Wireless positioning method and device and electronic equipment

Abstract

The invention provides a wireless positioning method and device and electronic equipment, and belongs to the technical field of wireless communication. The method comprises the following steps: constructing a spatial spectrum based on a received signal by using a JADE-MUSIC method; performing threshold detection on the spatial spectrum, and performing peak coincidence detection on the spatial spectrum to obtain a target peak position; and determining a wireless positioning result based on the target peak value position. According to the method, the spatial spectrum obtained by the JADE-MUSIC method adopts a secondary detection mode, firstly, threshold detection is adopted, and the influence of noise sample points is inhibited; and then the target peak value position is determined based on two adjacent peak value detection results, so that the real peak value position is determined, effective screening of the signal peak values is ensured, and a relatively low total false alarm probability can be ensured. According to the method, the detection probability is greatly improved while the low false alarm probability is guaranteed, and the problems that errors occur in subsequent processing and the positioning deviation is large due to the fact that the false alarm probability is high when the spatial spectrum peak value is searched through an existing JADE-MUSIC method are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wireless communication, in particular to a wireless positioning method, a wireless positioning device, an electronic device, a machine readable storage medium and a computer program product. BACKGROUND

[0002] Traditional wireless communication positioning algorithms include TOA (Time of Arrival) scheme based on transmission time and DOA (Direction of Arrival) scheme based on angle information. Such algorithms generally require two or more base stations, and the system complexity is high. In recent years, wireless positioning algorithms based on TOA-DOA joint estimation have received extensive attention. This algorithm only requires one base station, which is less than TOA estimation (at least three base stations) and DOA estimation (at least two base stations), greatly reducing the system complexity. At the same time, the positioning accuracy is higher than TOA and DOA.

[0003] In this type of scheme, the prominent high-precision algorithm includes the JADE-MUSIC method (Joint angle and delay estimation multiple signal classification). When the JADE-MUSIC method searches for the spatial spectrum peak value, the false alarm probability of the sample is not considered, so that the system has the risk of false alarm of noise samples. And high false alarm probability will lead to errors in subsequent processing and large positioning deviation. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a wireless positioning method, device and electronic device to solve the problem of high false alarm probability when the existing JADE-MUSIC method searches for the spatial spectrum peak value, resulting in large positioning deviation.

[0005] In order to achieve the above-mentioned purpose, the embodiments of the present application provide a wireless positioning method, comprising: constructing a spatial spectrum based on a received signal by using a JADE-MUSIC method; performing threshold detection on the spatial spectrum, and performing peak coincidence detection on the spatial spectrum to obtain a target peak position; determining a wireless positioning result based on the target peak position; Wherein, the peak coincidence detection determines the target peak position based on the results of adjacent two times of peak detection.

[0006] Optionally, the peak coincidence detection on the spatial spectrum to obtain a target peak position comprises: performing first peak detection on the spatial spectrum to obtain a preliminary peak position; performing second peak detection on the spatial spectrum, and determining the preliminary peak position as the target peak position in a case that the second peak detection result at the preliminary peak position is a peak or a sub-peak; The sub-peak is represented as a second highest value in all detection samples of the spatial spectrum.

[0007] Optionally, the detection threshold in the threshold detection is determined by the following steps: determining an actual initial detection threshold based on a signal power probability distribution of the spatial spectrum; respectively increasing and decreasing the actual initial detection threshold based on a set threshold to obtain a plurality of transformed detection thresholds; respectively performing algorithm simulation by using the actual initial detection threshold and the plurality of transformed detection thresholds to obtain a total false alarm probability and a detection probability corresponding to the actual initial detection threshold, and a total false alarm probability and a detection probability corresponding to each transformed detection threshold; determining a threshold that is optimal in combination of the total false alarm probability and the detection probability as the detection threshold in the threshold detection.

[0008] Optionally, the determining of the actual initial detection threshold based on the signal power probability distribution of the spatial spectrum comprises: in a case that the signal power probability distribution of the spatial spectrum is subject to a chi-square distribution, obtaining a target degree of freedom and a target false alarm probability; looking up a normalized threshold value corresponding to the target degree of freedom and the target false alarm probability by using a chi-square distribution table; determining an actual initial detection threshold based on the normalized threshold value and a noise power of the spatial spectrum.

