Method for determining the signal frequency band of a positioning system

Abstract

This disclosure relates to the field of communication technology, and more specifically, to a method for determining the signal frequency band and a positioning method for a positioning system. The method for determining the signal frequency band of a positioning system includes: receiving a clean frequency band set transmitted by a base station, wherein the clean frequency band set is an unoccupied environmental radio signal frequency band determined by the base station; determining a target frequency band for transmitting a positioning signal from the clean frequency band set; instructing the base station to transmit the positioning signal through the target frequency band; and instructing a terminal to receive the positioning signal through the target frequency band.

Description

Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to a method for determining the signal frequency band and a positioning method for a positioning system. Background Technology

[0002] Current GNSS (Global Navigation Satellite System) systems can achieve high-precision positioning globally. However, the satellite signals that GNSS systems rely on have extremely low signal strength when they reach the ground, typically around -130 dBm. Their penetration ability is weak, and they cannot penetrate obstacles such as walls, resulting in poor indoor positioning performance.

[0003] The relevant technology typically involves sending location signals during communication. Since communication signals require a large bandwidth and are usually within a preset frequency band, the transmitted location signals are also restricted to that preset frequency band.

[0004] However, communication needs and positioning needs differ, and the preset frequency bands that meet communication signals are not suitable for transmitting positioning signals. In some areas, the preset frequency band may be interfered with by other signals, causing the positioning signal to fail or be lost in that area; due to the lower signal energy and poorer penetration capability of the preset frequency band, positioning signals cannot be received in other areas (such as indoors or underground). Summary of the Invention

[0005] To overcome the problems existing in related technologies, this disclosure provides a method for determining the signal frequency band of a positioning system and a positioning method, which can solve the above problems.

[0006] According to a first aspect of the present disclosure, a method for determining the signal frequency band of a positioning system is provided, applied to a server. The method includes: receiving a clean frequency band set sent by a base station, the clean frequency band set being an unoccupied environmental radio signal frequency band determined by the base station; determining a target frequency band for transmitting a positioning signal from the clean frequency band set; instructing the base station to transmit the positioning signal through the target frequency band; and instructing a terminal to receive the positioning signal through the target frequency band.

[0007] According to a second aspect of the present disclosure, a method for determining the signal frequency band of a positioning system is provided, applied to a base station. The method includes: receiving environmental radio signals and determining a set of unoccupied clean frequency bands; sending the set of clean frequency bands to a server; receiving a target frequency band indicated by the server and adjusting a transmitter to send a positioning signal within the target frequency band.

[0008] According to a third aspect of the present disclosure, a positioning method is provided, applied to a terminal, the method comprising: receiving positioning signals transmitted by a plurality of base stations in a target frequency band; wherein the target frequency band is determined by a server based on a set of clean frequency bands transmitted by the base stations, the set of clean frequency bands being unoccupied frequency bands determined by the base stations; and performing positioning based on the positioning signals.

[0009] According to a fourth aspect of the present disclosure, a positioning system is provided, the system comprising: a server, a base station, and a terminal; the server being configured to perform a signal frequency band determination method for the positioning system as described in the first aspect; the base station being configured to perform a signal frequency band determination method for the positioning system as described in the second aspect; and the terminal being configured to perform a positioning method as described in the third aspect.

[0010] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: This disclosure proposes a positioning system comprising a base station, a server, and a terminal. The base station can detect the surrounding environment to identify unoccupied environmental radio signal frequency bands as a clean frequency band set, and send the clean frequency band set to the server. Based on the received clean frequency band set, the server can determine a target frequency band and instruct the base station to send a positioning signal through the target frequency band, and instruct the terminal to receive the positioning signal through the target frequency band for positioning.

[0011] Since the target frequency band used for positioning in this disclosure is determined from the clean frequency bands that are not occupied by the base station, it is guaranteed that there is no other signal interference within the target frequency band. Furthermore, based on the server's instructions, the base station can send positioning signals according to the target frequency band suitable for positioning needs, so that the positioning signal meets the positioning requirements, has better penetration performance, and the positioning signal sent by the ground base station also has greater signal energy, thereby achieving accurate positioning both indoors and outdoors.

[0012] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0013] The accompanying drawings, which are incorporated in and form part of this disclosure, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0014] Figure 1 This is a schematic diagram of the architecture of a positioning system according to an exemplary embodiment of the present disclosure.

[0015] Figure 2 This is a schematic flowchart illustrating a method for determining the signal frequency band of a positioning system according to an exemplary embodiment of the present disclosure.

[0016] Figure 3 This is a schematic flowchart illustrating a method for determining the signal frequency band of a positioning system according to an exemplary embodiment of the present disclosure.

