Cooperative positioning method, system and device, computer storage medium and program product

Abstract

The invention discloses a cooperative positioning method, system and device, a computer storage medium and a program product. The method is applied to a request terminal and comprises the following steps: sending a positioning request to a plurality of cooperative positioning terminals; response data returned by the at least three cooperative positioning terminals are received, the response data comprise detection data between the cooperative positioning terminals and the request terminal and positioning coordinates of the cooperative positioning terminals, and the detection data comprise distance data measured by radars of the cooperative positioning terminals; and on the basis of the distance data and the positioning coordinates of the at least three cooperative positioning terminals, the positioning coordinates of the request terminal are determined through the spatial position relationship between each cooperative positioning terminal and the request terminal. According to the embodiment of the invention, the reliability and precision of a positioning result can be improved, and the applicability of a positioning scene is expanded.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cooperative positioning, and particularly relates to a cooperative positioning method, system, device, computer storage medium and program product. BACKGROUND

[0002] The present application relates to a method for realizing continuous and accurate positioning in a weak or no-signal environment of satellite signals, which can be widely applied to scenarios such as Internet of Things, intelligent transportation and mobile devices.

[0003] At present, the mainstream positioning technology is still represented by the Global Positioning System (GPS), which can provide relatively reliable positioning services in open environments. However, in complex environments such as urban high-rise areas, underground spaces, tunnels, etc., the GPS signal is easily blocked or interfered, resulting in positioning failure or serious accuracy decline. To address this problem, various auxiliary positioning schemes have been proposed in the prior art, such as ultra-wideband ranging positioning, visual or laser simultaneous localization and mapping, etc. Among them, the ultra-wideband ranging positioning technology has high accuracy, but its effective communication distance is short, usually within tens of meters, limiting its application in large-scale outdoor scenarios; while the visual or laser simultaneous localization and mapping scheme has strong environmental adaptability, but has problems such as high device cost, complex algorithm, high hardware requirements, etc., making it difficult to popularize on a large scale. In addition, some existing cooperative positioning methods, such as the virtual reference station based technology, usually rely on the initial GPS positioning result of the terminal device, and if the initial positioning error is large, it will directly affect the accuracy of subsequent positioning, and the system has limited ability to handle multiple user concurrent requests.

[0004] In summary, the existing technology mainly has problems such as low positioning accuracy, high device power consumption and poor environmental adaptability when dealing with no-GPS or weak-GPS signal environments, and there is an urgent need for a cooperative positioning solution that can realize efficient, reliable and low-power consumption in various practical scenarios. SUMMARY

[0005] The embodiments of the present application provide a cooperative positioning method, system, device, computer storage medium and program product, which can improve the reliability and accuracy of the positioning result and expand the applicability of the positioning scenario.

[0006] In one aspect, the embodiments of the present application provide a cooperative positioning method, applied to a requesting terminal, comprising: sending a positioning request to a plurality of cooperative positioning terminals; receiving response data returned from at least three cooperative positioning terminals, wherein the response data comprises probe data between each cooperative positioning terminal and the requesting terminal, and positioning coordinates of each cooperative positioning terminal, and the probe data comprises distance data measured by the radar of the cooperative positioning terminal; determining the positioning coordinates of the requesting terminal itself based on the distance data and the positioning coordinates of the at least three cooperative positioning terminals, and the spatial position relationship between each cooperative positioning terminal and the requesting terminal.

[0007] In some possible implementation manners, the determining of the positioning coordinates of the requesting terminal itself based on the distance data and the positioning coordinates of the at least three cooperative positioning terminals, and the spatial position relationship between each cooperative positioning terminal and the requesting terminal comprises: for each cooperative positioning terminal, determining a region where the requesting terminal is located according to the distance data and the positioning coordinates of the cooperative positioning terminal respectively; and determining the positioning coordinates of the requesting terminal itself according to the common intersection of the at least three regions.

[0008] In some possible implementation manners, the determining of the positioning coordinates of the requesting terminal itself based on the distance data and the positioning coordinates of the at least three cooperative positioning terminals, and the spatial position relationship between each cooperative positioning terminal and the requesting terminal comprises: for each cooperative positioning terminal, establishing a spherical distance equation according to the distance data and the positioning coordinates of the cooperative positioning terminal, wherein the spherical distance equation represents that the spherical distance between the cooperative positioning terminal and the requesting terminal is equal to the distance data of the cooperative positioning terminal; the spherical distance is obtained according to the positioning coordinates of the cooperative positioning terminal and the positioning coordinates of the requesting terminal itself; and the positioning equation group is constituted by simultaneously solving the at least three spherical distance equations; and the positioning coordinates of the requesting terminal itself are obtained by solving the positioning equation group.

[0009] In some possible implementation manners, the response data comprises a timestamp of completing distance measurement by each cooperative positioning terminal, and before the determining of the positioning coordinates of the requesting terminal itself based on the distance data and the positioning coordinates of the at least three cooperative positioning terminals, and the spatial position relationship between each cooperative positioning terminal and the requesting terminal, the method further comprises: in a case where the timestamps of the at least three cooperative positioning terminals satisfy a preset condition, determining the positioning coordinates of the requesting terminal itself based on the distance data and the positioning coordinates of the at least three cooperative positioning terminals, and the spatial position relationship between each cooperative positioning terminal and the requesting terminal.

[0010] In another aspect, a cooperative positioning method applied to a cooperative positioning terminal, comprising: receiving a positioning request from a requesting terminal; determining, in response to the positioning request, probe data between the cooperative positioning terminal and the requesting terminal, wherein the probe data is obtained by radar measurement of the cooperative positioning terminal, and the probe data comprises distance data; obtaining a positioning coordinate of the cooperative positioning terminal itself; and sending response data to the requesting terminal, wherein the response data comprises the probe data and the positioning coordinate of the cooperative positioning terminal itself, for the requesting terminal to determine a positioning coordinate of the requesting terminal itself based on distance data and positioning coordinates provided by at least three cooperative positioning terminals and spatial position relationships between the cooperative positioning terminals and the requesting terminal.

[0011] In some possible implementation manners, the determining, in response to the positioning request, of the probe data between the cooperative positioning terminal and the requesting terminal comprises: transmitting a radar waveform signal by the radar; receiving a return signal formed by the radar waveform signal being reflected by the requesting terminal; and calculating the probe data between the cooperative positioning terminal and the requesting terminal based on a frequency difference between the radar waveform signal and the return signal.

[0012] In some possible implementation manners, the method further comprises: obtaining probe data between a plurality of requesting terminals and the cooperative positioning terminal; and adjusting working parameters of the radar waveform signal based on the probe data.

[0013] In some possible implementation manners, the obtaining of the probe data between the plurality of requesting terminals and the cooperative positioning terminal and the adjusting of the working parameters of the radar waveform signal based on the probe data comprise: obtaining distance data between the plurality of requesting terminals and the cooperative positioning terminal; determining a farthest distance of the distance data between the plurality of requesting terminals and the cooperative positioning terminal; reducing a duration of the radar waveform signal according to a proportional relationship between the farthest distance and a preset distance threshold, in a case where the farthest distance is less than the preset distance threshold; and maintaining a current duration of the radar waveform signal, in a case where the farthest distance is not less than the preset distance threshold.

[0014] In some possible implementation manners, the probe data comprises relative speeds, the obtaining of the probe data between the plurality of requesting terminals and the cooperative positioning terminal and the adjusting of the working parameters of the radar waveform signal based on the probe data comprise: obtaining relative speeds between the plurality of requesting terminals and the cooperative positioning terminal; determining a fastest speed of the relative speeds between the plurality of requesting terminals and the cooperative positioning terminal; increasing an idle time between radar waveform signals according to a proportional relationship between a preset speed threshold and the fastest speed, in a case where the fastest speed is less than the preset speed threshold; and maintaining a current idle time between radar waveform signals, in a case where the fastest speed is not less than the preset speed threshold.

[0015] In some possible implementation manners, the method further includes: receiving confirmation information of the response data from the requesting terminal; and in response to the confirmation information, reducing the working time of the cooperative positioning terminal.

[0016] In another aspect, an embodiment of the present application provides a cooperative positioning system, which includes: a requesting terminal and a cooperative positioning terminal; the requesting terminal is configured to send a positioning request to a plurality of cooperative positioning terminals, and receive response data returned by at least three cooperative positioning terminals; based on distance data and positioning coordinates of the at least three cooperative positioning terminals, the positioning coordinates of the requesting terminal are determined through a spatial position relationship between each cooperative positioning terminal and the requesting terminal; the cooperative positioning terminal is configured to receive the positioning request from the requesting terminal, determine probe data between the cooperative positioning terminal and the requesting terminal in response to the positioning request, wherein the probe data is obtained by radar measurement of the cooperative positioning terminal, and the probe data includes distance data, acquire the positioning coordinates of the cooperative positioning terminal, and send the response data to the requesting terminal, wherein the response data includes the probe data and the positioning coordinates of the cooperative positioning terminal.