[0009] Optionally, after the threshold detection on the spatial spectrum and the peak coincidence detection on the spatial spectrum to obtain the target peak position, the method further comprises: repeatedly performing the threshold detection on the spatial spectrum and the peak coincidence detection on the spatial spectrum to obtain the target peak position until a set number of times is reached.

[0010] In another aspect, an embodiment of the present application further provides a wireless positioning device, comprising: a construction module configured to construct a spatial spectrum based on a received signal by using a JADE-MUSIC method; a detection module configured to perform threshold detection on the spatial spectrum and peak coincidence detection on the spatial spectrum to obtain a target peak position; a determination module configured to determine a wireless positioning result based on the target peak position; The peak coincidence detection is based on results of two adjacent peak detections to determine the target peak position.

[0011] Optionally, the peak coincidence detection on the spatial spectrum obtains the target peak position, including: The first peak detection is performed on the spatial spectrum to obtain a preliminary peak position; The second peak detection is performed on the spatial spectrum, and in a case that a result of the second peak detection at the preliminary peak position is a peak or a sub-peak, the preliminary peak position is determined as the target peak position; The sub-peak is represented as a second highest value in all detection samples of the spatial spectrum.

[0012] Optionally, the detection threshold in the threshold detection is determined through the following steps: An actual initial detection threshold is determined based on a signal power probability distribution of the spatial spectrum; The actual initial detection threshold is respectively increased and decreased based on a set threshold to obtain a plurality of transformed detection thresholds; Algorithm simulation is respectively performed by using the actual initial detection threshold and the plurality of transformed detection thresholds to obtain a total false alarm probability and a detection probability corresponding to the actual initial detection threshold, and a total false alarm probability and a detection probability corresponding to each transformed detection threshold; A threshold that is optimal in combination of the total false alarm probability and the detection probability is determined as the detection threshold in the threshold detection.

[0013] Optionally, the actual initial detection threshold is determined based on the signal power probability distribution of the spatial spectrum, including: In a case that the signal power probability distribution of the spatial spectrum is subject to a chi-square distribution, a target degree of freedom and a target false alarm probability are obtained; A normalized threshold value corresponding to the target degree of freedom and the target false alarm probability is looked up by using a chi-square distribution table; An actual initial detection threshold is determined based on the normalized threshold value and a noise power of the spatial spectrum.

[0014] Optionally, the apparatus further includes: The repeating execution module is configured to repeatedly execute the steps of performing the threshold detection on the spatial spectrum and performing the peak coincidence detection on the spatial spectrum to obtain the target peak position until a set number of times is reached.

[0015] In another aspect, the present application also provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above wireless positioning method when executing the program.

[0016] In another aspect, the present application also provides a machine readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the wireless positioning method.

[0017] In another aspect, the present application also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the wireless positioning method.

[0018] By the above technical solution, the present application embodiment adopts a secondary detection mode for the spatial spectrum obtained by the JADE-MUSIC method, first adopts threshold detection to suppress the influence of noise samples. Then the target peak position is determined based on the detection results of the adjacent two peak values, so as to determine the real peak position, and the effective screening of the signal peak value is ensured, so that the total false alarm probability is ensured to be low. While ensuring the low false alarm probability, the present application embodiment greatly improves the detection probability, and solves the problem that the false alarm probability is high when the existing JADE-MUSIC method searches the spatial spectrum peak value, which leads to errors in subsequent processing and large positioning deviation.

[0019] Other features and advantages of the present application embodiment will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are included to provide a further understanding of the present application embodiment, and constitute a part of the specification, and are used together with the following specific implementation part to explain the present application embodiment, but do not constitute a limitation to the present application embodiment. In the drawings: Figure 1 is a flowchart of the wireless positioning method provided by the present application; Figure 2 is a flowchart of the secondary detection provided by the present application; Figure 3 is a normalized power and false alarm probability relationship diagram of the 10-degree-of-freedom center X 2 distribution provided by the present application; Figure 4 is a flowchart of determining the detection threshold value in the threshold detection provided by the present application; Figure 5 is a comparison diagram of the detection probability of the existing scheme and the detection probability of the new scheme after the wireless positioning method of the present application is used under the premise of the same total false alarm probability; Figure 6 is a structure diagram of the wireless positioning device provided by the present application; Figure 7 is a structure diagram of the electronic device provided by the present application. DETAILED DESCRIPTION

[0021] The specific implementation of the embodiments of the present application is described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiments of the present application, and is not used to limit the embodiments of the present application.

