Method and positioning device for positioning

Abstract

A method and a positioning device for positioning are provided. The method comprises: a first device determining a position of a positioned device according to a first measurement value and a second measurement value; the first device updating the second measurement value according to the position of the positioned device; wherein the first measurement value is determined based on a measurement of a first positioning signal, the first positioning signal being a positioning signal transmitted or backscattered by one or more second devices, the one or more second devices being position known devices, and the second measurement value being used to compensate for measurement errors caused by the one or more second devices processing the first positioning signal.

Description

Positioning method and positioning device Technical Field

[0001] The present application relates to the field of positioning technology, and more particularly, to a positioning method and a positioning device. Background Art

[0002] Related technologies have proposed a positioning solution based on predicted measurements. This solution uses the predicted measurement value to compensate for measurement errors introduced when auxiliary positioning devices (such as ambient power (AMP) tags) process positioning signals. However, the predicted measurement value may vary with changes in the environment (such as temperature), thereby reducing the positioning accuracy of this positioning solution.

[0003] Summary of the Invention

[0004] The present application provides a positioning method and positioning device. The following introduces various aspects involved in the present application.

[0005] In a first aspect, a method for positioning is provided, comprising: a first device determines the position of a device to be positioned based on a first measurement value and a second measurement value; the first device updates the second measurement value based on the position of the device to be positioned; wherein the first measurement value is determined based on measurement of a first positioning signal, the first positioning signal is a positioning signal sent or backscattered by one or more second devices, the one or more second devices are devices with known positions, and the second measurement value is used to compensate for measurement errors generated by the one or more second devices in processing the first positioning signal.

[0006] In a second aspect, a positioning device is provided, which includes: a first determination module, used to determine the position of a positioned device based on a first measurement value and a second measurement value; a first update module, used to update the second measurement value based on the position of the positioned device; wherein, the first measurement value is determined based on the measurement of a first positioning signal, the first positioning signal is a positioning signal sent or backscattered by one or more second devices, the one or more second devices are devices with known positions, and the second measurement value is used to compensate for the measurement error generated by the one or more second devices in processing the first positioning signal.

[0007] According to a third aspect, a positioning device is provided, comprising a memory and a processor, wherein the memory is used to store a program, and the processor is used to execute the program stored in the memory to perform the method described in the first aspect.

[0008] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program enables a communication device to execute part or all of the steps in the method described in the first aspect.

[0009] In a fifth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a communication device to perform some or all of the steps of the method described in the first aspect. In some implementations, the computer program product may be a software installation package.

[0010] In a sixth aspect, an embodiment of the present application provides a chip comprising a memory and a processor, wherein the processor can call and run a computer program from the memory to implement some or all of the steps described in the method described in the first aspect.

[0011] The second measurement value mentioned above can be understood as a predicted value. This predicted value can be used to compensate for the measurement error caused by the second device (auxiliary positioning device) processing the positioning signal. In the embodiment of the present application, the predicted value is not a fixed value, but is updated based on the position of the positioned device after the position of the positioned device is determined, which helps to improve positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] FIG1 is a schematic diagram of a wireless communication system to which an embodiment of the present application may be applied.

[0013] Figure 2 is a diagram showing an example of the structure of an AMP device.

[0014] FIG3 is a structural diagram of an energy harvesting module in FIG2 .

[0015] FIG4 is a schematic diagram of the backscatter communication process of an AMP device.

[0016] FIG5 is an example diagram of an encoding method of an AMP device.

[0017] FIG6 is an example diagram of a positioning scenario provided in an embodiment of the present application.

[0018] FIG7 is another example diagram of a positioning scenario provided in an embodiment of the present application.

[0019] FIG8 is another example diagram of a positioning scenario provided in an embodiment of the present application.

[0020] FIG9 is a flow chart of a positioning method according to an embodiment of the present application.

[0021] FIG10 is a flowchart of a possible implementation of the method shown in FIG9 .

[0022] FIG11 is a flowchart of another possible implementation of the method shown in FIG9 .

[0023] FIG12 is a flowchart of another possible implementation of the method shown in FIG9 .

[0024] FIG. 13 is a schematic diagram of the structure of a positioning device according to an embodiment of the present application.

[0025] FIG14 is a schematic structural diagram of a device to which an embodiment of the present application can be applied. DETAILED DESCRIPTION

[0026] The technical solution in this application will be described below with reference to the accompanying drawings.

[0027] Communication System

[0028] Figure 1 is a diagram illustrating an example of the system architecture of a wireless communication system 100 to which an embodiment of the present application may be applied. The wireless communication system 100 may include a network device 110 and a terminal device 120. The network device 110 may be a device that communicates with the terminal device 120. The network device 110 may provide network coverage for a specific geographical area and may communicate with the terminal device 120 located within the coverage area. The terminal device 120 may access a network (e.g., a wireless network) through the network device 110. Optionally, the wireless communication system 100 may also include other network entities such as a network controller and a mobility management entity, which is not limited in the embodiments of the present application.

[0029] It should be understood that the technical solutions of the embodiments of the present application can be applied to various communication systems, such as: 5G system or new radio (NR), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), etc. The technical solutions provided in this application can also be applied to future communication systems, such as the sixth generation mobile communication system, satellite communication system, etc.