[0017] Figure 4 This is a schematic flowchart illustrating a positioning method according to an exemplary embodiment of the present disclosure.

[0018] Figure 5 This is a schematic diagram of the structure of a computer device according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0019] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0020] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0021] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0022] GNSS systems are designated to use the L-band (around 1.5 GHz) as a dedicated frequency band. However, the fixed frequency band and the weak signal below noise level mean that GNSS signals cannot penetrate obstacles such as walls. Therefore, GNSS systems only have accurate positioning effects in open outdoor areas, and the positioning accuracy will drop significantly when radio signals are blocked or interfered with.

[0023] Related indoor positioning technologies, such as Bluetooth positioning, Wi-Fi positioning, and 5G base station positioning, are not designed specifically for positioning needs. They are merely used to collect and reuse the transmitted communication signals (e.g., signal strength, monitoring of available channels) to achieve positioning within a small range, based on meeting core communication requirements. Because they rely on communication signals and the choice of frequency bands is limited by communication needs, the positioning accuracy of these technologies is relatively low.

[0024] To address the aforementioned technical problems, this disclosure proposes a positioning system.

[0025] Figure 1 This is a schematic diagram of the architecture of a positioning system according to an embodiment of the present disclosure.

[0026] like Figure 1 As shown, the positioning system includes: server 110, base station 120 and terminal 130.

[0027] Server 110 is used to determine the target frequency band for the positioning signal transmitted by base station 120. The specific method for determining the target frequency band will be described in detail later in this disclosure and will not be elaborated here. The number of base stations 120 can be at least 4. The base stations 120 can send positioning signals through the target frequency band indicated by the server 110. Terminal 130 can receive positioning signals in the target frequency band and then perform positioning based on the positioning signals. For example, the triangulation principle can be used to achieve accurate indoor and outdoor positioning.

[0028] In some embodiments, at least four base stations 120 may be set up within the target location area.

[0029] The base station 120 can be installed in open areas or on the top of tall buildings.

[0030] The location information of the base station 120 is certain, and the location information may include, but is not limited to, latitude, longitude and altitude.

[0031] Base station 120 can support GNSS positioning, enabling it to receive GNSS signals and determine its location and time information based on the GNSS signals.

[0032] Base station 120 can also emit positioning signals in the target frequency band so that the terminal can be located indoors using the positioning signals in the target frequency band.

[0033] In some embodiments, the base station's transmitter can support radio signal transmission capabilities of 70MHz-3GHz.

[0034] The higher the frequency, the larger the bandwidth of the frequency band, and the stronger the data transmission capability, but the weaker the penetration capability. Conversely, the lower the frequency, the relatively smaller the bandwidth of the frequency band, the weaker the data transmission capability, but the stronger the penetration capability.

[0035] To meet the demand for data transmission in communication, related technologies typically select frequency bands with higher frequencies and larger bandwidths to transmit communication signals, and use the signals in these frequency bands to assist in positioning.

[0036] The signal frequency band determination method for the proposed positioning system disclosed herein needs to meet positioning requirements. For positioning signals, the data transmission volume is relatively small, therefore the required frequency band bandwidth can be smaller; at lower frequencies, the wavelength of radio waves is longer, resulting in stronger penetration; selecting unoccupied frequency bands and establishing multiple base stations on the ground can enhance signal strength. Thus, the positioning system of this disclosure can achieve accurate positioning both indoors and outdoors.

[0037] In some embodiments, the receiver of the base station may support the ability to receive radio signals in the transmitting frequency band of the transmitter.

[0038] For example, if the transmitter can transmit from 70MHz to 3GHz, the receiver's reception range needs to cover this 700MHz-3GHz range, such as 50MHz-3.5GHz.

[0039] The base station needs to detect received radio signals to identify unoccupied clean frequency bands and provide this information to the server so that the server can select a target frequency band. Therefore, the receiver needs to be able to receive frequency bands that cover the range of transmission capabilities.

[0040] In some embodiments, the base station can acquire environmental information.

[0041] Environmental information can include humidity, temperature, air pressure, and other information.

[0042] Humidity, temperature, and air pressure can affect the operating status of electronic components in a base station and may also affect the transmission performance of radio signals. Therefore, this environmental information can help the server determine the target base station and the first base station among multiple base stations.

[0043] Figure 2 This is a schematic flowchart illustrating a method for determining the signal frequency band of a positioning system according to an embodiment of the present disclosure. The method for determining the signal frequency band of a positioning system can be executed by a server 110 in the positioning system.

[0044] like Figure 2 As shown, the method for determining the signal frequency band of the positioning system includes: In step S201, a clean frequency band set sent by the base station is received, wherein the clean frequency band set is an environmental radio signal frequency band that the base station has determined to be unoccupied; In step S202, a target frequency band for transmitting positioning signals is determined from the set of clean frequency bands; In step S203, the base station is instructed to send a positioning signal through the target frequency band, and the terminal is instructed to receive the positioning signal through the target frequency band.