[0022] Method embodiments Please refer to Figure 1 The embodiments of the present application provide a wireless positioning method, comprising: Step 100, constructing a spatial spectrum based on the received signal by using the JADE-MUSIC method.

[0023] The electronic device first constructs a spatial spectrum based on the received signal by using the JADE-MUSIC method. The JADE-MUSIC method is a joint parameter estimation algorithm based on high-resolution subspace decomposition, which aims to extract the angle of arrival (AOA) and time of arrival (TOA) of the signal at the same time through single processing, thereby providing accurate positioning capability for the communication system. The application scenarios of the JADE-MUSIC method include: single base station positioning, non-line-of-sight (NLOS) environment positioning, and MIMO system angle expansion. Single base station positioning in TD-SCDMA and other systems, the JADE-MUSIC method extracts the TOA and AOA parameters jointly, combines the direction of arrival (DOA) estimation of the smart antenna, realizes the single base station positioning, and solves the problem of the traditional method limited by the synchronization offset step. Non-line-of-sight (NLOS) environment positioning in complex multipath environment (such as urban building shielding), the JADE-MUSIC method can separate the multipath signal, suppress the NLOS error, and improve the positioning accuracy. For example, in the MIMO system, the position of the mobile terminal is estimated by the twice scattering model. The MIMO system angle expansion adopts an "L" type antenna array, which decomposes the 360-degree angle into two orthogonal 180-degree components (α and β), expands the angle estimation range, and solves the limitation of the traditional linear array which can only cover 180 degrees.

[0024] The core idea of ​​the JADE-MUSIC method is to jointly estimate angle and time delay parameters by estimating the channel impulse response matrix and combining it with the subspace decomposition of the MUSIC algorithm. Its key steps are as follows: 1. Channel Estimation: Extract the channel impulse response matrix from the received signal using channel estimation algorithms such as Minimum Mean Squared Error (MMSE) or Least Squares (LS). This step effectively suppresses noise and improves the accuracy of subsequent parameter estimation. 2. Subspace Separation: Perform eigenvalue decomposition (EVD) on the covariance matrix of the channel impulse response matrix to separate the signal subspace (large eigenvalues ​​correspond to eigenvectors) and the noise subspace (small eigenvalues ​​correspond to eigenvectors). The orthogonality of the noise subspace is used to construct a two-dimensional spatial spectral function to locate the spectral peaks corresponding to the parameters. 3. Peak Search and Parameter Pairing: Perform peak search in the two-dimensional space of angle and time delay, and determine the AOA and TOA values ​​through the peak positions. JADE-MUSIC does not require explicit parameter pairing; it automatically completes parameter matching using the correspondence between eigenvalues ​​and eigenvectors.

[0025] Specifically, in this embodiment of the invention, the JADE-MUSIC method is used to construct a spatial spectrum based on the received signal, which includes the process of constructing observations and a two-dimensional search.

[0026] The process of constructing the observations is as follows: Let X = Hest be the estimated channel impulse response, an M*N dimensional vector, where M is the number of base station antenna array elements and N is the number of in-band observation frequency points. The JADE-MUSIC scheme requires the autocorrelation matrix Rx = [X*X...] of X to be calculated. ’ Perform eigenvalue decomposition, and find the eigenvectors Ei (i=0,1,…,M*NL-1) corresponding to the M*NL smallest eigenvalues ​​of Rx and the space-time vector. Orthogonal. Among them, Here are the arrival angle vectors of the signals for each array element. For each array element, the transmission delay vector is... Let Ei be the space-time vector associated with these two vectors, and L be the channel multipath number. The orthogonality of the spatial spectrum The peak value is the observed value.

[0027] The process of two-dimensional search is as follows: For spatial spectrum A two-dimensional search is performed, and the largest L peaks correspond to the received multipath signals, with corresponding L groups. This refers to the direction of arrival and transmission delay. The spatial spectrum of the traditional JADE-MUSIC method... In the two-dimensional search of the spatial spectrum, false alarm may occur due to the noise, that is, a signal is erroneously determined to exist in the case where no signal exists, resulting in an error in the peak position and thus an error in positioning.

[0028] To avoid false alarm in the spatial spectrum peak search in the traditional JADE-MUSIC method, the present application adopts a two-stage detection scheme of threshold detection + peak coincidence detection to realize effective screening of the signal peak and reduce the false alarm probability.