[0030] The terminal device in the embodiments of the present application may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station (MS), mobile terminal (MT), remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user device. The terminal device in the embodiments of the present application may refer to a device that provides voice and / or data connectivity to a user and can be used to connect people, objects, and machines, such as a handheld device with wireless connection function, a vehicle-mounted device, etc. The terminal device in the embodiments of the present application can be a mobile phone, a tablet computer, a laptop computer, a PDA, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, etc. Optionally, the terminal device can be used to act as a base station. For example, the terminal device can act as a scheduling entity that provides sidelink signals between terminal devices in vehicle to everything (V2X) or device to device (D2D). For example, a cellular phone and a car communicate with each other using sidelink signals. The cellular phone and smart home devices communicate without relaying the communication signal through a base station.

[0031] The network device in the embodiment of the present application may be a device for communicating with a terminal device. The network device may be, for example, an access network device or a wireless access network device. For example, the network device may be a base station. The base station may broadly cover the following various names, or be replaced with the following names: NodeB, evolved NodeB (eNB), next generation NodeB (gNB), relay station, access point, transmission point (TRP), transmitting point (TP), home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, base band unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. The base station may be a macro base station, a micro base station, a relay node, a donor node or the like, or a combination thereof.

[0032] AMP devices

[0033] With the development of wireless communication technology, people hope to integrate wireless communication systems with various vertical industries such as logistics, manufacturing, transportation, and energy. For example, wireless communication systems can be integrated with industrial wireless sensor networks (IWSNs). Another example is the integration of wireless communication systems with smart logistics and smart warehousing. In another example, wireless communication systems can be integrated with smart home networks.

[0034] However, in these industries, communication equipment is usually required to have the characteristics of low cost, small size (such as ultra-thin), maintenance-free, long life, etc. Therefore, in order to meet the above conditions, zero-power communication technology can be used for communication.

[0035] The following text introduces zero-power communication technology and AMP devices (such as AMP tags) in conjunction with FIG2 .

[0036] As shown in Figure 2, the AMP device 210 supporting zero-power communication technology may include an energy collection module 211 and a backscatter communication module 212. In some cases, the AMP device 210 may also include a low-power computing module 213. The low-power computing module 213 can be used to provide computing functions for the AMP device 210, such as data processing. In other cases, the AMP device 210 may also include a sensor 214 for collecting external information (for example, ambient temperature, ambient humidity, etc.). In other cases, the AMP device 210 may also include a memory 215 for storing some information (for example, external information collected by the above-mentioned sensors, or item identification, etc.).

[0037] The energy harvesting module 211 is used to harvest energy. In some implementations, energy can be harvested via a power supply signal sent by another device or from the external environment. The power supply signal can be a radio frequency signal sent by a network device, and thus the energy harvesting module can be a radio frequency energy harvesting module.

[0038] FIG3 shows a possible structure of the energy harvesting module 211. As shown in FIG3, the energy harvesting module 211 can harvest the energy of the spatial electromagnetic waves of the radio frequency signal based on the principle of electromagnetic induction, and store the harvested energy in the capacitor C, which is the process of charging the capacitor C. When the charging process of the capacitor C is completed, the capacitor C can start to discharge to provide energy to the AMP device. For example, the discharge of the capacitor C can be used to drive the AMP device to perform low-power demodulation of data sent by other devices. For another example, the discharge of the capacitor C can be used to drive the AMP device to modulate the data to be sent. For another example, the discharge of the capacitor C can be used to drive the sensor of the AMP device to collect data. For another example, the discharge of the capacitor C can be used to drive the AMP device to read data in the memory 215, etc.

[0039] The following describes the principle of backscatter communication in conjunction with Figure 4. Referring to Figure 4, the AMP device 210 receives a wireless signal sent by another device and modulates the wireless signal to load the data to be sent. Then, the AMP device 210 radiates the modulated signal from the antenna. This information transmission process is called backscatter communication. The above-mentioned wireless signal can also be called a carrier signal. A carrier signal can refer to a wireless signal that has not been modulated. The carrier signal can be, for example, a sine wave signal. Among them, backscatter communication and load modulation functions are inseparable. The load modulation function can be understood as adjusting and controlling the circuit parameters of the oscillation circuit of the AMP device according to the beat of the data stream, so that parameters such as the impedance of the AMP device change accordingly, thereby completing the modulation process.

[0040] In some implementations, the AMP device 210 may include an energy harvesting module. The energy harvesting module can be used to harvest any signal in the environment. For example, the energy harvesting module can be used to harvest energy supply signals sent by other devices or energy in the environment. The embodiment of the present application does not specifically limit the form of the energy supply signal. For example, the energy supply signal can be a modulated wireless signal or an unmodulated wireless signal. The carrier signal described above can also be used as the energy supply signal. For another example, the energy supply signal can also be a wireless signal of any waveform, such as a sine wave, a square wave, etc.

[0041] In some implementations, a logic processing unit may also be provided in the AMP device 210 to perform corresponding computing functions.

[0042] Typically, load modulation can be achieved through resistive load modulation and capacitive load modulation. Figure 5 shows a circuit diagram of an AMP device based on resistive load modulation technology. In resistive load modulation, a resistor RL can be connected in parallel with the load. Switch S can be controlled based on a binary data stream to turn resistor RL on or off. This switching of resistor RL causes a change in the circuit voltage, which in turn controls the amplitude of the backscattered signal from the MP device, thereby modulating the backscattered signal. This is done by performing amplitude-shift keying (ASK) modulation on the backscattered signal.