[0045] In some embodiments, a set of clean frequency bands is received from a base station.

[0046] The clean band set identifies unoccupied environmental radio signal frequency bands for base stations.

[0047] The base station can detect received environmental radio signals and determine the frequency bands of unoccupied radio signals through spectrum detection, and establish a set of clean frequency bands, for example, by creating a table.

[0048] After determining the clean frequency band set, the base station can send the clean frequency band set to the server. This clean frequency band set contains multiple clean frequency bands.

[0049] In some embodiments, the number of base stations can be multiple.

[0050] Each base station can determine a clean set of frequency bands for its surrounding environment, thereby avoiding unique signal interference that may exist near some base stations.

[0051] After multiple base stations have determined their own clean frequency band sets, they can send these clean frequency band sets to the server.

[0052] In some embodiments, a target frequency band for transmitting positioning signals is determined from the set of clean frequency bands.

[0053] The server can determine the target frequency band from the received set of clean frequency bands. Since the target frequency band is determined based on the set of clean frequency bands transmitted by the base station, the base station does not detect any other signals in the target frequency band, and this target frequency band can be used by the base station to transmit positioning signals.

[0054] Terminal positioning typically requires receiving positioning signals from multiple base stations. Therefore, the server can also determine a target frequency band based on multiple clean frequency band sets transmitted by multiple base stations. This target frequency band is contained within at least four clean frequency band sets, ensuring that at least four base stations can transmit positioning signals in the target frequency band to locate the terminal based on the triangulation principle.

[0055] In some embodiments, the server may select the corresponding target frequency band based on the needs of the positioning scenario.

[0056] When the target location area is an open and unobstructed area, a target frequency band that can carry higher energy should be selected.

[0057] When the target location area is an indoor scene, a target frequency band with strong penetration ability that can accurately locate the target in an indoor scene should be selected.

[0058] The server can select target frequency bands according to preset rules that meet positioning requirements. The specific settings of preset rules will be introduced in detail later.

[0059] In some embodiments, the number of target frequency bands can be multiple.

[0060] The server can determine the first target frequency band, the second target frequency band, and even the third target frequency band. Both the base station and the terminal send or receive positioning signals through the first target frequency band.

[0061] The remaining target frequency bands can be used as backups to switch when interference occurs in the first target frequency band; or they can be used as alternatives to use different target frequency bands for different target positioning areas.

[0062] For example, the first target frequency band is used when the target positioning area is City X, and the second target frequency band is used when the target positioning area is City Y or Zone Z under City X.

[0063] In some embodiments, the server may receive location scene information sent by the terminal, determine the demand corresponding to the location scene information, and then determine the corresponding target frequency band.

[0064] For example, when a terminal has a location navigation application enabled, and the terminal moves from an outdoor scene to an indoor scene, the terminal can send indoor location scene information to the server.

[0065] Based on this indoor positioning scene information server, the terminal can indicate the target frequency band for the corresponding indoor positioning scene. After receiving the server's instruction, the terminal can switch the frequency band source of the positioning signal, switching from receiving the positioning signal from the first target frequency band corresponding to the original outdoor positioning scene to receiving the positioning signal from the second target frequency band corresponding to the indoor positioning scene.

[0066] It should be noted that even without switching frequency bands, the target frequency band determined by the server can achieve relatively accurate positioning in both indoor and outdoor positioning scenarios.

[0067] In some embodiments, a base station is instructed to transmit a positioning signal through the target frequency band, and a terminal is instructed to receive the positioning signal through the target frequency band.

[0068] After the server determines the target frequency band based on the clean frequency band set, it can inform the base station and the terminal of the target frequency band through network communication and other means, so as to instruct the base station to send the positioning signal through the target frequency band, so that the terminal can receive the positioning signal in the target frequency band, thereby realizing the positioning of the terminal.

[0069] The positioning system proposed in this disclosure requires the base station to detect and determine a set of unoccupied clean frequency bands, and then send this set of clean frequency bands to the server. The server then selects a target frequency band from the set of clean frequency bands. This ensures that the determined target frequency band is a clean frequency band in the actual environment in which the base station is located, and since the target frequency band is selected and determined by the server, the server can select the target frequency band based on actual needs in multiple application scenarios and based on various requirements.

[0070] Based on the method disclosed herein, the server can determine the target frequency band for positioning needs. Unlike the fixed preset frequency bands in related technologies, the target frequency band determined by the server from a clean frequency band set has higher signal strength and is more suitable for positioning needs, with stronger penetration capabilities, thus achieving accurate positioning results in both outdoor and indoor scenarios.