[0029] In step 200, threshold detection is performed on the spatial spectrum, and peak coincidence detection is performed on the spatial spectrum to obtain a target peak position.

[0030] Please refer to Figure 2 The electronic device first performs threshold detection on the spatial spectrum and then performs peak coincidence detection to obtain one or more peak detection results. It should be noted that threshold detection refers to identifying valid signals from the spatial spectrum by setting a reasonable detection threshold. In threshold detection, if the detection threshold is set too low, multiple detections are required to meet the requirement for the total false alarm probability, but the number of two-dimensional search detection samples is large, and this way is complex. If the detection threshold is set too high, real peaks may be missed under weak signals, thereby reducing the detection sensitivity. In the threshold detection, the present application embodiment can adopt a suitable detection threshold to ensure that real peaks are not missed and to suppress the influence of noise samples. The detection threshold can be obtained through theoretical analysis and algorithm simulation comprehensive reasoning.

[0031] After threshold detection, the electronic device performs peak coincidence detection on the spatial spectrum, and determines a target peak position based on the peak detection results of two adjacent times. Specifically, the peak coincidence detection on the spatial spectrum obtains a target peak position, including: performing first peak detection on the spatial spectrum to obtain a preliminary peak position; performing second peak detection on the spatial spectrum, and in the case where the second peak detection result at the preliminary peak position is a peak or a sub-peak, determining that the preliminary peak position is the target peak position.

[0032] In the peak coincidence detection, the detection sample of the spatial spectrum is subjected to peak detection twice in succession. That is, the spatial spectrum is subjected to first peak detection to obtain a preliminary peak position; the spatial spectrum is subjected to second peak detection, and in the case that the second peak detection result of the preliminary peak position is still a peak, it is determined that the preliminary peak position is the target peak position. Adjacent two times of detection of the same position are both peaks, and thus it is determined that the preliminary peak position is the target peak position. Alternatively, the spatial spectrum is subjected to first peak detection to obtain a preliminary peak position; the spatial spectrum is subjected to second peak detection, and in the case that the second peak detection result of the preliminary peak position is a sub-peak, it is determined that the preliminary peak position is the target peak position. The sub-peak represents the second highest value among all the detection samples of the spatial spectrum. Due to the influence of noise, the first peak detection may result in a false peak, and the second peak detection result of the preliminary peak position is a sub-peak, which indicates that the real peak may become a sub-peak. Thus, it is determined that the preliminary peak position is the target peak position. Therefore, the embodiment of the application reduces the influence of noise by twice peak detection to determine the real peak position. The embodiment of the application determines the target peak position based on the adjacent two times of peak detection results, and thus a lower total false alarm probability can be ensured.

[0033] The embodiment of the application adopts a two-stage detection mode for the spatial spectrum obtained by the JADE-MUSIC method. First, threshold detection is adopted to suppress the influence of noise samples. Then, the target peak position is determined based on the adjacent two times of peak detection results, and thus the real peak position is determined to ensure effective screening of signal peaks, and a lower total false alarm probability can be ensured, and the complexity of the two-stage detection mode is low.

[0034] In step 300, a wireless positioning result is determined based on the target peak position.

[0035] The electronic device obtains an accurate target peak position by threshold detection of the spatial spectrum and peak coincidence detection of the spatial spectrum, and thus an accurate peak detection result is obtained. The maximum L peak detection results correspond to the received multipath signals, and the corresponding L groups of That is, the direction of arrival angle and the transmission time delay. The minimum time delay corresponds to the direct signal, and the direction of arrival angle and the transmission time delay of the direct signal are denoted as Then, the peak detection result of the target to be determined is: ; formula (2) Wherein, c is the speed of light.

[0036] The embodiment of the present application adopts a secondary detection mode for the spatial spectrum obtained by the JADE-MUSIC method, first adopts threshold detection to suppress the influence of noise samples, and then determines the target peak position based on the detection results of adjacent two peak values to determine the real peak position and ensure effective screening of signal peak values, so that the total false alarm probability can be ensured to be low. While ensuring a low false alarm probability, the embodiment of the present application greatly improves the detection probability, and solves the problem that the existing JADE-MUSIC method has a high false alarm probability when searching for spatial spectrum peaks, which leads to errors in subsequent processing and large positioning deviation.

[0037] In other aspects of the embodiment of the present application, after the threshold detection of the spatial spectrum and the peak overlap detection of the spatial spectrum to obtain the target peak position, the steps of repeatedly performing the threshold detection of the spatial spectrum and the peak overlap detection of the spatial spectrum to obtain the target peak position are further included until a set number of times is reached.