[0017] In another aspect, an embodiment of the present application provides a requesting terminal, which includes: a request sending module configured to send a positioning request to a plurality of cooperative positioning terminals; and a data receiving module configured to receive response data returned by at least three cooperative positioning terminals, wherein the response data includes probe data between each cooperative positioning terminal and the requesting terminal, and positioning coordinates of each cooperative positioning terminal, and the probe data includes distance data obtained by radar measurement of the cooperative positioning terminal; and a coordinate determining module configured to determine the positioning coordinates of the requesting terminal based on distance data and positioning coordinates of the at least three cooperative positioning terminals, through a spatial position relationship between each cooperative positioning terminal and the requesting terminal.

[0018] In another aspect, an embodiment of the present application provides a cooperative positioning terminal, which includes: a request receiving module configured to receive a positioning request from a requesting terminal; a request responding module configured to determine probe data between the cooperative positioning terminal and the requesting terminal in response to the positioning request, wherein the probe data is obtained by radar measurement of the cooperative positioning terminal, and the probe data includes distance data; a coordinate acquiring module configured to acquire the positioning coordinates of the cooperative positioning terminal; and a data sending module configured to send response data to the requesting terminal, wherein the response data includes the probe data and the positioning coordinates of the cooperative positioning terminal, and the response data is used for the requesting terminal to determine the positioning coordinates of the requesting terminal based on distance data and positioning coordinates of at least three cooperative positioning terminals, through a spatial position relationship between each cooperative positioning terminal and the requesting terminal.

[0019] In still another aspect, an embodiment of the present application provides an electronic device, the device comprising: a processor and a memory storing computer program instructions; the processor implements the cooperative positioning method when executing the computer program instructions.

[0020] In still another aspect, an embodiment of the present application provides a computer storage medium, the computer readable storage medium storing computer program instructions, the computer program instructions being executed by a processor to implement the cooperative positioning method.

[0021] In still another aspect, an embodiment of the present application provides a computer program product, the instructions in the computer program product being executed by a processor of an electronic device to cause the electronic device to execute the cooperative positioning method.

[0022] The cooperative positioning method, system, device and computer storage medium of the embodiments of the present application have the characteristics of strong anti-interference and high measurement accuracy by using the distance data measured by the radar, and the requesting terminal determines its own position according to the coordinates of at least three cooperative positioning terminals and the distance data measured by the radar on the cooperative positioning terminal. Since the coordinates of the cooperative positioning terminal and the distance data measured by the radar on the cooperative positioning terminal are measured by the radar, they are independent of the GPS signal. Therefore, the method can also accurately determine the position of the requesting terminal in a GPS or weak GPS signal environment. The positioning method is determined based on the data of at least three cooperative positioning terminals, which is beneficial to significantly improve the reliability and accuracy of the positioning result. At the same time, it does not depend on a single central control node, but forms a distributed network with multiple cooperative positioning terminals having independent positioning and data processing capabilities and the requesting terminal that needs to be positioned, and completes the positioning task of the requesting terminal through data interaction between terminals, thereby expanding the applicability of the positioning scenario. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. Those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0024] Figure 1 is a structural schematic diagram of a cooperative positioning system provided by an embodiment of the present application; Figure 2 is a signaling schematic diagram of a cooperative positioning method provided by an embodiment of the present application; Figure 3 is a flowchart of a cooperative positioning method provided by another embodiment of the present application; Figure 4 is a flowchart of a cooperative positioning method provided by another embodiment of the present application; Figure 5is a structural schematic diagram of a terminal provided by another embodiment of the present application; Figure 6 is a structural schematic diagram of a terminal provided by another embodiment of the present application; Figure 7 is a structural schematic diagram of an electronic device provided by another embodiment of the present application. DETAILED DESCRIPTION

[0025] The features and exemplary embodiments of various aspects of the present application will be described in detail below with reference to the drawings. To make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of the specific details by those skilled in the art. The following description of the embodiments is only intended to provide a better understanding of the present application by showing examples of the present application.

[0026] It should be noted that, in this document, relational terms such as first and second and the like can only be used to distinguish one entity or action from another entity or action, and do not necessarily require or imply that there is any such actual relationship or order between these entities or actions. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or apparatus. Without more limitations, the elements defined by the statement "comprising" do not exclude the presence of additional identical elements in the process, method, article or apparatus including the elements.

[0027] The prior art has problems of low positioning accuracy, high device power consumption and poor environmental adaptability in a GPS-free or weak GPS signal environment. The root cause is that the technical solution design has not broken through the limitations of GPS dependence and has not constructed an adaptive architecture for multiple scene requirements. From the perspective of low positioning accuracy, the mainstream cooperative positioning technology (such as a scheme based on a virtual reference station) takes the terminal initial GPS single-point positioning result as the core data basis, and the positioning logic is essentially a correction and optimization of the initial GPS data. When the GPS signal is missing or disturbed, the error of the initial positioning data increases significantly or even fails, and the subsequent cooperative calculation loses a reliable reference, resulting in a continuous decline in positioning accuracy. At the same time, although the UWB (Ultra Wide Band) ranging positioning has high accuracy, it is limited by the technical principle, and its effective communication distance is only tens of meters, which cannot cover large outdoor scenes. The visual or laser SLAM (Simultaneous Localization and Mapping) scheme is affected by the positioning accuracy due to the high complexity of the algorithm that needs to process a large amount of environmental data, and the delay in data processing or the deviation in environmental feature recognition.

[0028] From the perspective of high device power consumption and poor environmental adaptability, the existing positioning scheme lacks a dynamic power consumption regulation mechanism: the UWB terminal needs to continuously send signals at a high frequency to maintain ranging capability, and the visual or laser SLAM device needs to run the sensor and processor at a high power for a long time to collect and process environmental information. Neither of them adjusts the hardware operating parameters according to the target detection state (such as distance and speed), resulting in high power consumption. Moreover, the hardware and algorithm design of each scheme is too specific: UWB cannot adapt to long-distance outdoor scenes, visual or laser SLAM is difficult to popularize due to the limitation of hardware cost and computing power, and a general architecture that can adapt to multiple complex scenes such as urban high-rise areas, underground spaces and tunnels has not been formed, ultimately leading to insufficient environmental adaptability.

[0029] The system of the embodiments of the present application has the characteristics of strong anti-interference and high measurement accuracy by using the distance data measured by the radar. The requesting terminal determines its own positioning according to the coordinates of at least three terminals and the distance data measured by the radar on the cooperative positioning terminal. Since the coordinates of the cooperative positioning terminal and the distance data measured by the radar on the cooperative positioning terminal are measured by the radar, they are not dependent on the GPS signal. Therefore, the method can accurately determine the position of the requesting terminal in a GPS or weak GPS signal environment. The positioning method is determined based on the data of at least three cooperative positioning terminals, which is beneficial to significantly improve the reliability and accuracy of the positioning result. At the same time, it does not depend on a single central control node, but forms a distributed network with the requesting terminal to be positioned by multiple cooperative positioning terminals with independent positioning and data processing capabilities, and completes the positioning task of the requesting terminal through data interaction between terminals, thereby expanding the applicability of the positioning scene.

[0030] To solve the problems in the prior art, the embodiments of the present application provide a cooperative positioning method, system, device, computer storage medium and computer program product. First, the cooperative positioning system provided by the embodiments of the present application is introduced.

[0031] Figure 1 The structure of the cooperative positioning system provided by an embodiment of the present application is shown. As shown in Figure 1 The system includes a requesting terminal 100 and N cooperative positioning terminals 101-10N, and N is an integer greater than or equal to 3.

[0032] As an example, the requesting terminal sends a positioning request to multiple cooperative positioning terminals, receives response data from at least three cooperative positioning terminals, and determines its own positioning coordinates based on the data. The core purpose is to solve the positioning failure problem in a GPS or weak GPS signal environment, and to break through the limitations of existing positioning technology in accuracy and environmental adaptability.

[0033] As an example, from the technical pain point, when the requesting terminal is in a complex scene such as a city high-rise area, underground space, tunnel, etc., the GPS signal is easy to be blocked or interfered, and the positioning cannot be completed independently. If only one or two cooperative positioning terminals are relied on for response data, it is limited by the geometric principle of two-point determination straight line and single-point without reference, and the spatial position of the requesting terminal cannot be uniquely locked, and positioning ambiguity or deviation is easy to occur. At least three cooperative positioning terminals can provide multiple sets of distance data and positioning coordinates, and construct multi-dimensional constraint conditions through spatial position relationship, which can effectively eliminate positioning ambiguity and ensure the uniqueness and accuracy of the positioning result.