[0071] In some embodiments, the number of base stations can be multiple.

[0072] Correspondingly, the number of clean frequency band sets transmitted by the base station can also be multiple.

[0073] Because the location information of multiple base station construction sites is different, the signal interference in the surrounding environment may also be different, which may lead to differences in the clean frequency band sets determined by different base stations.

[0074] In some embodiments, determining the target frequency band for transmitting the positioning signal from the clean frequency band set includes: in the case of receiving multiple clean frequency band sets transmitted by multiple base stations, determining the frequency band intersection of the multiple clean frequency band sets; and selecting the target frequency band from the frequency band intersection based on a preset rule.

[0075] When multiple clean frequency band sets are received, the frequency band intersection of the multiple clean frequency band sets can be determined.

[0076] The target frequency band needs to be emitted by multiple base stations; therefore, the target frequency band must exist within the clean frequency bands of each transmitting base station. If there is signal interference in the first frequency band in the environment surrounding a transmitting base station, then that first frequency band cannot be identified as the target frequency band even if it is within the clean frequency bands of other base stations.

[0077] In some embodiments, the preset rules include at least one of the following: the bandwidth of the target frequency band is greater than a first bandwidth; the average energy value of the target frequency band is less than a first energy; the interval center value of the target frequency band is less than the interval center value of other candidate frequency bands; the target frequency band is included in at least four clean frequency band sets.

[0078] Transmitting location signals also requires a certain bandwidth; therefore, the bandwidth cannot be too small, and the bandwidth of the target frequency band must be greater than the first bandwidth. Since the target frequency band determined in this disclosure is only used for location and not for communication, its bandwidth only needs to meet the location requirements, not the large bandwidth required for communication. Therefore, the first bandwidth can be greater than the bandwidth required for transmitting location signals, but less than the bandwidth required for transmitting communication signals.

[0079] For example, the first bandwidth can be 2 MHz or 20 MHz. A bandwidth greater than 2 MHz can meet the positioning requirements. Since a bandwidth of 2 MHz is much smaller than the bandwidth required for communication signals, the range of target frequency bands is wider than that used by related technologies. Furthermore, the target frequency band can be set to a lower frequency to obtain stronger penetration capabilities.

[0080] The average energy value of the target frequency band can be used to measure the signal noise within the current target frequency band. The first energy can be an energy threshold. An average energy value less than the first energy indicates that there is little or no signal noise in the target frequency band, that the frequency band is unoccupied, and that there is little interference.

[0081] Multiple preset rules can exist. When multiple preset rules exist, clean frequency bands that meet some of the preset rules are considered candidate frequency bands. If other preset rules are met, the target frequency band can be determined based on the interval center value of the frequency band. For example, if the bandwidth of the target frequency band is greater than a first bandwidth, and multiple candidate frequency bands exist, the target frequency band can be determined from these candidate frequency bands based on the rule that the interval center value of the target frequency band is less than the interval center values ​​of other candidate frequency bands.

[0082] Within the transmission capability range of the base station transmitter, the smaller the center value of the target frequency band interval, the lower the frequency of the target frequency band, which has good penetration ability. This allows the positioning signal transmitted in the target frequency band to penetrate obstacles and reach the indoor environment, where it can be received by the indoor terminal, thus achieving accurate positioning indoors.

[0083] For example, the target frequency band can be a clean frequency band with a center frequency of less than 700 MHz and a bandwidth of greater than or equal to 2 MHz and less than or equal to 30 MHz.

[0084] Since the terminal's positioning method using positioning signals can be based on the triangulation principle, at least four base stations are required to transmit positioning signals. Therefore, in the presence of multiple base stations, at least four base stations need to have their clean frequency bands included in the target frequency band, ensuring there are enough base stations to implement the triangulation principle. It should be noted that the more clean frequency bands included in the target frequency band, the better. Furthermore, the preset rule can also include: the target frequency band is included in all clean frequency band sets.

[0085] In some embodiments, the clean band set transmitted by the base station can be weighted based on the base station configuration to amplify the influence of the clean band set corresponding to the base station in the process of determining the target frequency band.

[0086] Different base stations have different configurations. Some base stations are located in advantageous geographical locations, at higher altitudes, and have stronger hardware configurations (transmitters), so the positioning signals transmitted by these base stations can achieve more accurate positioning. Conversely, some base stations are located in remote geographical locations, have more surrounding obstacles, are built at lower altitudes, and have poorer hardware configurations, so the positioning signals transmitted by these base stations are of lower quality and may affect the positioning effect.