[0043] Similarly, in capacitive load modulation, the on / off switching of the capacitor can be controlled based on a binary data stream to change the circuit resonant frequency, thereby changing the operating frequency of the backscattered signal to implement frequency-shift keying (FSK) modulation.

[0044] Positioning technology

[0045] Currently, positioning technology (especially indoor positioning technology) is widely used in various scenarios, such as smart homes, smart manufacturing, logistics / warehousing, etc. In order to support positioning technology, the positioning system will introduce some devices with known locations to assist in the positioning of the target device (i.e., the device being positioned). For the sake of convenience, such devices with known locations will sometimes be referred to as auxiliary positioning devices in the following text. There are many types of auxiliary positioning devices. Among the many types of devices, AMP devices have the characteristics of low cost and maintenance-free. Therefore, AMP devices (such as AMP tags) are often used as auxiliary positioning devices. During the positioning process, if the AMP device has sufficient energy, the AMP device can actively send a positioning signal to the device being positioned. Of course, in some implementations, the AMP device can also passively backscatter the received positioning signal to the device being positioned. The device being positioned (or other nodes with measurement functions) can measure the power intensity, arrival time or phase of the received positioning signal to determine the location of the device being positioned.

[0046] For ease of understanding, several possible positioning scenarios and positioning measurement methods are described below in conjunction with Figures 6 to 8. The positioning scenarios shown in Figures 6 to 8 include multiple pre-deployed AMP tags (see AMP tags 1 to 3 in Figures 6 to 8, the locations of these AMP tags are known) and a device being positioned (which can be a terminal device or another AMP tag). When it is desired to locate the device being positioned, the positioning signals transmitted or backscattered by three or more pre-deployed AMP tags can be measured, and the device being positioned can be located based on the measurement results of the positioning signals.

[0047] Figure 6 illustrates positioning scenario 1 provided by an embodiment of the present application. In positioning scenario 1, both the AMP tag and the located device are active devices. That is, the AMP tag can actively send positioning signals to the located device, and the located device can measure the positioning signals and report the measurement results to a positioning server (not shown in Figure 6).

[0048] Figure 7 illustrates positioning scenario 2 provided by an embodiment of the present application. In positioning scenario 2, the AMP tag is the active device, and the located device is the passive device. That is, the AMP tag actively transmits positioning signals to the located device, while the located device cannot measure the positioning signals. The located device can only backscatter the received signal to another node, allowing the other node to measure the backscattered signal.

[0049] Figure 8 illustrates positioning scenario 3 provided by an embodiment of the present application. In positioning scenario 3, the AMP tag is a passive device, and the device being positioned is an active device. That is, the device being measured (or another node with a known location) can send a positioning signal to the AMP tag, and the AMP tag can backscatter the received positioning signal to the device being positioned, allowing the device being positioned to measure the backscattered signal.

[0050] There are many different positioning methods based on positioning signals, such as time-of-arrival (TOA) positioning, power-based positioning, and / or carrier phase-based positioning. When transmitting or backscattering positioning signals, auxiliary positioning devices often introduce measurement errors, which can reduce positioning accuracy.

[0051] Taking the AMP tag as an example, since the bandwidth of the positioning signal sent by the AMP tag is limited, among the many positioning methods, the positioning method based on carrier phase is more suitable for the AMP tag (because the positioning method based on carrier phase does not need to increase the bandwidth of the positioning signal to achieve higher positioning accuracy). However, there are two problems with the positioning method based on carrier phase, namely the ambiguity problem caused by phase periodicity and the ambiguity problem caused by phase deviation. For a detailed description of the ambiguity problem, please refer to the following documents: "DiGiampaolo E.and Martinelli,F.,Mobile Robot Localization Using the Phase of Passive UHF RFID Signals.IEEE Trans.Ind.Electron.2014,61,365–376" and "Bert Cox,Chesney Buyle,Daan Delabie,Lieven De Strycker and Liesbet Van der Perre,Positioning Energy-Neutral Devices:Technological Status and Hybrid RF-Acoustic Experiments,Future Internet,May 2022". Furthermore, if the AMP tag backscatters the positioning signal, a phase shift will be introduced. Due to the relatively simple structure and function of the AMP tag, the AMP tag is generally unable to control the phase shift it introduces. Therefore, in the backscatter-based positioning process, the ambiguity problem caused by phase deviation will be more serious. The existence of the above-mentioned ambiguity problem will introduce measurement errors. For example, under ideal conditions, the initial phase of the positioning signal actively sent by the AMP tag is 0. However, due to the existence of phase deviation, the actual initial phase of the positioning signal actively sent by the AMP tag is a. The deviation of this initial phase will cause the final measured phase to be inaccurate.

[0052] Similarly, in the time-based positioning method, the auxiliary positioning equipment will introduce time errors; in the power-based positioning method, the auxiliary equipment will introduce power loss.

[0053] Related technologies propose a pre-measurement scheme to compensate for the phase deviation, time error, or power loss mentioned above. This pre-measurement scheme aims to pre-measure the measurement error introduced by the auxiliary positioning device and correct the measured value of the positioning signal based on this predicted value, ensuring a more accurate final measurement. The following examples illustrate the measured and predicted values ​​in different positioning scenarios, using the three positioning scenarios shown in Figures 6 to 8.