[0034] As an example, from the system reliability, the design of multiple collaborative positioning terminals can reduce the impact of single terminal failure on positioning. If a collaborative positioning terminal causes data anomalies due to environmental interference, the remaining two or more normal terminals can still support positioning calculation, improving the system anti-interference ability. At the same time, the design does not depend on the initial GPS positioning result of the request terminal, and does not need to modify the data based on the GPS signal, fundamentally breaking away from the dependence on GPS, so that the request terminal can still achieve continuous positioning in a completely GPS signal-free scene, greatly expanding the application scenario range of the positioning technology.

[0035] Figure 2 The signaling diagram of the collaborative positioning method provided by an embodiment of the application is shown. As shown in the figure, the system includes the following steps: Figure 2 S201, the request terminal sends a positioning request to multiple collaborative positioning terminals.

[0036] As an example, the request terminal can refer to a device that needs to obtain its own positioning coordinates but cannot independently position due to the limitation of GPS signal conditions, which can include a car, a mobile terminal, an Internet of Things sensing device, etc. Its core function is to initiate a positioning request, receive response data from collaborative positioning terminals, and determine its own position through calculation, which is the initiator of the positioning demand and the receiver of the positioning result.

[0037] As an example, the collaborative positioning terminal can refer to a device with autonomous positioning capability and ranging capability, which is built-in with a Beidou positioning module and a radar module. It can receive the positioning request of the request terminal, measure the distance data of the request terminal through the radar, and combine the coordinates obtained by the Beidou positioning to feed back the response data to the request terminal, providing a reference benchmark for the request terminal positioning.

[0038] As an example, the positioning request can be a signal sent by the request terminal to multiple collaborative positioning terminals, which is used to inform the collaborative positioning terminals to provide positioning-related data, and is the starting signal to trigger the collaborative positioning process, ensuring that the collaborative positioning terminal can start ranging and data feedback work in time.

[0039] As an example, the Beidou positioning module can be the core positioning component of the collaborative positioning terminal, which works based on the Beidou positioning system and can obtain the high-precision latitude and longitude coordinates of the collaborative positioning terminal itself. Compared with GPS positioning, the positioning stability in complex environments is better, providing reliable self-positioning data for the collaborative positioning terminal.

[0040] ​Specifically, as an example, when detecting that the own GPS signal is weak or no GPS signal, the request terminal actively sends a positioning request to a plurality of cooperative positioning terminals in the coverage, and the request is transmitted in the form of a wireless signal, so that a sufficient number of cooperative positioning terminals can receive the request signal, and prepare for subsequent acquisition of a plurality of groups of response data.

[0041] In S202, the cooperative positioning terminal determines the probe data between the cooperative positioning terminal and the request terminal in response to the positioning request, wherein the probe data is measured by the radar of the cooperative positioning terminal, and the probe data includes distance data.

[0042] As an example, the probe data can be measured by the FMCW (Frequency Modulated Continuous Wave) radar of the cooperative positioning terminal, and mainly includes distance data between the cooperative positioning terminal and the request terminal, and in some scenarios, it also includes relative speed data between the two, which is calculated by radar signal emission and echo signal analysis, and provides a key distance reference for positioning of the request terminal.

[0043] As an example, the distance data can be a core component of the probe data, indicating the straight-line distance value between the cooperative positioning terminal and the request terminal, which is calculated by the frequency difference between the FMCW radar emission signal and the echo signal, combined with the speed of light, signal modulation period and other parameters, and is the basic data for the request terminal to determine its own coordinates through spatial position relationship.

[0044] As an example, the FMCW radar can be a frequency-modulated continuous wave radar, which is the core ranging component of the cooperative positioning terminal. The continuous wave signal with linearly changing frequency over time is emitted, the echo signal reflected by the target is received, and the target distance and relative speed are calculated by using the frequency difference between the emission signal and the echo signal. It has the characteristics of strong anti-interference ability and good environmental adaptability.

[0045] As an implementation of S202, S202 further includes: emitting a radar waveform signal by the radar; receiving an echo signal formed by the radar waveform signal reflected by the request terminal; calculating the probe data between the cooperative positioning terminal and the request terminal based on the frequency difference between the radar waveform signal and the echo signal.

[0046] As an example, the cooperative positioning terminal needs to provide accurate probe data to the requesting terminal, which provides the core support for the positioning of the requesting terminal. The accuracy of the probe data directly determines the reliability of the positioning result of the requesting terminal, and in a complex environment without GPS or weak GPS signal, the probe data needs to be obtained through an efficient and stable ranging method. Radar technology has the characteristics of strong anti-interference ability and wide environmental adaptability. The signals emitted by radar can penetrate some obstructions and can be stably transmitted without being affected by electromagnetic interference, which is suitable for various traffic scenes such as urban high-rise dense areas, underground space, tunnels, etc. By emitting waveform signals and receiving echo signals, the spatial relationships such as physical distance and relative speed can be converted into quantifiable mathematical parameters through the frequency difference between the signals, and the accurate calculation of the probe data can be realized. This method does not need to rely on external positioning signals, and only through the radar module of the terminal itself can data acquisition and calculation be completed, ensuring the real-time and independence of the probe data, providing a reliable basis for the subsequent positioning of the requesting terminal, and ensuring the stable operation of the entire cooperative positioning system in complex environments.

[0047] As an example, radar can refer to the core ranging component of the cooperative positioning terminal, specifically using FMCW radar, which has the functions of emitting waveform signals and receiving echo signals, and can calculate the probe data through signal analysis.

[0048] As an example, the radar waveform signal can refer to a continuous wave signal whose frequency changes regularly over time, and in this implementation, a frequency-modulated continuous wave signal modulated by a triangular wave is used, which has the characteristics of controllable frequency change and high ranging accuracy.

[0049] As an example, the echo signal can refer to the signal returned to the cooperative positioning terminal after the radar waveform signal is reflected by the surface of the requesting terminal, which carries the spatial position information between the requesting terminal and the cooperative positioning terminal.

[0050] As an example, the frequency difference can refer to the frequency difference between the waveform signal emitted by the radar and the echo signal received, which is caused by signal transmission delay and Doppler effect, and is the core basis for calculating the probe data.

[0051] Specifically, as an example, after the cooperative positioning terminal receives the positioning request of the requesting terminal, it switches from a low-power sleep state to a running state, starts the radar module, and prepares to emit radar waveform signals. The radar module emits a frequency-modulated continuous wave signal in a triangular wave modulation manner, sets the frequency change range of the signal to B, and the modulation period to T, that is, the complete time for the triangular wave to rise from the starting frequency to the peak frequency and then drop to the starting frequency is T, and the center frequency of the signal is , which ensures that the signal has a stable frequency change rule and lays a foundation for subsequent frequency difference calculation.

[0052] Specifically, as an example, after the radar waveform signal propagates to the requesting terminal, the echo signal is formed by the surface reflection of the requesting terminal, and the radar receiving module of the cooperative positioning terminal continuously monitors and captures the echo signal, ensures that the echo signal is complete and undistorted, and avoids calculation errors caused by signal loss. The cooperative positioning terminal performs frequency analysis on the transmitted radar waveform signal and the received echo signal, and extracts the frequency difference between the two. Because there is a distance delay from the cooperative positioning terminal to the requesting terminal, a modulation frequency difference caused by the delay will be generated ; at the same time, the relative motion between the cooperative positioning terminal and the requesting terminal causes the Doppler effect, which will generate a frequency difference caused by the relative motion . In the triangular wave modulation mode, the frequency difference of the rising segment of the signal is , and the frequency difference of the falling segment is .

[0053] Specifically, as an example, based on the extracted frequency difference, combined with the preset signal parameters, the detection data is calculated through a mathematical formula: first, the frequency change rate of the signal is calculated , according to the frequency change range B and the modulation period T, the frequency change rate of the signal is . Based on the frequency difference and , the signal transmission delay is calculated, , combined with the speed of light , the distance data R is calculated, . Based on the frequency difference , the speed of light , and the center frequency of the radar waveform signal , the relative speed v is calculated, . The distance data and the relative speed data jointly constitute the detection data, and the calculation process of the detection data is completed. The cooperative positioning terminal integrates the calculated detection data, the positioning coordinates of the cooperative positioning terminal, and the time stamp into response data and sends it to the requesting terminal, providing support for the positioning calculation of the requesting terminal.