[0087] Therefore, weighting can be applied based on base station configuration to take into account the impact of base station configuration when determining target frequency bands, giving priority to target frequency bands contained in clean frequency band sets with higher base station configuration weights.

[0088] In some embodiments, instructing a base station to transmit a positioning signal through the target frequency band includes: upon receiving multiple clean frequency band sets transmitted by multiple base stations, determining a target base station from the multiple base stations for transmitting the positioning signal; instructing the target base station to transmit the positioning signal through the target frequency band; and instructing a terminal to receive the positioning signal through the target frequency band within the signal coverage area of ​​the target base station.

[0089] During the construction of ground base stations, multiple base stations can be built based on factors such as redundancy and backup. However, some of these base stations can only transmit positioning signals when other base stations are unable to transmit positioning signals.

[0090] In this scenario, the target base station can be identified from multiple base stations. The number of target base stations must be at least four.

[0091] For example, the target base station can be determined based on the configuration, location information, and altitude information of each base station.

[0092] Once the target base station is identified, it is instructed to transmit positioning signals through the target frequency band. Non-target base stations can remain silent.

[0093] The server can instruct the terminal to perform precise positioning by receiving positioning signals in the target frequency band, rather than other signals (such as GNSS signals), when it is located within the signal coverage area of ​​the target base station.

[0094] In some embodiments, determining the target base station for transmitting the positioning signal from the plurality of base stations includes: determining candidate base stations in the clean band set that contain the target frequency band from the plurality of base stations; determining the total signal coverage area of ​​the candidate base stations; and determining the target base station based on the total signal coverage area, wherein the signal coverage area of ​​the target base station is the total signal coverage area, and the signal coverage areas of non-target base stations among the candidate base stations do not affect the size of the total signal coverage area.

[0095] The target frequency band can be determined first based on the clean frequency band set. At least four base stations need to have their clean frequency band sets containing the target frequency band. If a base station's clean frequency band set does not contain the target frequency band, interference from other noise signals will occur when it transmits positioning signals on the target frequency band, affecting positioning accuracy. Therefore, base stations can be screened based on whether their clean frequency band sets contain the identified target frequency band, and those base stations whose clean frequency band sets contain the target frequency band can be selected as candidate base stations.

[0096] After identifying candidate base stations, some may have overlapping signal coverage areas due to redundancy and signal enhancement considerations during construction. Therefore, base stations that do not contribute to the overall signal coverage area can be removed from the candidate pool, thereby reducing costs.

[0097] After determining the total signal coverage area, any candidate base station can be removed. If removing any candidate base station changes the area of ​​the total signal coverage area, then that candidate base station is the target base station; if removing any candidate base station does not change the area of ​​the total signal coverage area, then that candidate base station is a non-target base station.

[0098] For example, the coordinates of all candidate base stations can be connected, and the base station with the largest three-dimensional geometric area of ​​the connection and the ability to cover the target positioning area can be selected as the target base station. The number of target base stations is determined to be greater than or equal to 4, and the coordinate information of the target base stations is determined so that the server can transmit positioning signals to the target base station in the target frequency band through communication instructions.

[0099] In some embodiments, the number of target base stations is at least four.

[0100] In some embodiments, where multiple base stations transmit positioning signals, the multiple base stations need to perform time-frequency synchronization.

[0101] Time and frequency synchronization includes absolute time and frequency synchronization and relative time and frequency synchronization.

[0102] Since the base station supports GNSS signals, it can use a GNSS disciplined clock to achieve time and frequency synchronization between multiple base stations and the GNSS system. This method achieves absolute time and frequency synchronization.

[0103] In some embodiments, the method further includes: upon receiving multiple clean frequency band sets sent by multiple base stations, determining a first base station based on base station location information sent by the multiple base stations, wherein the multiple base stations perform time-frequency relative synchronization based on the first base station.

[0104] Time-frequency relative synchronization requires identifying the first base station (master base station) and then synchronizing other base stations with the first base station in terms of time and frequency.

[0105] The server can determine the first base station based on the location information sent by multiple base stations. Location information includes latitude, longitude, and altitude. Base stations can also send environmental information, such as humidity, temperature, and air pressure, which is used to comprehensively determine the first base station.

[0106] The clean frequency bands of the first base station mainly include the target frequency band.

[0107] Based on location information, the distance between the base station and the center of the target positioning area can be determined. Combined with the height of the base station, the base station that is closer to the center of the target positioning area and has a higher height is selected as the first base station; and / or, the base station that has no obstruction or minimal obstruction from other base stations is selected as the first base station.

[0108] Based on environmental information, the time-frequency reliability of each base station can be determined. Environmental information affects the function of electronic components, and the first base station needs to have high time-frequency reliability to avoid time-frequency deviations within the base station itself.

