[0161] This application also provides a positioning environment perception and recognition device. Figure 12 This is a frame of a positioning environment perception and recognition device according to an embodiment of this application. Figure 2 ,like Figure 12 As shown, the device, applied to a positioning server, includes:

[0162] The transmitting module 122 is used to transmit the coordinate information of the positioning reference anchor point to the positioning signal receiver;

[0163] The second receiving module 124 is used to receive the supported positioning mode, the measurement value of the positioning mode, the current positioning spatial location, the positioning environment status, and the quality reliability factor of the positioning location sent by the positioning signal receiver. The measurement value of the positioning mode is obtained by the positioning signal receiver measuring the positioning signal according to its positioning capability. The current positioning spatial location and the positioning environment status are obtained by the positioning signal receiver processing the measurement value of the positioning mode according to the positioning mode and the coordinate information of the positioning reference anchor point. The quality reliability factor of the positioning location is determined by the positioning signal receiver based on the current positioning spatial location.

[0164] In one embodiment, the device further includes:

[0165] The first attribution module is used to assign the positioning mode to an independent parsed positioning set when the environmental positioning status is successful.

[0166] The second attribution module is used to assign the positioning mode to a non-independent parsing positioning set when the environmental positioning status fails.

[0167] In one embodiment, the sending module 122 is further configured to receive a positioning parameter request sent by the positioning signal receiver; and to send positioning parameters to the positioning signal receiver according to the positioning parameter request, wherein the positioning parameters include the coordinate information of the positioning reference anchor point.

[0168] In one embodiment, the device further includes:

[0169] The request sending module is used to send a positioning capability request to the positioning signal receiver;

[0170] A positioning capability receiving module is used to receive the positioning capability fed back by the positioning signal receiver, wherein the positioning capability includes supported positioning modes.

[0171] In one embodiment, the positioning signal includes at least one of the following: 5G positioning signal, satellite positioning signal, Bluetooth signal, UWB signal, and sensor signal; the positioning mode includes Time Difference of Arrival (TDOA) positioning, Round Trip Time (RTT) positioning, Angle of Arrival (AOA) positioning, and motion model, with one positioning signal corresponding to one or more positioning modes.

[0172] This application also provides a computer program product, including computer program instructions, wherein the computer program instructions cause a computer to implement the steps in any of the above method embodiments.

[0173] Embodiments of this application also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when run.

[0174] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0175] Embodiments of this application also provide an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0176] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0177] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0178] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0179] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for location environment perception and recognition, characterized in that, Applied to a positioning signal receiver, the method includes: Receive the coordinate information of the positioning reference anchor point sent by the positioning server; The positioning signal is measured based on the positioning capability to obtain the measurement values ​​of the supported positioning modes; The measurement values ​​of the positioning mode are processed based on the positioning mode and the coordinate information of the positioning reference anchor point to obtain the current spatial location and positioning environment status. The quality reliability factor of the positioning location is determined based on the current spatial location, and the positioning mode, the current spatial location, the positioning environment state, and the quality reliability factor of the positioning location are sent to the positioning server.

2. The method according to claim 1, characterized in that, The positioning signal includes at least one of the following: 5G positioning signal, satellite positioning signal, Bluetooth signal, UWB signal, and sensor signal; The positioning modes include Time Difference of Arrival (TDOA) positioning, Round Trip Time (RTT) positioning, Angle of Arrival (AOA) positioning, and motion models. One positioning signal corresponds to one or more positioning modes.