[0054] The cooperative positioning method of the embodiment of the application adopts radar frequency modulation ranging technology, and the frequency difference and the distance data have a clear mathematical mapping relationship, so that the measurement accuracy is high and the anti-interference ability is strong (not affected by environmental factors such as light and weather). Compared with ultrasonic and infrared ranging methods, the propagation distance of the radar signal is farther and the penetration ability is stronger, which expands the effective distance range of cooperative positioning. At the same time, the calculation method based on the frequency difference is simple and efficient, and the response speed is fast, which can meet the needs of real-time positioning.

[0055] S203, the cooperative positioning terminal obtains its own positioning coordinates; wherein, the response data includes detection data and the positioning coordinates of the cooperative positioning terminal itself.

[0056] As an example, the positioning coordinates can be used to represent the longitude and latitude data of the terminal on the earth, the positioning coordinates of the requesting terminal are the final result to be obtained, and the positioning coordinates of the cooperative positioning terminal are obtained by the Beidou positioning module integrated by the cooperative positioning terminal, which has high precision characteristics and provides a reliable reference basis for positioning of the requesting terminal.

[0057] In S204, the requesting terminal receives the response data returned by the at least three cooperative positioning terminals; wherein the response data includes the detection data and the positioning coordinates of the cooperative positioning terminal.

[0058] As an example, the response data can refer to the data set sent by the cooperative positioning terminal to the requesting terminal for positioning calculation, including the distance data between the cooperative positioning terminal and the requesting terminal, and the positioning coordinates of the cooperative positioning terminal. The distance data is measured by the radar of the cooperative positioning terminal, and the positioning coordinates are obtained by the Beidou positioning module of the cooperative positioning terminal. Both of them together constitute the basic data support for positioning of the requesting terminal.

[0059] In S205, the requesting terminal determines the positioning coordinates of the requesting terminal itself based on the distance data and the positioning coordinates of the at least three cooperative positioning terminals, and the spatial position relationship between each cooperative positioning terminal and the requesting terminal.

[0060] As an example, the spatial position relationship can refer to the geometric constraint relationship formed in the three-dimensional space or the earth spherical model based on the positioning coordinates of the cooperative positioning terminal and the distance data between the cooperative positioning terminal and the requesting terminal. This relationship is embodied as a spherical trajectory with the cooperative positioning terminal as a fixed point and the distance data as a radius. The intersection of multiple spherical trajectories is the spatial position of the requesting terminal, which is the core logical basis for positioning calculation.

[0061] Specifically, as an example, the requesting terminal continuously receives the response data from each cooperative positioning terminal, filters the received data, and only retains the response data containing complete distance data, positioning coordinates of the cooperative positioning terminal and valid time stamp, until at least three different cooperative positioning terminals return valid response data.

[0062] Specifically, as an example, the requesting terminal calculates the positioning coordinates of the requesting terminal itself based on the distance data and the positioning coordinates of the at least three cooperative positioning terminals through the spatial position relationship, which can at least include the following two core implementation modes.

[0063] As an implementation mode of S205, S205 further includes the following steps: For each cooperative positioning terminal, the area where the requesting terminal is located is determined according to the distance data and the positioning coordinates of the cooperative positioning terminal, respectively; The positioning coordinates of the requesting terminal itself are determined according to the common intersection of the at least three areas.

[0064] As an example, in the scenario of no GPS or weak GPS signal, the requesting terminal needs to rely on the data provided by the cooperative positioning terminal to achieve accurate positioning. The distance data and positioning coordinates of a single cooperative positioning terminal can only reflect the distance relationship between the requesting terminal and the cooperative positioning terminal, and cannot uniquely determine the specific position of the requesting terminal. If only the data of a single cooperative positioning terminal is used, the requesting terminal can be at any point on the sphere centered at the cooperative positioning terminal and with the distance data as the radius, the positioning range is ambiguous and the error is large, which cannot meet the requirements of the positioning accuracy in the traffic system and other scenarios. By using the data provided by at least three cooperative positioning terminals, each cooperative positioning terminal can define a specific area where the requesting terminal is located, and the common intersection of multiple areas is the unique position of the requesting terminal. This design can effectively fuse the constraint conditions of multiple data sources, exclude ambiguous positioning range, greatly improve the positioning accuracy, and ensure that the requesting terminal can still obtain continuous and accurate positioning results in complex environments, and ensure the normal operation of related equipment (such as cars and ships).

[0065] As an example, the area where the requesting terminal is located can refer to a spherical area formed on the surface of the earth with the positioning coordinates of the cooperative positioning terminal as the center and the distance data as the radius, and the actual position of the requesting terminal must be within this area.

[0066] As an example, the common intersection can refer to the unique intersection of the areas defined by at least three cooperative positioning terminals, and this intersection is the accurate position of the requesting terminal on the surface of the earth.

[0067] Data acquisition: The requesting terminal receives the response data returned by at least three cooperative positioning terminals, extracts the distance data and positioning coordinates of each cooperative positioning terminal, and ensures that the data is complete and the timestamp meets the preset conditions (the timestamp is close enough to ensure that the data is valid in the same time dimension).

[0068] Specifically, as an example, determining the area corresponding to a single cooperative positioning terminal: for each cooperative positioning terminal, a spherical area is constructed on the surface of the earth with the positioning coordinates as the center and the measured distance data as the radius. Since the earth is approximately spherical, this spherical area is the range where the requesting terminal can exist, and the actual position of the requesting terminal must fall on this sphere. For the spherical areas constructed by at least three cooperative positioning terminals, the common intersection of these areas is found through spatial geometric calculation. Since three non-collinear spheres usually have only one common intersection in space, this intersection is the unique position of the requesting terminal. The found common intersection is converted into corresponding latitude and longitude data, which is the positioning coordinates of the requesting terminal itself. Through this method, the data constraints of multiple cooperative positioning terminals are fused, and accurate positioning of the requesting terminal is achieved.

[0069] The cooperative positioning method of the embodiments of the present application converts the abstract spatial position relationship into a concrete area intersection solution, simplifying the positioning calculation logic. By narrowing the positioning range through area screening and then locking the common intersection, the influence of abnormal data on the positioning result is effectively reduced, and the robustness of the positioning algorithm is improved. At the same time, the regionalization processing can reduce the amount of calculation and speed up the positioning response speed, and is suitable for scenes with high real-time requirements.

[0070] As another implementation of S205, S205 can further include the following steps: For each cooperative positioning terminal, a spherical distance equation is established according to the distance data and the positioning coordinates of the cooperative positioning terminal, wherein the spherical distance equation represents that the spherical distance between the cooperative positioning terminal and the requesting terminal is equal to the distance data of the cooperative positioning terminal; the spherical distance is obtained according to the positioning coordinates of the cooperative positioning terminal and the positioning coordinates of the requesting terminal itself; The at least three spherical distance equations are solved to form a positioning equation group; The positioning equation group is solved to obtain the positioning coordinates of the requesting terminal itself.

[0071] As an example, in a GPS-free or weak GPS signal environment, the requesting terminal needs to rely on the data provided by the cooperative positioning terminal to achieve accurate positioning. The earth's surface is approximately spherical, and the actual distance between the requesting terminal and the cooperative positioning terminal is essentially the shortest path distance between two points on the spherical surface, i.e., the spherical distance, rather than the straight-line distance on the plane. If a plane geometric model is used to calculate the positioning coordinates, significant errors will be caused by the curvature of the earth, and the positioning accuracy requirements of traffic systems and other scenarios cannot be met. The distance data and positioning coordinates of a single cooperative positioning terminal can only provide one constraint condition, and cannot uniquely determine the position of the requesting terminal. By establishing a spherical distance equation for each cooperative positioning terminal, the positioning problem can be converted into a mathematical equation group solving problem. The at least three spherical distance equations are solved to form a positioning equation group, which can form sufficient constraint conditions to uniquely lock the position of the requesting terminal on the earth's surface, effectively eliminate positioning ambiguity, and greatly improve positioning accuracy. This mathematical modeling method based on spherical geometry is consistent with the spatial characteristics of the earth's surface, ensuring that the positioning result meets the accuracy requirements of the actual application scenario and ensuring the stable operation of devices relying on positioning functions.

[0072] As an example, the spherical distance equation can refer to a mathematical equation established based on the principle of spherical geometry, and the core relationship is that the spherical distance between the cooperative positioning terminal and the requesting terminal is equal to the distance data measured by the cooperative positioning terminal. Each cooperative positioning terminal corresponds to an independent spherical distance equation.

[0073] As an example, the spherical distance can refer to the shortest path length between two points on the earth's surface, which is uniquely determined by the latitude and longitude coordinates of the two points, and is the core calculation object of the spherical distance equation.

[0074] As an example, the positioning equation set can refer to the equation set formed by the spherical distance equations corresponding to at least three cooperative positioning terminals, which jointly locks the unique position of the request terminal through multiple constraints.