[0109] For example, the first base station can be selected based on the following priority: base station visibility ranking (whether the first base station is visible to other base stations) as the first priority, base station height as the second priority, and base station environment information as the third priority. The base station with the highest comprehensive score can be selected as the first base station.

[0110] After the first base station is determined, it can transmit a time-frequency synchronization signal. The remaining base stations receive the time-frequency synchronization signal and calibrate their time and frequency based on it. Time-frequency relative synchronization can also be performed only between the target base stations.

[0111] In some embodiments, the method further includes: sending a set of unclaimed frequency bands to a base station; receiving a set of clean frequency bands sent by the base station; wherein the base station detects environmental radio signals based on the set of frequency bands to determine the set of clean frequency bands.

[0112] The server can first determine the publicly occupied frequency bands based on regulations such as radio conventions, and then determine the set of unpublished frequency bands that can be used for navigation and positioning. The frequency range of this set of frequency bands is included within the transmission and reception frequencies of the base station transmitter and receiver.

[0113] It can send a frequency band set to the base station, which includes the center frequency and frequency bandwidth.

[0114] After receiving the frequency band set, the base station can configure the center frequency and frequency bandwidth of the receiver to obtain the digital signal corresponding to the frequency band set.

[0115] The base station then performs spectral analysis (e.g., Fourier transform) on the received digital signal to obtain the relationship between frequency and energy values ​​within the frequency bandwidth.

[0116] If the energy value of a frequency band within the frequency band set is less than a threshold, the frequency band is determined to be a clean frequency band. The interval center value (frequency), bandwidth, and average energy value of the clean frequency band are recorded to determine the clean frequency band set.

[0117] In some embodiments, the method further includes: receiving a frequency band update request sent by a base station; the frequency band update request is sent when the base station detects interference signals in the current target frequency band; determining another target frequency band; and instructing the base station and the terminal to switch from the current target frequency band to the other target frequency band.

[0118] During the transmission of positioning signals through the target frequency band, the base station can continuously monitor the target frequency band. If other noise signals besides the positioning signal are detected within the target frequency band, it indicates that the current target frequency band may be occupied, which may affect the positioning effect. The base station can then send a frequency band update request to the server to switch to another clean frequency band.

[0119] After receiving a frequency band update request, the server can determine another target frequency band. The method for determining this other target frequency band can be the same as the method for determining the current target frequency band, for example, it can be determined based on the clean frequency band set retransmitted by each base station.

[0120] After determining another target frequency band, the server instructs the base station and the terminal to switch from the current target frequency band to the other target frequency band, so that the positioning function does not depend on a fixed frequency band, but can be adaptively adjusted and switched to other clean frequency bands.

[0121] Based on the embodiments of this disclosure, the target frequency band used by the positioning signal in the positioning system of this disclosure is not a fixed frequency band, but can be adaptively changed based on signal quality, thereby ensuring the accuracy of positioning and making the positioning system have stronger anti-interference capabilities.

[0122] In some embodiments, the server may determine another target frequency band if the number of base stations that have issued frequency band update requests is greater than a first number.

[0123] The first quantity can be a preset threshold quantity, or it can be determined based on the ratio of the total number of target base stations.

[0124] For example, the first quantity can be 4, or it can be 10% of the total number of target base stations.

[0125] In some embodiments, if the base station detects interference signals in the current target frequency band, the base station may also increase the transmission power of the positioning signal transmitted in the target frequency band.

[0126] By increasing the transmission power, the quality of the positioning signal can be reduced to avoid degradation caused by interference signals, thereby minimizing the impact of such interference on the terminal.

[0127] In some embodiments, the frequency range of the clean band set is greater than or equal to 70 MHz and less than or equal to 3 GHz.

[0128] The transmission frequency range of the base station's transmitter and the reception frequency range of the receiver can be between 70MHz and 3GHz.

[0129] In some embodiments, the positioning signal includes a radio ranging signal.

[0130] The characteristics of radio ranging signals may include at least one of frequency modulation, phase modulation, time modulation, and amplitude modulation.

[0131] Corresponding to the above-described server-side method embodiments, this disclosure also proposes a method for determining the signal frequency band of a positioning system implemented on the base station side.

[0132] Figure 3 This is a schematic flowchart illustrating a method for determining the signal frequency band of a positioning system according to an embodiment of the present disclosure. The method for determining the signal frequency band of a positioning system can be executed by a base station 120 in the positioning system.

[0133] like Figure 3 As shown, the method for determining the signal frequency band of the positioning system includes: In step S301, ambient radio signals are received, and a set of unoccupied clean frequency bands is determined; In step S302, the clean frequency band set is sent to the server; In step S303, the target frequency band indicated by the server is received, and the transmitter is adjusted to send a positioning signal within the target frequency band.