[0038] In the above embodiment, the secondary detection is adopted to shorten the processing time. In an embodiment, according to the false alarm probability and detection probability requirements, i.e. for lower false alarm probability and higher detection probability, the embodiment of the present application can increase the number of detections, i.e. repeatedly perform the steps of threshold detection of the spatial spectrum and peak overlap detection of the spatial spectrum to obtain the target peak position until a set number of times is reached. The set number of times can be set according to actual conditions, for example, the set number of times can be set to 1, 2 or 3 times, etc.

[0039] The embodiment of the present application repeatedly performs the secondary detection of the spatial spectrum, which is beneficial to improve the detection probability and sensitivity, facilitate screening of more accurate signal peak values, and further improve the wireless positioning effect of the JADE-MUSIC method.

[0040] In other aspects of the embodiment of the present application, the detection threshold in the threshold detection is determined by the following steps: determining an actual initial detection threshold based on the signal power probability distribution of the spatial spectrum; respectively increasing and decreasing the actual initial detection threshold based on a set threshold to obtain a plurality of transformed detection thresholds; performing algorithm simulation using the actual initial detection threshold and the plurality of transformed detection thresholds to obtain the total false alarm probability and detection probability corresponding to the actual initial detection threshold, and the total false alarm probability and detection probability corresponding to each transformed detection threshold; and determining a threshold that is optimal in combination of the total false alarm probability and the detection probability as the detection threshold in the threshold detection.

[0041] In the threshold detection of the embodiments of the present invention, the detection threshold value is jointly determined by the signal power probability distribution and algorithm simulation. First, the actual initial detection threshold is determined based on the signal power probability distribution of the spatial spectrum. In one embodiment, the determining the actual initial detection threshold based on the signal power probability distribution of the spatial spectrum includes: when the signal power probability distribution of the spatial spectrum follows a chi-square distribution, obtaining the target degrees of freedom and the target false alarm probability; using the chi-square distribution table to find the normalized threshold value corresponding to the target degrees of freedom and the target false alarm probability; and determining the actual initial detection threshold based on the normalized threshold value and the noise power of the spatial spectrum.

[0042] In the embodiments of the present invention, when the signal power probability distribution of the spatial spectrum follows a chi-square distribution, the initial threshold determination process is as follows: Let the denominator of formula (1) be R, that is . If P appears to have a peak, then R is the minimum value. Therefore, finding the peak of P can be transformed into finding the minimum value of R.

[0043] The orthogonal product in formula (1) can be expressed as:

[0044] where N I , N Q are both zero-mean Gaussian white noises with variances both being . S I , S Q are the real and imaginary parts of the signal. j is the imaginary unit. R is the power sum of MN - L Xs.

[0045] The power of X is:

[0046] If formula (1) satisfies orthogonality, the signal tends to zero, R is the minimum value, and P is the peak. At this time, the power of X becomes:

[0047] R follows a central distribution with 2*(MN - L) degrees of freedom. Please refer to Figure 3 , Figure 3 which gives the CDF of the central distribution with 10 degrees of freedom. Based on Figure 3 a chi-square distribution table can be constructed. In the embodiments of the present invention, a threshold Th is selected. When the R of the sample point < Th, it is considered that it may be the peak position, otherwise it is discarded. The larger Th is, the higher the false alarm probability and the higher the detection probability; the smaller Th is, the lower the false alarm probability and the lower the detection probability. The specific threshold is determined by the scene requirements. Taking the target degrees of freedom as 10 and the target false alarm probability as 10% as an example, byFigure 3 It can be obtained that the probability of R<5 is about 10% when the normalized power (the normalized threshold value) is 5, that is, 90% of the sample points can be filtered out. At this time, the actual initial detection threshold is determined based on the normalized threshold value and the noise power of the spatial spectrum. Thus, the actual initial detection threshold is determined based on the signal power probability distribution of the spatial spectrum in the embodiment of the application.