[0075] Specifically, as an example, the request terminal receives the response data returned by at least three cooperative positioning terminals, extracts the distance data and positioning coordinates of each cooperative positioning terminal, and at the same time verifies the time stamps of each response data to ensure that all data meet the preset time synchronization condition, avoiding positioning errors caused by time differences in data collection. For each cooperative positioning terminal, based on its positioning coordinates and measured distance data, a spherical distance equation is established combining the Haversine distance formula. First, the latitude and longitude of the cooperative positioning terminal are converted into radian values, denoted as and ; the to-be-solved latitude and longitude of the request terminal are converted into radian values, denoted as and .

[0076] Calculate the latitude radian difference between the cooperative positioning terminal and the request terminal , and the longitude radian difference .

[0077] According to the Haversine distance formula, the equation is constructed as follows: where the equatorial radius of the earth is a known constant, about 6378.137 kilometers, and the left side of the equation is the spherical distance calculation formula of the cooperative positioning terminal and the request terminal, and the right side is the spherical distance constant value corresponding to the distance data measured by the cooperative positioning terminal.

[0078] Specifically, as an example, the spherical distance equations corresponding to at least three cooperative positioning terminals are solved simultaneously to form a positioning equation set. Each equation contains two unknown quantities, the latitude and the longitude of the request terminal, and at least three independent equations can ensure that the equation set has a unique solution. Solve the positioning equation set: solve the positioning equation set by numerical calculation method to obtain the radian values of the latitude and longitude of the request terminal and . Convert the solved radian values into angle values to obtain the positioning coordinates (longitude and latitude) of the request terminal. In the solving process, the results can be optimized through iterative calculation to eliminate the influence of measurement errors and further improve the accuracy of the positioning coordinates to ensure that the results meet the accuracy requirements of the actual application scenario.

[0079] The cooperative positioning method of the embodiments of the present application accurately describes the spatial position relationship in a mathematical modeling manner, the spherical equation can accurately reflect the three-dimensional spatial characteristics of radar distance measurement, and is more suitable for actual application scenarios than the plane positioning model. Quantitative positioning is achieved by solving the equation set, and the positioning accuracy is higher, especially suitable for fields with strict requirements on coordinate accuracy. At the same time, the equation set solving has mature numerical calculation method support and is easy to implement in engineering.

[0080] The cooperative positioning method of the embodiments of the present application has the characteristics of strong anti-interference and high measurement accuracy by using the distance data measured by the radar, and the requesting terminal determines the positioning of the requesting terminal itself according to the coordinates of at least three terminals and the distance data measured by the radar on the cooperative positioning terminal. Since the coordinates of the cooperative positioning terminal and the distance data measured by the radar on the cooperative positioning terminal are measured by the radar, they are not dependent on the GPS signal. Therefore, the method can also accurately determine the position of the requesting terminal in a GPS or weak GPS signal environment. The positioning method is determined based on the data of at least three cooperative positioning terminals, which is beneficial to significantly improve the reliability and accuracy of the positioning result. At the same time, it does not depend on a single central control node, but forms a distributed network with the requesting terminal to be positioned by multiple cooperative positioning terminals with independent positioning and data processing capabilities, and completes the positioning task of the requesting terminal through data interaction between terminals, thereby expanding the applicability of the positioning scene.

[0081] As another implementation manner of the present application, in order to improve the positioning efficiency, the response data includes a timestamp of completing distance measurement by each cooperative positioning terminal, and the method further includes the following steps: In the case that the timestamps of the at least three cooperative positioning terminals meet a preset condition, the positioning coordinates of the requesting terminal itself are determined based on the distance data and the positioning coordinates of the at least three cooperative positioning terminals and the spatial position relationship between each cooperative positioning terminal and the requesting terminal.

[0082] As an example, the positioning accuracy of the requesting terminal depends on the consistency and timeliness of the data provided by multiple cooperative positioning terminals. The distance data and positioning coordinates of the cooperative positioning terminals are generated at different time points, while the requesting terminal is in a dynamic moving state, its position changes over time. If the data with large time difference is directly used for positioning calculation, the constraint conditions of the positioning equation set will be out of sync with the actual scene, resulting in significant errors in the positioning coordinates solved, which cannot meet the requirements of the traffic system and other scenarios for positioning accuracy. By setting timestamp preset conditions and performing verification, effective data collected in the same time dimension can be filtered out, ensuring that all distance data and positioning coordinates participating in the calculation correspond to the same moment position of the requesting terminal, providing accurate and synchronized constraint conditions for the positioning equation set. On this basis, solving the positioning equation set can fully exert the cooperative constraint effect of multi-source data, eliminate the errors caused by time asynchronization, further improve the accuracy and reliability of the positioning result, and ensure that the requesting terminal can still obtain continuous and accurate positioning coordinates in dynamic scenarios.

[0083] As an example, the timestamp can refer to the time information recorded when the cooperative positioning terminal completes distance measurement and generates response data, which is used to identify the specific time of data collection and is the core basis for judging whether the data is synchronized.

[0084] As an example, the preset condition can refer to the time constraint standard set to ensure data synchronization, specifically referring to the time difference between the timestamps of at least three cooperative positioning terminals within a preset threshold range, ensuring that all data correspond to the same moment position of the requesting terminal.

[0085] Specifically, as an example, the requesting terminal receives the response data returned by multiple cooperative positioning terminals, extracts distance data, positioning coordinates of cooperative positioning terminals and corresponding timestamps from each response data, ensuring that the data is complete and no missing. Compare the extracted timestamps pairwise, calculate the time difference between any two timestamps, and determine whether the timestamps of at least three cooperative positioning terminals meet the preset condition. The core judgment standard of the preset condition is that the maximum time difference between all timestamps participating in the calculation does not exceed the preset threshold, which is set according to the positioning accuracy requirements of the actual application scenario and the moving speed of the requesting terminal, ensuring that the time difference will not cause significant deviation of the requesting terminal position. If the timestamps of at least three cooperative positioning terminals meet the preset condition, the distance data and positioning coordinates corresponding to these terminals are selected and entered into the subsequent positioning calculation step; if not, the response data of other cooperative positioning terminals is continuously received until at least three groups of data that meet the condition are selected.

[0086] Specifically, as an example, for each cooperative positioning terminal screened out, a spherical distance equation is established based on its positioning coordinates and distance data in combination with the Haversine distance formula. The latitude and longitude of the cooperative positioning terminal and the requesting terminal are converted into radian values, the latitude radian difference and the longitude radian difference between the two are calculated, and the Haversine formula is constructed by substituting the two into the formula. The left side of the equation is a spherical distance calculation formula, and the right side is a spherical distance constant value corresponding to the distance data. The spherical distance equations corresponding to at least three cooperative positioning terminals are combined to form a positioning equation set, which contains two unknown quantities corresponding to the latitude and longitude of the requesting terminal. Based on the constraint relationship of each equation in the equation set, the real value of the unknown quantity is gradually approached through iterative calculation to eliminate the influence of measurement errors. After the radian value corresponding to the latitude and longitude of the requesting terminal is solved, it is converted into an angle value, which is the positioning coordinates of the requesting terminal. The accuracy of the solution result is verified, and if the error is within the preset range, the positioning coordinates are output; if the error exceeds the range, the data is reselected and solved again to ensure that the positioning result meets the actual application requirements.

[0087] The cooperative positioning method of the embodiments of the present application introduces time synchronization verification to avoid the distance data mismatch problem caused by the difference in measurement time of different cooperative positioning terminals (such as the asynchronous measurement data of different terminals cannot reflect the spatial position at the same time during the movement of the requesting terminal). The time stamp filtering ensures that the data participating in the positioning calculation are all valid data in the same time dimension, further improving the accuracy of the positioning result, especially suitable for positioning requirements in dynamic mobile scenarios. At the same time, the time stamp verification can filter out invalid data in advance, reduce invalid calculation, and improve positioning efficiency.

[0088] As another implementation manner of the present application, in order to guarantee the stability of the ranging performance, the response data includes the time stamp of completing distance measurement by each cooperative positioning terminal, as shown in Figure 3 The method further includes the following steps: S301, acquiring probe data between a plurality of requesting terminals and cooperative positioning terminals; S302, adjusting the working parameters of the radar waveform signal based on the probe data.