[0054] In positioning scenario 1 shown in Figure 6, the device being positioned can measure the phase of the received positioning signal. The predicted value can be the phase deviation introduced when the AMP tag sends the positioning signal (or the initial phase of the positioning signal sent by the AMP tag). Alternatively, the device being positioned can measure the power of the received positioning signal. The predicted value can be the power loss (or initial power loss) caused by the positioning signal at the AMP tag. Alternatively, the device being positioned can measure the arrival time of the received positioning signal. The predicted value can be the time error (or initial time error) caused by the positioning signal at the AMP tag.

[0055] In positioning scenario 2 shown in Figure 7, the node can measure the phase of the received positioning signal. The predicted value can be the phase deviation introduced when the AMP tag sends the positioning signal (or the initial phase of the positioning signal sent by the AMP tag). Alternatively, the node can measure the power of the received positioning signal. The predicted value can be the power loss (or initial power loss) caused by the positioning signal at the AMP tag. Alternatively, the node can measure the arrival time of the received positioning signal. The predicted value can be the time error (or initial time error) caused by the positioning signal at the AMP tag.

[0056] In positioning scenario 3 shown in Figure 8, the positioned device can measure the phase of the received backscattered positioning signal, and the predicted value can be the phase change caused by the AMP tag backscattering the positioning signal (or the initial backscattering phase change). Alternatively, the positioned device can measure the power of the received positioning signal, and the predicted value can be the power loss caused by the AMP tag backscattering the positioning signal (or the initial backscattering power loss). Alternatively, the positioned device can measure the arrival time of the received positioning signal, and the predicted value can be the time error caused by the AMP tag backscattering the positioning signal (or the initial backscattering time error).

[0057] Generally speaking, if the above prediction value is accurate, then the measurement result obtained based on the prediction solution should also be accurate. However, the phase deviation, power loss, time error, etc. caused by the auxiliary positioning device may fluctuate with different environments. For example, the phase deviation, power loss, and time error caused by the auxiliary positioning device may vary with the device temperature, circuit aging, etc. For example, in the positioning scenario 1 shown in Figure 6, if the initial phase of the positioning signal sent by the AMP tag changes due to the influence of temperature, the value of θ will be θ. Δ , then the change θ Δ It will change the phase measurement value measured by the positioning device, thereby affecting the positioning accuracy.

[0058] In response to the above problems, the embodiments of the present application are described in detail below with examples.

[0059] FIG9 is a flow chart illustrating a method for positioning provided by an embodiment of the present application. The method illustrated in FIG9 is performed by a first device. The first device refers to a device having a location calculation function. For example, the first device may be a positioning server. Of course, the positioning device may also be another node having a location calculation function. For example, if the device being positioned itself has a location calculation function, the first device may also be the device being positioned.

[0060] 9 , in step S910 , the first device determines the position of the device to be located according to the first measurement value and the second measurement value.

[0061] The first measurement value is determined based on the measurement of the first positioning signal (such as a positioning reference signal). That is, the first measurement value is the measurement value of the first positioning signal. The type of the first measurement value is related to the positioning method of the positioned device. For example, if a positioning method based on arrival time is adopted, the first measurement value may be the time when the first positioning signal or the backscattered signal of the first positioning signal reaches the positioned device. For another example, if a positioning method based on power is adopted, the first measurement value may be the received power of the first positioning signal or the backscattered signal of the first positioning signal at the positioned device. For another example, if a positioning method based on phase is adopted, the first measurement value may be the phase of the signal when the positioning device receives the first positioning signal or the backscattered signal of the first positioning signal.

[0062] In some implementations, the first positioning signal may be a positioning signal sent by one or more second devices (sent to the device being positioned). It should be noted that the second device mentioned in the embodiment of the present application refers to a device with a known location (or an auxiliary positioning device). The second device may be, for example, an AMP device, such as an AMP tag. Exemplarily, in the positioning scenarios shown in Figures 6 and 7, the one or more second devices mentioned above may refer to AMP tag 1, AMP tag 2, and AMP tag 3. AMP tag 1, AMP tag 2, and AMP tag 3 may respectively send a first positioning signal to the device being positioned, so that the device being positioned or other nodes can measure the first positioning signal to determine the above-mentioned first measurement value.

[0063] In other implementations, the first positioning signal may be a positioning signal backscattered by one or more second devices. For example, in the positioning scenario shown in FIG8 , the one or more second devices mentioned above may be AMP Tag 1, AMP Tag 2, and AMP Tag 3. AMP Tag 1, AMP Tag 2, and AMP Tag 3 may receive the first positioning signal sent by the positioned device. AMP Tag 1, AMP Tag 2, and AMP Tag 3 may then backscatter the first positioning signal, allowing the positioned device or other node to measure the backscattered signal of the first positioning signal, thereby determining the first measurement value.

[0064] There are many ways for the first device to obtain the first measurement value. For example, if the located device does not have the measurement function of the first positioning signal, the located device can backscatter the received first positioning signal, and then the first device measures the backscattered signal to determine the first measurement value. For example, in the positioning scenario shown in Figure 7, the located device is an AMP tag. The structure and function of this located device are relatively simple, so it does not support the measurement function of the positioning signal. In this case, the AMP tag can backscatter the received first positioning signal to the first device, and the first device measures the backscattered first positioning signal.