[0048] Please refer to Figure 4 After obtaining the actual initial detection threshold, the electronic device increases and decreases the actual initial detection threshold based on the set threshold value respectively to obtain a plurality of transformed detection thresholds. The electronic device performs algorithm simulation using the actual initial detection threshold and the plurality of transformed detection thresholds respectively to obtain the total false alarm probability and the detection probability corresponding to the actual initial detection threshold, and the total false alarm probability and the detection probability corresponding to each transformed detection threshold. For example, the total false alarm probability and the detection probability corresponding to the actual initial detection threshold and the total false alarm probability and the detection probability corresponding to each transformed detection threshold can be obtained by performing Monte Carlo simulation through a tool such as MATLAB. The electronic device determines the threshold that is optimal in combination of the total false alarm probability and the detection probability (that is, the total false alarm probability is the lowest and the detection probability is the highest) as the detection threshold threshold in the threshold detection. For example, in the case of giving priority to the total false alarm probability, when the total false alarm probability is the lowest and the detection probability meets or is close to meeting the requirement, it is determined that the threshold that is optimal in combination of the total false alarm probability and the detection probability, so that the threshold that is optimal in combination of the total false alarm probability and the detection probability is used as the detection threshold threshold in the threshold detection. Wherein, the detection probability meeting the requirement can be understood as the detection probability requirement being greater than or equal to 90%, and the actual detection probability being 91%, so that the detection probability meets the requirement. The detection probability close to meeting the requirement can be understood as assuming that the detection probability requirement is greater than or equal to 90%, and the actual detection probability is 89%, so that the detection probability is close to meeting the requirement. That is, when the actual detection probability is less than the detection probability requirement, and the difference between the actual detection probability and the detection probability requirement is not more than a set probability (for example, 3%), it is considered that the detection probability is close to meeting the requirement. In other embodiments, in the case of giving priority to the detection probability, when the detection probability is the highest and the total false alarm probability meets or is close to meeting the requirement, it is determined that the threshold that is optimal in combination of the total false alarm probability and the detection probability, so that the threshold that is optimal in combination of the total false alarm probability and the detection probability is used as the detection threshold threshold in the threshold detection. Wherein, the total false alarm probability meeting the requirement can be understood as the total false alarm probability requirement being less than or equal to 10%, and the actual total false alarm probability being 9%, so that the total false alarm probability meets the requirement. The total false alarm probability close to meeting the requirement can be understood as assuming that the total false alarm probability requirement is less than or equal to 10%, and the actual total false alarm probability is 11%, so that the total false alarm probability is close to meeting the requirement. That is, when the actual total false alarm probability is greater than the total false alarm probability requirement, and the difference between the actual total false alarm probability and the total false alarm probability requirement is not more than a set probability (for example, 3%), it is considered that the total false alarm probability is close to meeting the requirement.

[0049] In addition, in the case of obtaining the detection threshold of the threshold detection, the electronic device can also perform algorithm simulation again based on the detection threshold. Figure 5 , Figure 5 The figure shows the comparison between the detection probability of the existing scheme (original scheme) and the new scheme using the wireless positioning method of the present application under the same total false alarm probability (for example, 10%). It can be seen that the overall curve of the new scheme is higher than that of the existing scheme, indicating that the detection probability of the new scheme is higher, and the performance of the new scheme is more superior. The embodiments of the present application further improve the accuracy of wireless positioning of the communication system.

[0050] Device embodiment Please refer to Figure 6 In another aspect, the embodiments of the present application also provide a wireless positioning device, comprising: The construction module 601 is configured to construct a spatial spectrum based on the received signal using the JADE-MUSIC method. The detection module 602 is configured to perform threshold detection on the spatial spectrum and peak value overlap detection on the spatial spectrum to obtain a target peak value position. The determination module 603 is configured to determine a wireless positioning result based on the target peak value position. The peak value overlap detection is based on the adjacent two peak value detection results to determine the target peak value position.

[0051] The embodiments of the present application adopt a secondary detection method for the spatial spectrum obtained by the JADE-MUSIC method. First, threshold detection is used to suppress the influence of noise samples. Then, the target peak value position is determined based on the adjacent two peak value detection results to determine the real peak value position, thereby ensuring effective screening of signal peak values, which can ensure a low total false alarm probability. The embodiments of the present application greatly improve the detection probability while ensuring a low false alarm probability, thereby solving the problem of high false alarm probability when searching for the spatial spectrum peak value using the existing JADE-MUSIC method, which leads to errors in subsequent processing and large positioning deviation.