[0089] As an example, the cooperative positioning terminal serves as the core data providing module of the positioning system, and needs to realize low-power long-time operation under the premise of ensuring detection accuracy, so as to adapt to the application requirements of various complex traffic environments such as cities, villages and wild fields. Under different scenarios, the distance and relative speed between the requesting terminal and the cooperative positioning terminal are different. If the radar waveform signal always maintains fixed working parameters, unnecessary energy consumption will be caused and the endurance time of the cooperative positioning terminal will be shortened in scenarios where high-power and high-frequency detection is not required. In scenarios where accurate detection is required, fixed parameters may not meet the detection accuracy requirements. The timestamp in the response data can ensure the time synchronization of the detection data. Adjusting the radar waveform signal working parameters based on the detection data of multiple requesting terminals can dynamically match the radar working state with the actual detection requirements. When the detection target is close and slow, the parameters are appropriately adjusted to reduce energy consumption. When the detection target is far away and fast, the parameters are kept or optimized to ensure detection accuracy. This dynamic adjustment method not only avoids energy waste, but also ensures the reliability of the detection data, improves the environmental adaptability and continuous working ability of the cooperative positioning terminal, and further ensures the stable and efficient operation of the entire cooperative positioning system.

[0090] Specifically, as an example, the cooperative positioning terminal continuously receives positioning requests sent by multiple requesting terminals, responds to each request and measures the corresponding detection data, and records the timestamp of each distance measurement. The timestamps corresponding to the collected multiple detection data are checked to ensure that all detection data are valid data collected in the same time dimension, avoiding parameter adjustment deviation caused by time difference. From the multiple detection data that pass the verification, the distance data and relative speed data between each requesting terminal and the cooperative positioning terminal are extracted respectively, the data is screened to eliminate outliers, and the accuracy of the data is ensured. The distance data extracted is statistically analyzed to determine the maximum value of the distance data between the multiple requesting terminals and the cooperative positioning terminal, which reflects the farthest target distance of the current detection scenario. The relative speed data extracted is statistically analyzed to determine the maximum value of the relative speed data between the multiple requesting terminals and the cooperative positioning terminal, which reflects the fastest target speed of the current detection scenario. According to the detection data characteristics, the working parameters of the radar waveform signal are adjusted in combination with the preset distance threshold and speed threshold. The adjusted working parameters are applied to the transmission and reception process of the radar waveform signal, and new detection data are continuously collected, the change of the detection scenario is analyzed in real time, the working parameters are dynamically updated, and the radar is ensured to always operate in the optimal state, while ensuring the detection accuracy and maximizing the power consumption.

[0091] The cooperative positioning method of the embodiments of the present application realizes dynamic optimization of radar working parameters, adjusts parameters according to detection data feedback of actual application scenarios, and improves the adaptability and resource utilization rate of the radar equipment. The performance waste (such as unnecessary long-time signal emission in a near-distance scenario) or insufficient performance (such as insufficient signal duration in a long-distance scenario) of the radar equipment in different scenarios under fixed parameters is avoided, the endurance time of the cooperative positioning terminal is prolonged, and the stability of the ranging performance is ensured.

[0092] As an implementation manner of S301-S302, S301-S302 includes: obtaining distance data between the plurality of request terminals and the cooperative positioning terminal; determining the farthest distance of the distance data between the plurality of request terminals and the cooperative positioning terminal; in a case where the farthest distance is less than a preset distance threshold, reducing the duration of the radar waveform signal according to a proportional relationship between the farthest distance and the preset distance threshold; in a case where the farthest distance is not less than the preset distance threshold, maintaining the current duration of the radar waveform signal.

[0093] As an example, the duration of the waveform signal emitted by the radar module of the cooperative positioning terminal is directly related to the detection accuracy and device power consumption. The duration of the radar waveform signal determines the effective coverage range and ranging accuracy of signal propagation. A longer duration can meet the detection needs of long-distance targets, but consumes more energy. A shorter duration can reduce power consumption, but is only suitable for near-distance target detection. In actual application scenarios, the distance between the request terminal and the cooperative positioning terminal changes dynamically. If a fixed radar waveform signal duration is always maintained, two unreasonable situations may occur: one is that when all request terminals are in a near-distance, the unnecessarily long duration causes unnecessary energy waste and shortens the endurance of the cooperative positioning terminal; the other is that when there is a long-distance request terminal, the short duration cannot guarantee the ranging accuracy, resulting in distorted detection data. By obtaining the distance data of the plurality of request terminals and determining the farthest distance, and dynamically adjusting the duration of the radar waveform signal with the preset distance threshold as the judgment standard, the detection needs and power consumption can be accurately matched. In a near-distance scenario, the duration is reduced to reduce power consumption, and in a long-distance scenario, the duration is maintained to guarantee accuracy, which avoids energy waste and ensures the reliability of detection data, improves the environmental adaptability and long-time working ability of the cooperative positioning terminal, and provides support for stable and efficient operation of the entire cooperative positioning system.

[0094] As an example, the farthest distance can refer to the maximum value selected from the distance data of the plurality of request terminals, representing the farthest detection range that the cooperative positioning terminal needs to cover in the current detection scenario.

[0095] As an example, the preset distance threshold can refer to a distance standard preset based on radar detection performance and actual application requirements, used to judge the distance characteristics of the current detection scene, and is the core basis for adjusting the duration of the radar waveform signal.

[0096] Specifically, as an example, after receiving the positioning requests of multiple requesting terminals, the cooperative positioning terminal starts the radar module, transmits signals according to the currently set radar waveform signal duration, receives the echo signals reflected by each requesting terminal, calculates the distance data of each requesting terminal from itself based on the signal frequency difference, and records the time stamp corresponding to each distance measurement to ensure the timeliness of the data. The collected multiple distance data are verified, and abnormal data (such as unreasonable values caused by signal interference) are removed, and the time stamps corresponding to the data are verified to ensure that all valid distance data are collected within the same time dimension, avoiding distance analysis deviation caused by time difference.

[0097] Specifically, as an example, from the valid distance data that pass the verification, the distance data with the largest value are extracted as the farthest distance, which directly reflects the farthest detection range that the cooperative positioning terminal needs to cover under the current detection scene. The determined farthest distance is compared with the preset distance threshold to judge the distance characteristics of the current detection scene: if the farthest distance is less than the preset distance threshold, it means that all requesting terminals are within a relatively close detection range, and the existing radar waveform signal duration exceeds the actual demand, and there is room to reduce the duration to reduce power consumption. If the farthest distance is not less than the preset distance threshold, it means that there is a requesting terminal at a long distance, and the current radar waveform signal duration needs to be maintained to ensure the detection accuracy of the long-distance target and avoid ranging errors caused by insufficient duration.

[0098] Specifically, as an example, when the farthest distance is less than the preset distance threshold, the adjusted duration is calculated according to the proportional relationship between the farthest distance and the preset distance threshold. The adjustment formula can be adjusted duration = Max(β × (farthest distance / preset distance threshold) × current duration, minimum duration), where β is a preset coefficient for balancing the power consumption reduction amplitude and detection accuracy guarantee, and the minimum duration is the time length corresponding to the minimum radar working requirement, to ensure that the adjusted duration does not affect the basic detection function. When the farthest distance is not less than the preset distance threshold, the duration of the current radar waveform signal is maintained, and the detection accuracy of the long-distance target is maintained.

[0099] Specifically, as an example, the adjusted duration is applied to the subsequent radar signal transmission process, while continuously collecting new request terminal distance data, repeating the above steps, realizing the dynamic optimization of the radar waveform signal duration, maximizing the reduction of the power consumption of the cooperative positioning terminal under the premise of ensuring the detection accuracy.

[0100] The cooperative positioning method of the embodiments of the present application realizes the accurate optimization of the radar signal duration, reduces the signal duration when the farthest distance is less than the preset threshold, and reduces the energy consumption and hardware loss of the radar device; when the farthest distance is not less than the preset threshold, the signal duration is maintained to ensure the ranging performance. The adjustment mechanism takes into account the energy consumption control and the ranging performance, and is especially suitable for scenes with multiple request terminals and uneven distance distribution, thereby improving the energy efficiency ratio and service life of the cooperative positioning terminal.

[0101] The detection data includes the relative speed, and as another implementation of S301-S302, S301-S302 further includes: obtaining the relative speed between the multiple request terminals and the cooperative positioning terminal; determining the fastest speed of the relative speed between the multiple request terminals and the cooperative positioning terminal; in the case where the fastest speed is less than the preset speed threshold, increasing the idle time between the radar waveform signals according to the proportional relationship between the preset speed threshold and the fastest speed; in the case where the fastest speed is not less than the preset speed threshold, maintaining the current idle time between the radar waveform signals.

[0102] As an example, the idle time between the radar waveform signals directly affects the power consumption and detection timeliness of the cooperative positioning terminal. Shorter idle time can quickly capture the position changes of high-speed moving request terminals, but the power consumption is higher; longer idle time can reduce power consumption, but it may miss the dynamic information of high-speed targets. In actual scenarios, the moving speed of the request terminal is different, and fixed idle time will cause unreasonable consumption or detection failure. By obtaining the relative speed of the multiple request terminals and determining the fastest speed, the idle time is dynamically adjusted based on the preset speed threshold, so as to balance the power consumption and detection timeliness. Increasing the idle time reduces the power consumption in the low-speed scene, and maintaining the idle time ensures the detection accuracy in the high-speed scene, thereby improving the endurance and environmental adaptability of the cooperative positioning terminal and supporting stable operation of the system.