[0065] For another example, if the located device has a measurement function for the first positioning signal, the located device can measure the received first positioning signal and report the first measurement value to the first device. For example, in the positioning scenario shown in Figure 6 or Figure 8, the located device is a terminal device, and the terminal device has a positioning measurement function. Therefore, the terminal device can measure the first positioning signal actively sent or backscattered by the AMP tag device and report the measured first measurement value to the first device (such as a positioning server).

[0066] In the embodiments of the present application, the position of the located device is determined based not only on the first measurement value but also on the second measurement value. The second measurement value mentioned here can be understood as the predicted measurement value mentioned above, which is used to compensate for the measurement error generated by one or more second devices processing the first positioning signal.

[0067] For example, the second measurement value is the initial phase error generated when the first positioning signal is transmitted or backscattered by one or more second devices. If the first positioning signal is transmitted by one or more second devices, the second measurement value can also be understood as the initial phase or initial phase deviation of the first positioning signal.

[0068] For another example, the second measurement value is an initial positioning error generated when the first positioning signal is sent or backscattered by one or more second devices.

[0069] For another example, the second measurement value is the power loss generated when the first positioning signal is sent or backscattered by one or more second devices.

[0070] Continuing with Figure 9, in step S920, the first device updates the second measurement value based on the position of the located device. For example, the first device may use the location of the located device as a known quantity and the second measurement value as an unknown quantity to reversely solve for the second measurement value. The first device may then use the solved second measurement value as the updated second measurement value to improve the accuracy of the second measurement value.

[0071] The first device may update the second measurement value only once, or may iteratively update the second measurement value multiple times, thereby gradually calibrating the second measurement value (such as the predicted measurement value). For example, after step S920, the first device may update the position of the located device based on the first measurement value and the second measurement value (the second measurement value refers to the second measurement value after the update in step S920); then, if the position of the located device (the position of the located device mentioned here refers to the position of the located device re-determined based on the updated second measurement value) does not meet the first condition, the first device repeatedly updates the second measurement value and the position of the located device.

[0072] The first condition mentioned here can be used to determine whether the position of the located device has converged. For example, the first condition includes the position of the located device determined by the first device twice consecutively being less than or equal to a first threshold. In other words, if the position of the located device determined by the first device twice consecutively is less than or equal to the first threshold, the position of the located device can be considered to have converged.

[0073] Of course, if the second measurement value and the position of the located device still cannot converge after repeatedly updating the second measurement value and the position of the located device (such as reaching a preset iteration upper limit), the first measurement value can be remeasured and the method shown in Figure 9 can be executed again based on the new first measurement value.

[0074] After the first device updates the second measurement value based on the location of the located device, the first device may send the second measurement value (i.e., the updated second measurement value) to one or more second devices. After receiving the updated second measurement value, the second device may store or provide the second measurement value to other devices.

[0075] In different positioning scenarios, the sending device and / or measuring device of the first positioning signal may be different.

[0076] For example, in the positioning scenario 1 shown in Figure 6, the first positioning signal is sent by one or more second devices, and the first measurement value is determined by the positioned device measuring the first positioning signal. Accordingly, the first measurement value in step S910 can be a measurement value reported by the positioned device to the first device. Furthermore, in some implementations, before executing step S910, the first device can send a first signal to one or more second devices. The first signal is used to instruct (or trigger) the one or more second devices to send the first positioning signal.

[0077] As another example, in positioning scenario 2 shown in FIG7 , a first positioning signal is sent by one or more second devices, and the positioned device is used to reflect a backscattered signal of the first positioning signal toward the first device. The first measurement value is determined by the first device measuring the backscattered signal. Furthermore, in some implementations, before executing step S910, the first device may send a first signal to the one or more second devices. The first signal is used to instruct (or trigger) the one or more second devices to send the first positioning signal.

[0078] For example, in positioning scenario 3 shown in Figure 8, the first positioning signal is sent by the positioned device, one or more second devices are used to reflect the backscattered signal of the first positioning signal to the positioned device, and the first measurement value is determined by the positioned device measuring the backscattered signal.

[0079] The following describes an embodiment of the present application in more detail with reference to Figures 10 to 12. In the examples of Figures 10 to 12, the first device mentioned above is a positioning server, and one or more second devices are AMP tags 1 to 3. It should be noted that the examples of Figures 10 to 12 are only intended to help those skilled in the art understand the embodiments of the present application, and are not intended to limit the embodiments of the present application to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the examples of Figures 10 to 12 given, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0080] Positioning scenario 1 (see Figure 6): Both the AMP tag and the positioned device are active devices

[0081] The positioning server may maintain a list of initial phases of AMP tags 1 to 3. Further, referring to FIG10 , the positioning server may execute the iterative process shown in FIG10 .

[0082] 10 , in step S1010 , the positioning server sends a signal to each AMP tag to trigger each AMP tag to send a positioning signal.

[0083] In step S1020, the positioned device measures the phase of the received positioning signal and reports the phase to the positioning server.

[0084] In step S1030 , the positioning server calculates the position of the device being positioned.

[0085] In step S1040 , the positioning server updates the initial phase of each AMP tag according to the location of the positioned device.

[0086] In step S1050 , the positioning server repeats steps S1030 and S1040 until convergence.