3. The method according to claim 2, characterized in that, Based on the positioning mode and the coordinate information of the positioning reference anchor point, the measurement values ​​of the positioning mode are processed to obtain the current spatial location and positioning environment status, including: If the positioning mode is TDOA positioning, the measurement values ​​of the positioning mode are calculated in the following way: Where i≥4, τ is the clock difference between the positioning signal transmitter and receiver, and P X P represents the current spatial location. i To locate the coordinates of the reference anchor point, d i The distance is obtained by converting the arrival time of the measured positioning signal, where c is the speed of light; If the positioning mode is RTT positioning, the measurement values ​​of the positioning mode are calculated in the following way: Among them, b i The distance is obtained by converting the round-trip signal transmission time. If the positioning mode is AOA positioning, the measurement values ​​of the positioning mode are calculated in the following way: Let α be the normal vector of the antenna array. i The angle of arrival of the positioning signal; If the positioning mode is the motion model, the calculation of the measurement values ​​of the positioning mode includes: The measurement values ​​of the positioning mode are calculated based on the relative position of the integral: The measurement value of the positioning mode is an acceleration vector. For real-time acceleration vector; or The measurement values ​​of the positioning mode are calculated based on the relative position of the step count: Let m be the direction vector of the i-th step, m be the average step size, and k be the number of steps relative to the reference point. The measurement value of the positioning mode is the direction vector of the current step and the number of steps relative to the reference point, where the reference point is a spatial location with high reliability. If the current spatial location is calculated, the positioning environment status is successful; if the current spatial location is not calculated, the current spatial location is empty, and the positioning environment status is failed.

4. The method according to claim 3, characterized in that, The quality reliability factor for determining the location based on the current spatial location includes: If the positioning environment is successful, the inversion distance or inversion angle between the current positioning location and the positioning reference anchor point is determined based on the coordinate information of the current positioning location and the positioning reference anchor point. The quality reliability factor of the positioning location is determined based on the inversion distance or inversion angle between the coordinate information of the current positioning location and the positioning reference anchor point.

5. The method according to claim 4, characterized in that, Determining the quality confidence factor of the positioning location based on the inversion distance or inversion angle between the current positioning location and the positioning reference anchor point includes: If the positioning mode is RTT positioning or TDOA positioning, the quality confidence factor of the positioning location is determined based on the distance obtained by converting the inverted distance with the arrival time of the measured positioning signal. If the positioning mode is AOA positioning, the quality reliability factor of the positioning location is determined based on the inversion angle and the arrival angle of the positioning signal.

6. The method according to claim 5, characterized in that, The quality confidence factor of the positioning location is determined based on the distance obtained by converting the inverted distance into the time of arrival of the measured positioning signal, including: If the positioning mode is RTT positioning, in |b i -b r,i If the quality reliability factor of the location is less than or equal to a first preset threshold, the quality reliability factor of the location is determined to be at the first level. i -b r,i If the value is greater than the first preset threshold, the quality reliability factor of the location is determined to be level two. r,i The inversion distance is the distance mentioned above. If the positioning mode is TDOA positioning, in ||d i -d i+l |-|d r,i -d r,i+l If || is less than or equal to the second preset threshold, the quality reliability factor of the positioning location is determined to be the first level, in ||d i -d i+l |-|d r,i -d r,i+l If the value is greater than the second preset threshold, the quality confidence factor of the location is determined to be the second level, where i and i+l represent any two equations in the equation set, and the confidence level of the first level is higher than that of the second level.

7. The method according to claim 5, characterized in that, Determining the quality confidence factor of the positioning location based on the inversion angle and the arrival angle of the positioning signal includes: In |α i -α r,i If the quality reliability factor of the location is less than or equal to a third preset threshold, then the quality reliability factor of the location is determined to be at the first level, where α r,i The inversion angle is mentioned above; In |α i -α r,i If the value is greater than the third preset threshold, the quality reliability factor of the location is determined to be the second level, wherein the reliability of the first level is higher than the reliability of the second level.

8. The method according to claim 1, characterized in that, Sending the positioning mode, the current spatial location, the positioning environment state, and the quality reliability factor of the positioning location to the positioning server includes: If the environmental positioning status is successful, based on the system's preset requirements, it is determined whether to report the measurement value of the positioning mode. If the result is yes, the positioning mode, the measurement value of the positioning mode, the current spatial location, the positioning environment status, and the quality reliability factor of the positioning location are sent to the positioning server. If the result is no, the positioning mode, the current spatial location, the positioning environment status, and the quality reliability factor of the positioning location are sent to the positioning server. If the location status fails, the location mode, the measurement value of the location mode, and the location environment status are sent to the location server.