[0103] As an example, the relative speed can refer to the relative motion speed between the request terminal and the cooperative positioning terminal, which is an important component of the detection data.

[0104] As an example, the fastest speed can refer to the maximum value of the relative speed of the multiple request terminals, reflecting the highest moving speed of the current detection scene.

[0105] As an example, the preset speed threshold can refer to a preset speed standard for judging the speed characteristics of the detection scene.

[0106] As an example, the inter-signal idle time can refer to the interval time between the transmission of two adjacent radar waveform signals, which is a key parameter affecting power consumption and detection timeliness.

[0107] Specifically, as an example, the cooperative positioning terminal receives the positioning requests of multiple requesting terminals, starts the radar module to transmit signals, receives echo signals and calculates the relative speed of each requesting terminal, and records the corresponding time stamp. The relative speed data and the time stamp are checked, and the outliers are removed to ensure that the data is valid data in the same time dimension. The maximum value is extracted from the valid data as the fastest speed, which is compared with the preset speed threshold.

[0108] Specifically, as an example, if the fastest speed is less than the preset speed threshold, the idle time is adjusted according to the formula: adjusted idle time = Min(γ×(preset speed threshold / fastest speed)×current idle time, idle time maximum), γ is a preset coefficient, and the idle time maximum is the upper limit of radar operation. If the fastest speed is not less than the preset speed threshold, the current idle time remains unchanged. The adjusted idle time is applied to subsequent radar signal transmission, new data is continuously collected, and the above steps are repeated to dynamically optimize the parameters.

[0109] The cooperative positioning method of the embodiments of the present application optimizes the radar operation parameters for dynamic mobile scenes. When the requesting terminal moves slowly, the signal idle time is increased to reduce the energy consumption of the device; when the moving speed is fast, the idle time is kept short to ensure timely capture of position changes. This mechanism realizes the balance between energy consumption and real-time performance in dynamic scenes, avoids the problem of positioning lag of fast-moving terminals or energy waste of slow-moving terminals caused by fixed idle time, and improves the adaptive ability of the cooperative positioning terminal to dynamic scenes.

[0110] As another implementation manner of the present application, in order to reduce the energy consumption of the device and prolong the endurance time, referring to Figure 4 The method further includes the following steps: S401, receiving confirmation information of the response data from the requesting terminal; S402, in response to the confirmation information, reducing the working time of the cooperative positioning terminal.

[0111] As an example, the cooperative positioning terminal needs to maximize the reduction of power consumption to prolong the endurance under the premise of ensuring the effectiveness of the transmission of positioning data. After the cooperative positioning terminal sends the response data, if it does not confirm whether the requesting terminal has successfully received, it will continue to maintain a high power consumption working state, causing energy waste. The receiving of the confirmation information of the requesting terminal can explicitly indicate that the response data has been effectively received and used, and at this time there is no need to maintain the original working time. In response to the confirmation information, the working time is reduced, which can reduce unnecessary energy consumption, while not affecting the continuity of the positioning function, balancing the data transmission reliability and low power consumption demand, improving the long-time working ability of the cooperative positioning terminal, and ensuring the stable operation of the system.

[0112] As an example, the confirmation information can refer to a feedback signal sent by the requesting terminal after receiving the response data, which is used to inform the cooperative positioning terminal of the successful data reception.

[0113] As an example, the working time can refer to the time length of the cooperative positioning terminal in the running state, including the time of radar signal transmission, data calculation and transmission.

[0114] Specifically, as an example, after the cooperative positioning terminal sends the response data to the requesting terminal, it maintains a low-power monitoring state and waits to receive the confirmation information. The communication link is continuously monitored to capture the confirmation information from the requesting terminal, and the validity of the information is verified. In response to the valid confirmation information, the power consumption optimization mechanism is started to reduce the working time: the radar signal transmission period is shortened, the invalid detection time is reduced, the redundant time of data processing and transmission is compressed, and only the time required for the core function is reserved. After adjustment, the basic running state is maintained to ensure that the cooperative positioning terminal can respond to subsequent positioning requests from the requesting terminal in a timely manner, and the adjustment process from monitoring to receiving is executed in a loop.

[0115] The cooperative positioning method of the embodiments of the present application realizes on-demand energy saving of the cooperative positioning terminal. When it is confirmed that the response data has been successfully received by the requesting terminal and no subsequent supplementary data is needed, the working time is reduced (such as reducing the radar signal transmission frequency and entering a low-power mode), which significantly reduces the energy consumption of the device and prolongs the endurance time. It is especially suitable for mobile cooperative positioning terminals (such as portable positioning devices and Internet of Things terminals) powered by batteries, which improves the practical value and use time of the device, and reduces energy waste.

[0116] Referring to Figure 5 The requesting terminal 50 provided by the embodiments of the present application comprises: The request sending module 501 is configured to send a positioning request to a plurality of cooperative positioning terminals; The data receiving module 502 is configured to receive response data returned by at least three cooperative positioning terminals, wherein the response data comprises detection data between each cooperative positioning terminal and the requesting terminal and positioning coordinates of each cooperative positioning terminal itself, and the detection data comprises distance data measured by the radar of the cooperative positioning terminal. The coordinate determination module 503 is configured to determine the positioning coordinate of the requesting terminal based on the distance data and the positioning coordinate of at least three cooperative positioning terminals and the spatial position relationship between each cooperative positioning terminal and the requesting terminal.

[0117] Referring to Figure 6 The cooperative positioning terminal 60 provided by the embodiments of the present application comprises: The request receiving module 601 is configured to receive a positioning request from a requesting terminal. The request response module 602 is configured to determine probe data between the cooperative positioning terminal and the requesting terminal in response to the positioning request, wherein the probe data is obtained by radar measurement of the cooperative positioning terminal, and the probe data comprises distance data. The coordinate obtaining module 603 is configured to obtain the positioning coordinate of the cooperative positioning terminal itself. The data sending module 604 is configured to send response data to the requesting terminal, wherein the response data comprises the probe data and the positioning coordinate of the cooperative positioning terminal itself, and is used for the requesting terminal to determine the positioning coordinate of the requesting terminal based on the distance data and the positioning coordinate of at least three cooperative positioning terminals and the spatial position relationship between each cooperative positioning terminal and the requesting terminal.

[0118] Figure 7 A hardware structure schematic diagram of an electronic device provided by the embodiments of the present application is shown.

[0119] The electronic device can comprise a processor 701 and a memory 702 storing computer program instructions.

[0120] Specifically, the processor 701 can comprise a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits of the embodiments of the present application.

[0121] The memory 702 can comprise a mass storage for data or instructions. By way of example and not limitation, the memory 702 can include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 702 can include removable or non-removable (or fixed) media. Where appropriate, the memory 702 can be internal or external to the integrated gateway disaster recovery device. In certain embodiments, the memory 702 is a non-volatile solid-state memory.

[0122] The memory can include read-only memory (ROM), random-access memory (RAM), magnetic disk storage mediums devices, optical storage mediums devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage mediums (e.g., memory devices) encoded with software including computer-executable instructions that, when executed (e.g., by one or more processors), are operable to perform the operations described with reference to the methods according to an aspect of the present disclosure.

[0123] The processor 701 implements any one of the above-mentioned cooperative positioning methods by reading and executing computer program instructions stored in the memory 702.

[0124] In one example, the electronic device can further include a communication interface 703 and a bus 710. As shown, the processor 701, the memory 702, and the communication interface 703 are connected through the bus 710 and complete communication with each other. Figure 7

[0125] The communication interface 703 is mainly used to realize the communication between various modules, systems, units, and / or devices in the embodiments of the present application.

[0126] The bus 710 includes hardware, software, or both, which couples components of the electronic device to each other. By way of example, and not limitation, the bus can include an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front-side bus (FSB), a HyperTransport (HT) interconnect, an industry standard architecture (ISA) bus, an InfiniBand (IB) interconnect, a low pin count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a Video Electronics Standards Association local (VLB) bus, or another suitable bus or combination of two or more of these. Where appropriate, the bus 610 can include one or more buses. Although the present application describes and illustrates a particular bus, the present application contemplates any suitable bus or interconnect.

[0127] In addition, in combination with the above-mentioned cooperative positioning method, the embodiments of the present application can provide a computer storage medium to implement. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by the processor to implement any one of the above-mentioned cooperative positioning methods.