[0087] In step S1060 , if convergence has not occurred, the positioning server re-executes step S1010 .

[0088] In step S1070 , the positioning server sends the updated initial phase to the AMP tag through the positioned device or the AMP access point (AP).

[0089] The process shown in FIG10 may end at step S1050 or step S1060. Step S1070 is optional. In addition, it should be noted that the convergence mentioned in step S1050 may be determined by determining that the difference in the position of the located device obtained from two iterations is less than or equal to a preset threshold.

[0090] Positioning scenario 2 (see Figure 7): The AMP tag is the active device and the positioned device is the passive device

[0091] The positioning server may maintain a list of initial phases of AMP tags 1 to 3. Further, referring to FIG11 , the positioning server may execute the iterative process shown in FIG11 .

[0092] 11 , in step S1110 , the positioning server sends a signal to each AMP tag to trigger each AMP tag to send a positioning signal.

[0093] In step S1120 , the positioned device backscatters the received positioning signal to the positioning server.

[0094] In step S1130 , the positioning server measures the phase of the backscattered signal and calculates the position of the device being positioned.

[0095] In step S1140 , the positioning server updates the initial phase of each AMP tag according to the location of the positioned device.

[0096] In step S1150 , the positioning server repeats steps S1130 and S1140 until convergence.

[0097] In step S1160 , if convergence has not occurred, the positioning server re-executes step S1010 .

[0098] In step S1170, the positioning server sends the updated initial phase to the AMP tag.

[0099] The process shown in FIG11 may end at step S1150 or step S1160. Step S1170 is optional. In addition, it should be noted that the convergence mentioned in step S1150 may be determined by determining that the difference in the position of the located device obtained from two iterations is less than or equal to a preset threshold.

[0100] Positioning scenario 3 (see Figure 8): The AMP tag is a passive device and the positioned device is an active device

[0101] The positioning server may maintain a list of initial phases of AMP tags 1 to 3. Further, referring to FIG12 , the positioning server may execute the iterative process shown in FIG12 .

[0102] 12 , in step S1210 , the located device sends a positioning signal to each AMP tag.

[0103] In step S1220 , the AMP tag backscatters the received positioning signal.

[0104] In step S1230 , the positioned device measures the phase of the backscattered positioning signal and reports the phase to the positioning server.

[0105] In step S1240 , the positioning server calculates the position of the device being positioned.

[0106] In step S1250 , the positioning server updates the initial phase of each AMP tag according to the location of the positioned device.

[0107] In step S1260 , the positioning server repeats steps S1240 and S1250 until convergence.

[0108] In step S1270 , if convergence has not occurred, the positioning server re-executes step S1210 .

[0109] In step S1280, the positioning server sends the updated initial phase to the AMP tag.

[0110] The process shown in FIG12 may end at step S1260 or step S1270. Step S1280 is optional. In addition, it should be noted that the convergence determination method mentioned in step S1260 may be that the difference in the position of the located device obtained from two iterations is less than or equal to a preset threshold.

[0111] As mentioned earlier, AMP tags may introduce unknown measurement errors (such as phase deviation and backscatter loss) due to environmental changes, thereby reducing positioning accuracy. The examples shown in Figures 10 to 12 iteratively update the position of the located device and the predicted measurement value (to compensate for measurement errors), effectively compensating for the measurement errors introduced by AMP tags and improving positioning accuracy.

[0112] The method embodiment of the present application is described in detail above in conjunction with Figures 1 to 12. The device embodiment of the present application is described in detail below in conjunction with Figures 13 and 14. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment. Therefore, for parts not described in detail, reference can be made to the above method embodiment.

[0113] Figure 13 is a structural diagram of a positioning device provided in an embodiment of the present application. The positioning device 1300 in Figure 13 may be the first device mentioned above. The positioning device 1300 may include a first determination module 1310 and a first update module 1320. The first determination module 1310 is used to determine the position of the positioned device based on the first measurement value and the second measurement value; the first update module 1320 is used to update the second measurement value based on the position of the positioned device; wherein, the first measurement value is determined based on the measurement of the first positioning signal, the first positioning signal is a positioning signal sent or backscattered by one or more second devices, the one or more second devices are devices with known positions, and the second measurement value is used to compensate for the measurement error generated by the one or more second devices processing the first positioning signal.

[0114] In some implementations, the positioning device 1300 further includes: a second updating module, configured to update the position of the positioned device based on the first measurement value and the second measurement value after the positioning device updates the second measurement value based on the position of the positioned device; and repeatedly update the second measurement value and the position of the positioned device if the position of the positioned device does not meet the first condition.

[0115] In some implementations, the first condition includes: the position of the located device determined by the positioning device twice consecutively is less than or equal to a first threshold.

[0116] In some implementations, the second measurement value is an initial phase error generated when the first positioning signal is sent or backscattered by the one or more second devices; or, the second measurement value is an initial positioning error generated when the first positioning signal is sent or backscattered by the one or more second devices; or, the second measurement value is a power loss generated when the first positioning signal is sent or backscattered by the one or more second devices.

[0117] In some implementations, the first positioning signal is sent by the one or more second devices, and the first measurement value is determined by the positioned device measuring the first positioning signal.