[0052] Optionally, the peak value overlap detection on the spatial spectrum to obtain the target peak value position comprises: Performing first peak value detection on the spatial spectrum to obtain a preliminary peak value position. Performing second peak value detection on the spatial spectrum, and in the case that the second peak value detection result at the preliminary peak value position is a peak value or a secondary peak value, determining that the preliminary peak value position is the target peak value position. The secondary peak value represents the second highest value among all detection samples of the spatial spectrum.

[0053] Optionally, the detection threshold in the threshold detection is determined by the following steps: determining an actual initial detection threshold based on the signal power probability distribution of the spatial spectrum; increasing and decreasing the actual initial detection threshold based on a set threshold value respectively to obtain a plurality of transformed detection thresholds; performing algorithm simulation using the actual initial detection threshold and the plurality of transformed detection thresholds respectively to obtain a total false alarm probability and a detection probability corresponding to the actual initial detection threshold, and a total false alarm probability and a detection probability corresponding to each transformed detection threshold; determining a threshold that is optimal in combination of the total false alarm probability and the detection probability as the detection threshold in the threshold detection.

[0054] Optionally, the determining an actual initial detection threshold based on the signal power probability distribution of the spatial spectrum comprises: in a case where the signal power probability distribution of the spatial spectrum is subject to a chi-square distribution, obtaining a target degree of freedom and a target false alarm probability; looking up a normalized threshold value corresponding to the target degree of freedom and the target false alarm probability using a chi-square distribution table, and determining an actual initial detection threshold based on the normalized threshold value and a noise power of the spatial spectrum.

[0055] Optionally, the apparatus further comprises: a repeating execution module configured to repeatedly execute the steps of performing threshold detection on the spatial spectrum and performing peak coincidence detection on the spatial spectrum to obtain a target peak position until a set number of times is reached.

[0056] The wireless positioning apparatus comprises a processor and a memory, and the above-mentioned modules such as the constructing module 601, the detecting module 602 and the determining module 603 are stored in the memory as program units, and the corresponding functions are realized by the processor executing the above-mentioned program units stored in the memory.

[0057] The processor comprises a core, and the core calls the corresponding program units from the memory. The core can be provided with one or more than one.

[0058] The memory can comprise a non-permanent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory comprises at least one memory chip.

[0059] Figure 7 An example of an electronic device is shown in the schematic diagram of the physical structure of the electronic device as shown in Figure 7As shown, the electronic device can include a processor 710, a communications interface 720, a memory 730, and a communications bus 740, wherein the processor 710, the communications interface 720, and the memory 730 complete mutual communication through the communications bus 740. The processor 710 can invoke a logic instruction in the memory 730 to execute a wireless positioning method, which includes: constructing a spatial spectrum based on a received signal by using a JADE-MUSIC method; performing threshold detection on the spatial spectrum, and performing peak coincidence detection on the spatial spectrum to obtain a target peak position; determining a wireless positioning result based on the target peak position; wherein the peak coincidence detection determines the target peak position based on adjacent two peak detection results.

[0060] In addition, the logic instruction in the memory 730 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0061] On the other hand, the present application also provides a computer program product, which includes a computer program, the computer program can be stored on a machine readable storage medium, and the computer program can be executed by a processor, so that the computer can execute a wireless positioning method, which includes: constructing a spatial spectrum based on a received signal by using a JADE-MUSIC method; performing threshold detection on the spatial spectrum, and performing peak coincidence detection on the spatial spectrum to obtain a target peak position; determining a wireless positioning result based on the target peak position; wherein the peak coincidence detection determines the target peak position based on adjacent two peak detection results.

[0062] In yet another aspect, the present application also provides a machine readable storage medium having stored thereon a computer program, which, when executed by a processor, implements a wireless positioning method, which comprises: constructing a spatial spectrum based on received signals by using a JADE-MUSIC method; performing threshold detection on the spatial spectrum, and peak overlap detection on the spatial spectrum to obtain a target peak position; determining a wireless positioning result based on the target peak position; wherein the peak overlap detection determines the target peak position based on results of two adjacent peak detections.

[0063] The apparatus embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0064] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in terms of contribution to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0065] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A wireless positioning method, characterized in that, include: Using the JADE-MUSIC method, a spatial spectrum is constructed based on the received signal; Threshold detection and peak overlap detection are performed on the spatial spectrum to obtain the target peak position; The wireless positioning result is determined based on the target peak location; The peak overlap detection determines the target peak position based on the results of two adjacent peak detections.