[0134] The specific implementation process and methods of some embodiments on the base station side can be referred to the description of the corresponding embodiments on the server side above, and will not be repeated hereafter.

[0135] In some embodiments, the transmitter is adjusted to send a positioning signal within the target frequency band.

[0136] After the server indicates the target frequency band to the base station, the base station can adjust the transmitter to send a positioning signal within the target frequency band.

[0137] In some embodiments, determining the set of unoccupied clean frequency bands includes: receiving a set of unpublicly occupied frequency bands sent by the server; configuring the center frequency and frequency bandwidth of the receiver and detecting the set of frequency bands; and determining the set of clean frequency bands based on the detection results.

[0138] In some embodiments, the method further includes: sending location information to the server; the location information being used to determine a first base station; wherein, if the location is determined to be the first base station, a time-frequency synchronization signal is transmitted; if the location is determined to be not the first base station, the time-frequency synchronization signal is received, and the time and frequency are calibrated with the first base station based on the time-frequency synchronization signal.

[0139] After identifying the first base station, the server can inform all base stations that need to perform time-frequency synchronization of the first base station's identifier and coordinates.

[0140] Once a base station has determined itself to be the primary base station, it can transmit time-frequency synchronization signals within the target frequency band to enable other base stations to perform time-frequency synchronization.

[0141] If a base station determines that it is not the first base station, it can receive time-frequency synchronization signals in the target frequency band and calibrate its time and frequency with the first base station based on the time-frequency synchronization signals.

[0142] After each base station completes time-frequency synchronization, it can send positioning signals in the target frequency band.

[0143] After receiving the positioning signal, the terminal can determine the distance between the terminal and the base station. With the base station's location information determined, the terminal can be located using the triangulation principle.

[0144] In some embodiments, the method further includes: detecting the current target frequency band from which the positioning signal is transmitted; and, based on the detection result, determining that there is interference signal in the current target frequency band, sending a frequency band update request to the server.

[0145] The base station can determine the location signal it sends, and the base station's receiver can maintain monitoring of the current target frequency band, determine the received signal, and compare the determined location signal with the received signal to determine whether there is interference signal in the current target frequency band.

[0146] If other interference signals exist in the current target frequency band, send a frequency band update request.

[0147] In some embodiments, the method further includes: receiving another target frequency band indicated by the server based on a frequency band update request; and adjusting the transmitter to switch from the target frequency band to the other target frequency band to send a positioning signal.

[0148] Furthermore, after each base station switches from one target frequency band to another, it can perform time-frequency synchronization again to ensure that the video of each base station remains synchronized after the frequency band switch.

[0149] This disclosure also proposes a positioning method.

[0150] Figure 4 This is a schematic flowchart illustrating a positioning method according to an embodiment of the present disclosure, wherein the positioning method is executed by a terminal 130 in a positioning system.

[0151] like Figure 4 As shown, the positioning methods include: In step S401, positioning signals from multiple base stations are received in the target frequency band; wherein, the target frequency band is determined by the server based on a clean frequency band set sent by the base stations, and the clean frequency band set is a frequency band that the base stations determine is not occupied. In step S402, positioning is achieved based on the positioning signal.

[0152] In some embodiments, the terminal may receive the target frequency band indicated by the server through communication means.

[0153] The terminal can use communication methods, such as 5G signals or Wi-Fi signals, to obtain the target frequency band indicated by the server. After determining the target frequency band, the terminal can adjust its receiving antenna to receive the positioning signal of the target frequency band.

[0154] In some embodiments, positioning is achieved based on the positioning signal.

[0155] The terminal can determine the distance between itself and the base station that transmits the four positioning signals when it receives at least four positioning signals. Then, by combining the location information of the transmitting base station with the triangulation principle, the terminal can determine its absolute position and thus achieve positioning or navigation.

[0156] The implementation process of the functions and roles of each unit in the terminal is detailed in the above-mentioned server-side method embodiment and base station-side method embodiment, and will not be repeated here.

[0157] Embodiments of this disclosure also provide an electronic device, including: a processor and a memory; the memory for storing a computer program; and the processor for executing the method described in any of the foregoing embodiments by invoking the computer program.

[0158] Embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the methods described in any of the above embodiments.

[0159] Embodiments of this disclosure also provide a computer program product, including a computer program that, when executed by a processor, implements the methods described in any of the foregoing embodiments.

[0160] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 5 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0161] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0162] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0163] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0164] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0165] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0166] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0167] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

[0168] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0169] The methods and apparatus provided in the embodiments of this disclosure have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this disclosure. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this disclosure. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this disclosure. Therefore, the content of this specification should not be construed as a limitation of this disclosure.