[0118] In some implementations, the positioning device 1300 further includes: a first communication module, configured to receive the first measurement value from the positioned device before the positioning device determines the position of the positioned device according to the first measurement value and the second measurement value.

[0119] In some implementations, the first positioning signal is sent by the one or more second devices, the positioned device is used to reflect a backscattered signal of the first positioning signal to the positioning device, and the first measurement value is determined by the positioning device by measuring the backscattered signal.

[0120] In some implementations, the positioning device 1300 further includes: a second communication module, configured to send a first signal to the one or more second devices before the positioning device determines the position of the positioned device based on the first measurement value and the second measurement value, wherein the first signal is used to instruct the one or more second devices to send the first positioning signal.

[0121] In some implementations, the first positioning signal is sent by the positioned device, the one or more second devices are used to reflect a backscattered signal of the first positioning signal to the positioned device, and the first measurement value is determined by the positioned device measuring the backscattered signal.

[0122] In some implementations, the positioning device 1300 further includes: a third communication module, configured to send the second measurement value to the one or more second devices after the positioning device updates the second measurement value according to the position of the positioned device.

[0123] In some implementations, the second device is an AMP tag.

[0124] FIG14 is a schematic block diagram of a communication apparatus according to an embodiment of the present application. The dashed lines in FIG14 indicate that the unit or module is optional. Apparatus 1400 may be used to implement the method described in the above method embodiment. Apparatus 1400 may be a chip or a positioning device.

[0125] The device 1400 may include one or more processors 1410. The processor 1410 may support the device 1400 to implement the method described in the above method embodiment. The processor 1410 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0126] The apparatus 1400 may further include one or more memories 1420. The memories 1420 store programs that can be executed by the processor 1410, causing the processor 1410 to perform the methods described in the above method embodiments. The memories 1420 may be independent of the processor 1410 or integrated into the processor 1410.

[0127] The apparatus 1400 may further include a transceiver 1430. The processor 1410 may communicate with other devices or chips via the transceiver 1430. For example, the processor 1410 may transmit and receive data with other devices or chips via the transceiver 1430.

[0128] The present application also provides a computer-readable storage medium for storing a program. The computer-readable storage medium can be applied to the communication device provided in the present application, and the program enables a computer to execute the method performed by the first device in each embodiment of the present application.

[0129] The present application also provides a computer program product. The computer program product includes a program. The computer program product can be applied to the communication device provided in the present application, and the program causes a computer to execute the method performed by the first device in each embodiment of the present application.

[0130] The embodiments of the present application also provide a computer program. The computer program can be applied to the first device provided in the embodiments of the present application, and the computer program enables a computer to execute the method performed by the first device in each embodiment of the present application.

[0131] It should be understood that the terms "system" and "network" in this application can be used interchangeably. In addition, the terms used in this application are only used to explain the specific embodiments of this application and are not intended to limit this application. The terms "first", "second", "third", and "fourth" in the specification and claims of this application and the accompanying drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0132] In the embodiments of this application, the term "indication" may refer to a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" may refer to a direct indication of B, e.g., B can obtain information through A; it may refer to an indirect indication of B, e.g., A indicates C, e.g., B can obtain information through C; or it may refer to an association between A and B.

[0133] In the embodiment of the present application, "B corresponding to A" means that B is associated with A and B can be determined based on A. However, it should be understood that determining B based on A does not mean determining B based solely on A, but B can also be determined based on A and / or other information.

[0134] In the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and indication, configuration and configuration, etc.

[0135] In the embodiments of the present application, "pre-definition" or "pre-configuration" may be implemented by pre-storing corresponding codes, tables, or other methods that can be used to indicate relevant information in a device (e.g., a terminal device and a network device). The present application does not limit the specific implementation method. For example, pre-definition may refer to information defined in a protocol.

[0136] In the embodiments of this application, the term "and / or" is simply a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0137] In the embodiments of this application, the term "include" can refer to direct inclusion or indirect inclusion. Alternatively, the term "include" in the embodiments of this application can be replaced with "indicates" or "is used to determine." For example, "A includes B" can be replaced with "A indicates B" or "A is used to determine B."

[0138] In various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0139] In the embodiments of the present application, the “protocol” may refer to a standard protocol in the communication field, for example, it may include a WiFi protocol and related protocols used in future WiFi communication systems, and the present application does not limit this.

[0140] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0141] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0142] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0143] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be read by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0144] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for positioning, characterized in that include: The first device determines the position of the device to be located based on the first measurement value and the second measurement value; The first device updates the second measurement value according to the position of the located device; The first measurement value is determined based on the measurement of a first positioning signal, where the first positioning signal is a positioning signal sent or backscattered by one or more second devices, and the one or more second devices are devices with known positions. The second measurement value is used to compensate for the measurement error generated by the one or more second devices processing the first positioning signal.

2. The method according to claim 1, characterized in that After the first device updates the second measurement value according to the position of the located device, the method further includes: The first device updates the position of the located device according to the first measurement value and the second measurement value; If the position of the device to be located does not meet the first condition, the first device repeatedly updates the second measurement value and the position of the device to be located.

3. The method according to claim 2, characterized in that The first condition includes: the position of the device to be located determined by the first device twice in succession is less than or equal to a first threshold.