2. The wireless positioning method according to claim 1, characterized in that, Peak coincidence detection is performed on the spatial spectrum to obtain the target peak position, including: The spatial spectrum is subjected to a first peak detection to obtain the preliminary peak position; A second peak detection is performed on the spatial spectrum. If the result of the second peak detection at the initial peak position is a peak or a sub-peak, the initial peak position is determined as the target peak position. The second peak value is characterized as the second highest value among all the detection samples of the spatial spectrum.

3. The wireless positioning method according to claim 1, characterized in that, The detection threshold in the threshold detection is determined through the following steps: The actual initial detection threshold is determined based on the signal power probability distribution of the spatial spectrum. Based on a set threshold, the actual initial detection threshold is increased and decreased respectively to obtain multiple transformation detection thresholds; Algorithm simulations were performed using the actual initial detection threshold and the multiple transformed detection thresholds to obtain the total false alarm probability and detection probability corresponding to the actual initial detection threshold, as well as the total false alarm probability and detection probability corresponding to each transformed detection threshold. The threshold that is optimally combined with the total false alarm probability and the detection probability is determined as the detection threshold in the threshold detection.

4. The wireless positioning method according to claim 3, characterized in that, The determination of the actual initial detection threshold based on the signal power probability distribution of the spatial spectrum includes: Given that the signal power probability distribution of the spatial spectrum follows a chi-square distribution, the target degrees of freedom and the target false alarm probability are obtained. Use the chi-square distribution table to find the normalized threshold values ​​corresponding to the target's degrees of freedom and the target's false alarm probability; The actual initial detection threshold is determined based on the normalized threshold value and the noise power of the spatial spectrum.

5. The wireless positioning method according to claim 1, characterized in that, After performing threshold detection on the spatial spectrum and peak overlap detection on the spatial spectrum to obtain the target peak position, the method further includes: Repeat the steps of threshold detection of the spatial spectrum and peak overlap detection of the spatial spectrum to obtain the target peak position until the set number of times is reached.

6. A wireless positioning device, characterized in that, include: The module is used to construct a spatial spectrum based on the received signal using the JADE-MUSIC method; The detection module is used to perform threshold detection on the spatial spectrum and peak overlap detection on the spatial spectrum to obtain the target peak position; The determination module is used to determine the wireless positioning result based on the target peak position; The peak overlap detection determines the target peak position based on the results of two adjacent peak detections.

7. The wireless positioning device according to claim 6, characterized in that, Peak coincidence detection is performed on the spatial spectrum to obtain the target peak position, including: The spatial spectrum is subjected to a first peak detection to obtain the preliminary peak position; A second peak detection is performed on the spatial spectrum. If the result of the second peak detection at the initial peak position is a peak or a sub-peak, the initial peak position is determined as the target peak position. The second peak value is characterized as the second highest value among all the detection samples of the spatial spectrum.

8. The wireless positioning device according to claim 6, characterized in that, The detection threshold in the threshold detection is determined through the following steps: The actual initial detection threshold is determined based on the signal power probability distribution of the spatial spectrum. Based on a set threshold, the actual initial detection threshold is increased and decreased respectively to obtain multiple transformation detection thresholds; Algorithm simulations were performed using the actual initial detection threshold and the multiple transformed detection thresholds to obtain the total false alarm probability and detection probability corresponding to the actual initial detection threshold, as well as the total false alarm probability and detection probability corresponding to each transformed detection threshold. The threshold that is optimally combined with the total false alarm probability and the detection probability is determined as the detection threshold in the threshold detection.

9. The wireless positioning device according to claim 8, characterized in that, The determination of the actual initial detection threshold based on the signal power probability distribution of the spatial spectrum includes: Given that the signal power probability distribution of the spatial spectrum follows a chi-square distribution, the target degrees of freedom and the target false alarm probability are obtained. Use the chi-square distribution table to find the normalized threshold values ​​corresponding to the target's degrees of freedom and the target's false alarm probability; The actual initial detection threshold is determined based on the normalized threshold value and the noise power of the spatial spectrum.

10. The wireless positioning device according to claim 6, characterized in that, The device further includes: The repetitive execution module is used to repeatedly execute the steps of threshold detection of the spatial spectrum and peak overlap detection of the spatial spectrum to obtain the target peak position until a set number of times is reached.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the wireless positioning method according to any one of claims 1 to 5.

12. A machine-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the wireless positioning method according to any one of claims 1 to 5.

13. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the wireless positioning method according to any one of claims 1 to 5.

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