9. The method according to claim 1, characterized in that, The coordinate information of the positioning reference anchor point sent by the positioning server includes: Send a location parameter request to the location server; The system receives positioning parameters sent by the positioning server, wherein the positioning parameters include the coordinate information of the positioning reference anchor point.

10. The method according to claim 1, characterized in that, Before receiving the coordinate information of the positioning reference anchor point sent by the positioning server, the method further includes: Receive a location capability request sent by the location server; The positioning capability is fed back to the positioning server, wherein the positioning capability includes supported positioning modes.

11. A method for location environment perception and recognition, characterized in that, Applied to a location server, the method includes: Send the coordinate information of the positioning reference anchor point to the positioning signal receiver; The system receives the supported positioning modes, measurement values ​​of the positioning modes, current spatial location, positioning environment status, and quality reliability factor of the positioning location sent by the positioning signal receiver. The measurement values ​​of the positioning modes are obtained by the positioning signal receiver through measurement of the positioning signal based on its positioning capabilities. The current spatial location and the positioning environment status are obtained by the positioning signal receiver through processing the measurement values ​​of the positioning modes based on the positioning modes and the coordinate information of the positioning reference anchor points. The quality reliability factor of the positioning location is determined by the positioning signal receiver based on the current spatial location.

12. The method according to claim 11, characterized in that, The method further includes: If the environmental positioning status is successful, the positioning mode will be assigned to an independent parsed positioning set; If the environmental positioning status fails, the positioning mode will be assigned to the non-independent parsed positioning set.

13. The method according to claim 11, characterized in that, Sending the coordinate information of the positioning reference anchor point to the positioning signal receiver includes: Receive the positioning parameter request sent by the positioning signal receiver; The positioning parameter request sends positioning parameters to the positioning signal receiver, wherein the positioning parameters include the coordinate information of the positioning reference anchor point.

14. The method according to claim 11, characterized in that, Before sending the coordinate information of the positioning reference anchor point to the positioning signal receiver, the method further includes: Send a positioning capability request to the positioning signal receiver; The positioning capability is received from the positioning signal receiver, wherein the positioning capability includes supported positioning modes.

15. The method according to any one of claims 11 to 14, characterized in that, The positioning signal includes at least one of the following: 5G positioning signal, satellite positioning signal, Bluetooth signal, UWB signal, and sensor signal; The positioning modes include Time Difference of Arrival (TDOA) positioning, Round Trip Time (RTT) positioning, Angle of Arrival (AOA) positioning, and motion models. One positioning signal corresponds to one or more positioning modes.

16. A positioning environment sensing and recognition device, characterized in that, The device, used in a positioning signal receiver, includes: The first receiving module is used to receive the coordinate information of the positioning reference anchor point sent by the positioning server; The measurement module is used to measure the positioning signal according to the positioning capability to obtain the measurement values ​​of the supported positioning modes; The processing module is used to process the measurement values ​​of the positioning mode according to the positioning mode and the coordinate information of the positioning reference anchor point to obtain the current positioning spatial position and positioning environment status. The determination module is used to determine the quality reliability factor of the positioning location based on the current spatial location, and send the positioning mode, the current spatial location, the positioning environment state, and the quality reliability factor of the positioning location to the positioning server.

17. A positioning environment sensing and recognition device, characterized in that, The device, used in a positioning server, includes: The transmitting module is used to send the coordinate information of the positioning reference anchor point to the positioning signal receiver; The second receiving module is used to receive the supported positioning modes, the measured values ​​of the positioning modes, the current spatial location, the positioning environment status, and the quality reliability factor of the positioning location sent by the positioning signal receiver. The measured values ​​of the positioning modes are obtained by the positioning signal receiver measuring the positioning signal according to its positioning capabilities. The current spatial location and the positioning environment status are obtained by the positioning signal receiver processing the measured values ​​of the positioning modes according to the positioning modes and the coordinate information of the positioning reference anchor points. The quality reliability factor of the positioning location is determined by the positioning signal receiver based on the current spatial location.

18. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 1 to 10, 11 to 15 when it is run.

19. An electronic device, characterized in that, The method includes a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 10, 11 to 15.

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