[0128] The embodiments of the present application also provide a computer program product, including a computer program, and the computer program is executed by the processor to implement any one of the above-mentioned cooperative positioning methods.​

[0129] It is to be understood that the application is not limited to the particular configurations and processes described hereinabove and shown in the figures. For the sake of brevity, detailed descriptions of known methods and apparatuses are omitted so as not to obscure the description of the present application. In the above-described embodiments, several specific steps are described and illustrated as examples. However, the methods process of the present application is not limited to the specific steps described and illustrated, as various modifications, alterations, and permutations can be made with the benefit of this disclosure without departing from the spirit and scope of the present application, and the order of steps can so modified.

[0130] The functional blocks shown in the above structural block diagrams can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, functional cards, and the like. When implemented in software, the elements of the present application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine-readable medium" includes any medium that can store or transfer information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and the like. The code segments can be downloaded via computer networks such as the Internet, intranets, and the like.

[0131] It is also to be understood that the example embodiments described in this application are based on a series of steps or apparatuses to describe some methods or systems. However, the present application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be performed simultaneously.

[0132] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0133] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A cooperative localization method, characterized in that, Applied to the requesting terminal, including: Send location requests to multiple coordinating positioning terminals; The system receives response data from at least three collaborative positioning terminals, wherein the response data includes detection data between each collaborative positioning terminal and the requesting terminal, and the positioning coordinates of each collaborative positioning terminal itself, and the detection data includes distance data obtained by radar measurement of the collaborative positioning terminal; Based on the distance data and positioning coordinates of the at least three collaborative positioning terminals, the positioning coordinates of the requesting terminal are determined by the spatial positional relationship between each collaborative positioning terminal and the requesting terminal.

2. The method according to claim 1, characterized in that, The step of determining the location coordinates of the requesting terminal based on the distance data and location coordinates of the at least three cooperative positioning terminals, through the spatial positional relationship between each cooperative positioning terminal and the requesting terminal, includes: For each of the cooperative positioning terminals, the area where the requesting terminal is located is determined based on the distance data and positioning coordinates of the cooperative positioning terminal. The location coordinates of the requesting terminal are determined based on the common intersection of at least three of the areas.

3. The method according to claim 1, characterized in that, The step of determining the location coordinates of the requesting terminal based on the distance data and location coordinates of the at least three cooperative positioning terminals, through the spatial positional relationship between each cooperative positioning terminal and the requesting terminal, includes: For each cooperative positioning terminal, a spherical distance equation is established based on the distance data and positioning coordinates of the cooperative positioning terminal. The spherical distance equation indicates that the spherical distance between the cooperative positioning terminal and the requesting terminal is equal to the distance data of the cooperative positioning terminal. The spherical distance is obtained based on the positioning coordinates of the cooperative positioning terminal and the positioning coordinates of the requesting terminal itself. A system of positioning equations is formed by simultaneously solving at least three of the aforementioned spherical distance equations; Solve the system of positioning equations to obtain the positioning coordinates of the requesting terminal itself.

4. The method according to claim 1, characterized in that, The response data includes timestamps of each collaborative positioning terminal completing distance measurement. Before determining the positioning coordinates of the requesting terminal based on the distance data and positioning coordinates of the at least three collaborative positioning terminals and the spatial relationship between each collaborative positioning terminal and the requesting terminal, the method further includes: If the timestamps of the at least three collaborative positioning terminals meet the preset conditions, the positioning coordinates of the requesting terminal are determined based on the distance data and positioning coordinates of the at least three collaborative positioning terminals and the spatial positional relationship between each collaborative positioning terminal and the requesting terminal.

5. A cooperative localization method, characterized in that, Applications in collaborative positioning terminals include: Receive a location request from the requesting terminal; In response to the positioning request, detection data between the cooperative positioning terminal and the requesting terminal is determined, wherein the detection data is obtained by radar measurement of the cooperative positioning terminal and includes distance data; Obtain the positioning coordinates of the collaborative positioning terminal itself; The system sends response data to the requesting terminal, wherein the response data includes the detection data and the positioning coordinates of the cooperative positioning terminal itself, so that the requesting terminal can determine its own positioning coordinates based on the distance data and positioning coordinates provided by at least three cooperative positioning terminals and through the spatial positional relationship between each cooperative positioning terminal and the requesting terminal.

6. The method according to claim 5, characterized in that, The step of determining the detection data between the cooperative positioning terminal and the requesting terminal in response to the positioning request includes: The radar transmits radar waveform signals; Receive the echo signal formed by the radar waveform signal reflected by the requesting terminal; Based on the frequency difference between the radar waveform signal and the echo signal, the detection data between the cooperative positioning terminal and the requesting terminal is calculated.

7. The method according to claim 6, characterized in that, The method further includes: Acquire detection data between multiple requesting terminals and the collaborative positioning terminal; Based on the detection data, the operating parameters of the radar waveform signal are adjusted.

8. The method according to claim 7, characterized in that, The process involves acquiring detection data between multiple requesting terminals and the collaborative positioning terminal; Based on the detection data, the operating parameters of the radar waveform signal are adjusted, including: Obtain distance data between multiple requesting terminals and the collaborative positioning terminal; Determine the furthest distance between the plurality of requesting terminals and the cooperative positioning terminal; If the farthest distance is less than a preset distance threshold, the duration of the radar waveform signal is reduced according to the ratio between the farthest distance and the preset distance threshold. If the maximum distance is not less than the preset distance threshold, the duration of the current radar waveform signal is maintained.

9. The method according to claim 6, characterized in that, The detection data includes relative speed, and the detection data between the multiple requesting terminals and the cooperative positioning terminal is acquired. Based on the detection data, the operating parameters of the radar waveform signal are adjusted, including: Obtain the relative speeds between multiple requesting terminals and the collaborative positioning terminal; Determine the fastest relative speed between the plurality of requesting terminals and the cooperative positioning terminal; If the maximum speed is less than a preset speed threshold, the idle time between the radar waveform signals is increased according to the ratio between the preset speed threshold and the maximum speed. If the maximum speed is not less than the preset speed threshold, maintain the idle time between the current radar waveform signals.

10. The method according to claim 5, characterized in that, The method further includes: Receive confirmation information of the response data from the requesting terminal; In response to the confirmation information, the working time of the collaborative positioning terminal is reduced.

11. A cooperative positioning system, characterized in that, The system includes: a request terminal and a cooperative positioning terminal; The requesting terminal is configured to send a positioning request to multiple cooperative positioning terminals; receive response data returned from at least three cooperative positioning terminals; and determine the positioning coordinates of the requesting terminal itself based on the distance data and positioning coordinates of the at least three cooperative positioning terminals and the spatial positional relationship between each cooperative positioning terminal and the requesting terminal. The cooperative positioning terminal is configured to receive a positioning request from a requesting terminal; in response to the positioning request, determine detection data between the cooperative positioning terminal and the requesting terminal, wherein the detection data is obtained by radar measurement of the cooperative positioning terminal and includes distance data; acquire the positioning coordinates of the cooperative positioning terminal itself; and send response data to the requesting terminal, wherein the response data includes the detection data and the positioning coordinates of the cooperative positioning terminal itself.

12. A request terminal, characterized in that, include: The request sending module is used to send location requests to multiple collaborative positioning terminals. A data receiving module is used to receive response data returned from at least three cooperative positioning terminals, wherein the response data includes detection data between each cooperative positioning terminal and the requesting terminal, and the positioning coordinates of each cooperative positioning terminal itself, and the detection data includes distance data obtained by radar measurement of the cooperative positioning terminal; The coordinate determination module is used to determine the positioning coordinates of the requesting terminal itself based on the distance data and positioning coordinates of the at least three collaborative positioning terminals and the spatial positional relationship between each collaborative positioning terminal and the requesting terminal.

13. A cooperative positioning terminal, characterized in that, include: The request receiving module is used to receive location requests from the requesting terminal. A request response module is used to respond to the positioning request and determine the detection data between the cooperative positioning terminal and the requesting terminal, wherein the detection data is obtained by radar measurement of the cooperative positioning terminal and the detection data includes distance data; The coordinate acquisition module is used to acquire the positioning coordinates of the collaborative positioning terminal itself; The data sending module is used to send response data to the requesting terminal. The response data includes the detection data and the positioning coordinates of the cooperative positioning terminal itself. This data is used to enable the requesting terminal to determine its own positioning coordinates based on the distance data and positioning coordinates provided by at least three cooperative positioning terminals, through the spatial positional relationship between each cooperative positioning terminal and the requesting terminal.

14. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the cooperative localization method as described in any one of claims 1-10.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the cooperative localization method as described in any one of claims 1-10.

16. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device performs the cooperative positioning method as described in any one of claims 1-10.

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