4. The method according to any one of claims 1 to 3, characterized in that: The second measurement value is an initial phase error generated when the first positioning signal is sent or backscattered by the one or more second devices; or The second measurement value is an initial positioning error generated when the first positioning signal is sent or backscattered by the one or more second devices; or The second measurement value is the power loss generated when the first positioning signal is sent or backscattered by the one or more second devices.

5. The method according to any one of claims 1 to 4, characterized in that The first positioning signal is sent by the one or more second devices, and the first measurement value is determined by the positioned device measuring the first positioning signal.

6. The method according to claim 5, characterized in that Before the first device determines the position of the device to be located according to the first measurement value and the second measurement value, the method further includes: The first device receives the first measurement value from the located device.

7. The method according to any one of claims 1 to 4, characterized in that The first positioning signal is sent by the one or more second devices, the positioned device is used to reflect a backscattered signal of the first positioning signal to the first device, and the first measurement value is determined by the first device by measuring the backscattered signal.

8. The method according to any one of claims 5 to 7, characterized in that Before the first device determines the position of the device to be located according to the first measurement value and the second measurement value, the method further includes: The first device sends a first signal to the one or more second devices, where the first signal is used to instruct the one or more second devices to send the first positioning signal.

9. The method according to any one of claims 1 to 4, characterized in that The first positioning signal is sent by the positioned device, the one or more second devices are used to reflect a backscattered signal of the first positioning signal to the positioned device, and the first measurement value is determined by the positioned device by measuring the backscattered signal.

10. The method according to any one of claims 1 to 9, characterized in that After the first device updates the second measurement value according to the position of the located device, the method further includes: The first device sends the second measurement value to the one or more second devices.

11. The method according to any one of claims 1 to 10, characterized in that The second device is an ambient power AMP tag.

12. A positioning device, characterized in that: The positioning device includes: A first determining module, configured to determine a position of a device to be located based on the first measurement value and the second measurement value; A first updating module, configured to update the second measurement value according to the position of the located device; The first measurement value is determined based on the measurement of a first positioning signal, where the first positioning signal is a positioning signal sent or backscattered by one or more second devices, and the one or more second devices are devices with known positions. The second measurement value is used to compensate for the measurement error generated by the one or more second devices processing the first positioning signal.

13. The positioning device according to claim 12, characterized in that The positioning device also includes: a second updating module, configured to update the position of the positioned device according to the first and second measurement values after the positioning device updates the second measurement value according to the position of the positioned device; and repeatedly update the second measurement value and the position of the positioned device if the position of the positioned device does not meet the first condition.

14. The positioning device according to claim 13, characterized in that The first condition includes: the position of the located device determined by the positioning device twice in succession is less than or equal to a first threshold.

15. The positioning device according to any one of claims 12 to 14, characterized in that: The second measurement value is an initial phase error generated when the first positioning signal is sent or backscattered by the one or more second devices; or The second measurement value is an initial positioning error generated when the first positioning signal is sent or backscattered by the one or more second devices; or The second measurement value is the power loss generated when the first positioning signal is sent or backscattered by the one or more second devices.

16. The positioning device according to any one of claims 12 to 15, characterized in that The first positioning signal is sent by the one or more second devices, and the first measurement value is determined by the positioned device measuring the first positioning signal.

17. The positioning device according to claim 16, characterized in that The positioning device also includes: The first communication module is configured to receive the first measurement value from the positioned device before the positioning device determines the position of the positioned device according to the first measurement value and the second measurement value.

18. The positioning device according to any one of claims 12 to 15, characterized in that The first positioning signal is sent by the one or more second devices, the positioned device is used to reflect a backscattered signal of the first positioning signal to the positioning device, and the first measurement value is determined by the positioning device by measuring the backscattered signal.

19. The positioning device according to any one of claims 16 to 18, characterized in that The positioning device also includes: The second communication module is configured to send a first signal to the one or more second devices before the positioning device determines the position of the positioned device based on the first measurement value and the second measurement value, wherein the first signal is used to instruct the one or more second devices to send the first positioning signal.

20. The positioning device according to any one of claims 12 to 15, characterized in that The first positioning signal is sent by the positioned device, the one or more second devices are used to reflect a backscattered signal of the first positioning signal to the positioned device, and the first measurement value is determined by the positioned device by measuring the backscattered signal.

21. The positioning device according to any one of claims 12 to 20, characterized in that The positioning device also includes: The third communication module is configured to send the second measurement value to the one or more second devices after the positioning device updates the second measurement value according to the position of the positioned device.

22. The positioning device according to any one of claims 12 to 21, characterized in that The second device is an ambient power AMP tag.

23. A positioning device, characterized in that: The device comprises a memory and a processor, wherein the memory is used to store a program, and the processor is used to call the program in the memory so as to enable the communication device to execute the method according to any one of claims 1 to 11.

24. A device, characterized in that The device comprises a processor configured to call a program from a memory so as to enable the device to execute the method according to any one of claims 1 to 11.

25. A chip, characterized in that: The device comprises a processor configured to call a program from a memory so that a device equipped with the chip executes the method according to any one of claims 1 to 11.

26. A computer-readable storage medium, characterized in that A program is stored thereon, the program causing a computer to execute the method according to any one of claims 1 to 11.

27. A computer program product, characterized in that The method comprises a program for causing a computer to execute the method according to any one of claims 1 to 11.

28. A computer program, characterized in that The computer program causes a computer to execute the method according to any one of claims 1 to 11.

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