Claims

1. A method for determining the signal frequency band of a positioning system, characterized in that, Applied to a server, the method includes: The base station receives a set of clean frequency bands, which are environmental radio signal frequency bands that the base station has determined to be unoccupied. Determine the target frequency band for transmitting positioning signals from the set of clean frequency bands; The base station is instructed to send a positioning signal through the target frequency band, and the terminal is instructed to receive the positioning signal through the target frequency band.

2. The method according to claim 1, characterized in that, The step of determining the target frequency band for transmitting positioning signals from the set of clean frequency bands includes: In the case of receiving multiple clean frequency band sets from multiple base stations, determine the frequency band intersection among the multiple clean frequency band sets; The target frequency band is selected from the intersection of the frequency bands based on preset rules.

3. The method according to claim 2, characterized in that, The preset rules include at least one of the following: The bandwidth of the target frequency band is greater than the first bandwidth; The average energy value of the target frequency band is less than the first energy; The center value of the target frequency band is smaller than the center value of the other candidate frequency bands; The target frequency band is contained in at least four clean frequency band sets.

4. The method according to claim 1, characterized in that, The instruction base station transmits positioning signals through the target frequency band, including: In the case of receiving multiple clean frequency band sets from multiple base stations, a target base station for transmitting the positioning signal is determined from the multiple base stations; The system instructs the target base station to transmit the positioning signal through the target frequency band, and instructs the terminal to receive the positioning signal through the target frequency band within the signal coverage area of ​​the target base station.

5. The method according to claim 4, characterized in that, The step of determining the target base station for transmitting the positioning signal from the plurality of base stations includes: From the plurality of base stations, candidate base stations that contain the target frequency band are determined from the clean frequency band set; Determine the total signal coverage area of ​​the candidate base stations; The target base station is determined based on the total signal coverage area, wherein the signal coverage area of ​​the target base station is the total signal coverage area, and the signal coverage areas of non-target base stations among the candidate base stations do not affect the size of the total signal coverage area.

6. The method according to claim 5, characterized in that, The number of target base stations is at least four.

7. The method according to claim 1, characterized in that, The method further includes: When multiple clean frequency band sets are received from multiple base stations, a first base station is determined based on the base station location information sent by the multiple base stations, and the multiple base stations perform time-frequency relative synchronization based on the first base station.

8. The method according to claim 1, characterized in that, The method further includes: Send a collection of frequency bands that are not publicly occupied to the base station; The base station receives a set of clean frequency bands sent by the base station; wherein the base station detects environmental radio signals based on the set of frequency bands to determine the set of clean frequency bands.

9. The method according to claim 1, characterized in that, The method further includes: Receive a frequency band update request sent by the base station; the frequency band update request is sent by the base station when it detects an interference signal in the current target frequency band; Identify another target frequency band; Instruct the base station and terminal to switch from the current target frequency band to the other target frequency band.

10. The method according to claim 1, characterized in that, The clean band set has a frequency range of greater than or equal to 70MHz and less than or equal to 3GHz.

11. A method for determining the signal frequency band of a positioning system, characterized in that, Applied to a base station, the method includes: Receive ambient radio signals and identify a set of clean, unoccupied frequency bands; Send the clean frequency band set to the server; The system receives the target frequency band indicated by the server and adjusts the transmitter to send a positioning signal within the target frequency band.

12. The method according to claim 11, characterized in that, The determination of the set of unoccupied clean frequency bands includes: Receive a collection of unpublished frequency bands sent by the server; Configure the center frequency and frequency bandwidth of the receiver, and detect the frequency band set; The clean frequency band set is determined based on the test results.

13. The method according to claim 11, characterized in that, The method further includes: The location information is sent to the server; the location information is used to determine the first base station; wherein... If the location is identified as the first base station, transmit the time-frequency synchronization signal; If it is determined that the base station is not the first base station, the time-frequency synchronization signal is received, and the time and frequency are calibrated with the first base station based on the time-frequency synchronization signal.

14. The method according to claim 11, characterized in that, The method further includes: Detect the current target frequency band that transmits positioning signals; If the detection results indicate that there is interference in the current target frequency band, a frequency band update request is sent to the server.

15. The method according to claim 14, characterized in that, The method further includes: Receive another target frequency band indicated by the server based on the frequency band update request; Adjust the transmitter to switch from the target frequency band to the other target frequency band to send a positioning signal.

16. A positioning method, characterized in that, Applied to a terminal, the method includes: The system receives positioning signals from multiple base stations in the target frequency band; wherein, the target frequency band is determined by the server based on a set of clean frequency bands sent by the base stations, and the set of clean frequency bands is a set of unoccupied frequency bands determined by the base stations. Positioning is achieved based on the positioning signal.

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